PX4开发指南-13.5.1.参考参数(一)

Attitude EKF estimator

  • 定义这些参数的模块是: src/examples/attitude_estimator_ekf
NameDescriptionMin > Max (Incr.)DefaultUnits
EKF_ATT_V3_Q0 (FLOAT)

Body angular rate process noise

1e-4
EKF_ATT_V3_Q1 (FLOAT)

Body angular acceleration process noise

0.08
EKF_ATT_V3_Q2 (FLOAT)

Acceleration process noise

0.009
EKF_ATT_V3_Q3 (FLOAT)

Magnet field vector process noise

0.005
EKF_ATT_V4_R0 (FLOAT)

Gyro measurement noise

0.0008
EKF_ATT_V4_R1 (FLOAT)

Accel measurement noise

10000.0
EKF_ATT_V4_R2 (FLOAT)

Mag measurement noise

100.0
ATT_J11 (FLOAT)

Moment of inertia matrix diagonal entry (1, 1)

0.0018 kg*m^2
ATT_J22 (FLOAT)

Moment of inertia matrix diagonal entry (2, 2)

0.0018 kg*m^2
ATT_J33 (FLOAT)

Moment of inertia matrix diagonal entry (3, 3)

0.0037 kg*m^2
ATT_J_EN (INT32)

Moment of inertia enabled in estimator

Comment: If set to != 0 the moment of inertia will be used in the estimator

0

Attitude Q estimator

  • 定义这些参数的模块是:src/modules/attitude_estimator_q
NameDescriptionMin > Max (Incr.)DefaultUnits
ATT_W_ACC (FLOAT)

Complimentary filter accelerometer weight

0 > 1 0.2
ATT_W_MAG (FLOAT)

Complimentary filter magnetometer weight

0 > 1 0.1
ATT_W_EXT_HDG (FLOAT)

Complimentary filter external heading weight

0 > 1 0.1
ATT_W_GYRO_BIAS (FLOAT)

Complimentary filter gyroscope bias weight

0 > 1 0.1
ATT_MAG_DECL (FLOAT)

Magnetic declination, in degrees

Comment: This parameter is not used in normal operation, as the declination is looked up based on the GPS coordinates of the vehicle.

0.0 deg
ATT_MAG_DECL_A (INT32)

Automatic GPS based declination compensation

1
ATT_EXT_HDG_M (INT32)

External heading usage mode (from Motion capture/Vision) Set to 1 to use heading estimate from vision. Set to 2 to use heading from motion capture

Values:
  • 0: None
  • 1: Vision
  • 2: Motion Capture
0 > 2 0
ATT_ACC_COMP (INT32)

Acceleration compensation based on GPS velocity

1
ATT_BIAS_MAX (FLOAT)

Gyro bias limit

0 > 2 0.05 rad/s

Battery Calibration

NameDescriptionMin > Max (Incr.)DefaultUnits
BAT_V_SCALE_IO (INT32)

Scaling factor for battery voltage sensor on PX4IO

Module: src/modules/sensors

1 > 100000 10000
BAT_CNT_V_VOLT (FLOAT)

Scaling from ADC counts to volt on the ADC input (battery voltage)

Comment: This is not the battery voltage, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.

Module: src/modules/sensors

-1.0
BAT_CNT_V_CURR (FLOAT)

Scaling from ADC counts to volt on the ADC input (battery current)

Comment: This is not the battery current, but the intermediate ADC voltage. A value of -1 signifies that the board defaults are used, which is highly recommended.

Module: src/modules/sensors

-1.0
BAT_V_OFFS_CURR (FLOAT)

Offset in volt as seen by the ADC input of the current sensor

Comment: This offset will be subtracted before calculating the battery current based on the voltage.

Module: src/modules/sensors

0.0
BAT_V_DIV (FLOAT)

Battery voltage divider (V divider)

Comment: This is the divider from battery voltage to 3.3V ADC voltage. If using e.g. Mauch power modules the value from the datasheet can be applied straight here. A value of -1 means to use the board default.

Module: src/modules/sensors

-1.0
BAT_A_PER_V (FLOAT)

Battery current per volt (A/V)

Comment: The voltage seen by the 3.3V ADC multiplied by this factor will determine the battery current. A value of -1 means to use the board default.

Module: src/modules/sensors

-1.0
BAT_SOURCE (INT32)

Battery monitoring source

Comment: This parameter controls the source of battery data. The value 'Power Module' means that measurements are expected to come from a power module. If the value is set to 'External' then the system expects to receive mavlink battery status messages.

Values:
  • 0: Power Module
  • 1: External

Module: src/modules/sensors

0 > 1 0
BAT_V_EMPTY (FLOAT)

Empty cell voltage (5C load)

Comment: Defines the voltage where a single cell of the battery is considered empty. The voltage should be chosen before the steep dropoff to 2.8V. A typical lithium battery can only be discharged down to 10% before it drops off to a voltage level damaging the cells.

Reboot required: true

Module: src/modules/systemlib

(0.01) 3.4 V
BAT_V_CHARGED (FLOAT)

Full cell voltage (5C load)

Comment: Defines the voltage where a single cell of the battery is considered full under a mild load. This will never be the nominal voltage of 4.2V

Reboot required: true

Module: src/modules/systemlib

(0.01) 4.05 V
BAT_LOW_THR (FLOAT)

Low threshold

Comment: Sets the threshold when the battery will be reported as low. This has to be higher than the critical threshold.

Reboot required: true

Module: src/modules/systemlib

0.12 > 0.4 (0.01) 0.15 norm
BAT_CRIT_THR (FLOAT)

Critical threshold

Comment: Sets the threshold when the battery will be reported as critically low. This has to be lower than the low threshold. This threshold commonly will trigger RTL.

Reboot required: true

Module: src/modules/systemlib

0.05 > 0.1 (0.01) 0.07 norm
BAT_EMERGEN_THR (FLOAT)

Emergency threshold

Comment: Sets the threshold when the battery will be reported as dangerously low. This has to be lower than the critical threshold. This threshold commonly will trigger landing.

Reboot required: true

Module: src/modules/systemlib

0.03 > 0.07 (0.01) 0.05 norm
BAT_V_LOAD_DROP (FLOAT)

Voltage drop per cell on full throttle

Comment: This implicitely defines the internal resistance to maximum current ratio and assumes linearity. A good value to use is the difference between the 5C and 20-25C load. Not used if BAT_R_INTERNAL is set.

Reboot required: true

Module: src/modules/systemlib

0.07 > 0.5 (0.01) 0.3 V
BAT_R_INTERNAL (FLOAT)

Explicitly defines the per cell internal resistance

Comment: If non-negative, then this will be used in place of BAT_V_LOAD_DROP for all calculations.

Reboot required: true

Module: src/modules/systemlib

-1.0 > 0.2 -1.0 Ohms
BAT_N_CELLS (INT32)

Number of cells

Comment: Defines the number of cells the attached battery consists of.

Values:
  • 0: Unconfigured
  • 2: 2S Battery
  • 3: 3S Battery
  • 4: 4S Battery
  • 5: 5S Battery
  • 6: 6S Battery
  • 7: 7S Battery
  • 8: 8S Battery
  • 9: 9S Battery
  • 10: 10S Battery
  • 11: 11S Battery
  • 12: 12S Battery
  • 13: 13S Battery
  • 14: 14S Battery
  • 15: 15S Battery
  • 16: 16S Battery

Reboot required: true

Module: src/modules/systemlib

0 S
BAT_CAPACITY (FLOAT)

Battery capacity

Comment: Defines the capacity of the attached battery.

Reboot required: true

Module: src/modules/systemlib

-1.0 > 100000 (50) -1.0 mA

Camera trigger

  • 定义这些参数的模块是: src/drivers/camera_trigger
NameDescriptionMin > Max (Incr.)DefaultUnits
TRIG_INTERFACE (INT32)

Camera trigger Interface

Comment: Selects the trigger interface

Values:
  • 1: GPIO
  • 2: Seagull MAP2 (PWM)
  • 3: MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)

Reboot required: true

2
TRIG_INTERVAL (FLOAT)

Camera trigger interval

Comment: This parameter sets the time between two consecutive trigger events

4.0 > 10000.0 40.0 ms
TRIG_POLARITY (INT32)

Camera trigger polarity

Comment: This parameter sets the polarity of the trigger (0 = active low, 1 = active high )

Values:
  • 0: Active low
  • 1: Active high
0 > 1 0
TRIG_ACT_TIME (FLOAT)

Camera trigger activation time

Comment: This parameter sets the time the trigger needs to pulled high or low.

0.1 > 3000 0.5 ms
TRIG_MODE (INT32)

Camera trigger mode

Values:
  • 0: Disable
  • 1: On individual commands
  • 2: Time based, always on
  • 3: Distance based, always on
  • 4: Distance, mission controlled

Reboot required: true

0 > 4 0
TRIG_PINS (INT32)

Camera trigger pin

Comment: Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4fmu-v2 and the rail pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6.

Reboot required: true

1 > 123456 56
TRIG_DISTANCE (FLOAT)

Camera trigger distance

Comment: Sets the distance at which to trigger the camera.

0 > ? (1) 25.0 m

circuit-breaker

NameDescriptionMin > Max (Incr.)DefaultUnits
CBRK_SUPPLY_CHK (INT32)

Circuit breaker for power supply check

Comment: Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 894281 0
CBRK_RATE_CTRL (INT32)

Circuit breaker for rate controller output

Comment: Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 140253 0
CBRK_IO_SAFETY (INT32)

Circuit breaker for IO safety

Comment: Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 22027 0
CBRK_AIRSPD_CHK (INT32)

Circuit breaker for airspeed sensor

Comment: Setting this parameter to 162128 will disable the check for an airspeed sensor. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 162128 0
CBRK_FLIGHTTERM (INT32)

Circuit breaker for flight termination

Comment: Setting this parameter to 121212 will disable the flight termination action. --> The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 121212 121212
CBRK_ENGINEFAIL (INT32)

Circuit breaker for engine failure detection

Comment: Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 284953 284953
CBRK_GPSFAIL (INT32)

Circuit breaker for GPS failure detection

Comment: Setting this parameter to 240024 will disable the GPS failure detection. If this check is enabled, then the sensor check will fail if the GPS module is missing. It will also check for excessive signal noise on the GPS receiver and warn the user if detected. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 240024 0
CBRK_BUZZER (INT32)

Circuit breaker for disabling buzzer

Comment: Setting this parameter to 782097 will disable the buzzer audio notification. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 782097 0
CBRK_USB_CHK (INT32)

Circuit breaker for USB link check

Comment: Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK

Reboot required: true

0 > 197848 0

Commander

  • 定义这些参数的模块是:src/modules/commander
NameDescriptionMin > Max (Incr.)DefaultUnits
COM_DL_LOSS_T (INT32)

Datalink loss time threshold

Comment: After this amount of seconds without datalink the data link lost mode triggers

5 > 300 (0.5) 10 s
COM_DL_REG_T (INT32)

Datalink regain time threshold

Comment: After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false

0 > 3 (0.5) 0 s
COM_EF_THROT (FLOAT)

Engine Failure Throttle Threshold

Comment: Engine failure triggers only above this throttle value

0.0 > 1.0 (0.01) 0.5 norm
COM_EF_C2T (FLOAT)

Engine Failure Current/Throttle Threshold

Comment: Engine failure triggers only below this current value

0.0 > 50.0 (1) 5.0 A/%
COM_EF_TIME (FLOAT)

Engine Failure Time Threshold

Comment: Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time

0.0 > 60.0 (1) 10.0 s
COM_RC_LOSS_T (FLOAT)

RC loss time threshold

Comment: After this amount of seconds without RC connection the rc lost flag is set to true

0 > 35 (0.1) 0.5 s
COM_HOME_H_T (FLOAT)

Home set horizontal threshold

Comment: The home position will be set if the estimated positioning accuracy is below the threshold.

2 > 15 (0.5) 5.0 m
COM_HOME_V_T (FLOAT)

Home set vertical threshold

Comment: The home position will be set if the estimated positioning accuracy is below the threshold.

5 > 25 (0.5) 10.0 m
COM_AUTOS_PAR (INT32)

Autosaving of params

Comment: If not equal to zero the commander will automatically save parameters to persistent storage once changed. Default is on, as the interoperability with currently deployed GCS solutions depends on parameters being sticky. Developers can default it to off.

1
COM_RC_IN_MODE (INT32)

RC control input mode

Comment: The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.

Values:
  • 0: RC Transmitter
  • 1: Joystick/No RC Checks
  • 2: Virtual RC by Joystick
0 > 2 0
COM_RC_ARM_HYST (INT32)

RC input arm/disarm command duration

Comment: The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.

100 > 1500 1000
COM_DISARM_LAND (INT32)

Time-out for auto disarm after landing

Comment: A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will be longer by a factor of 5. A value of zero means that automatic disarming is disabled.

0 > 20 (1) 0 s
COM_ARM_WO_GPS (INT32)

Allow arming without GPS

Comment: The default allows to arm the vehicle without GPS signal.

Values:
  • 0: Don't allow arming without GPS
  • 1: Allow arming without GPS
0 > 1 1
COM_ARM_SWISBTN (INT32)

Arm switch is only a button

Comment: The default uses the arm switch as real switch. If parameter set button gets handled like stick arming.

Values:
  • 0: Arm switch is a switch that stays on when armed
  • 1: Arm switch is a button that only triggers arming and disarming
0 > 1 0
COM_LOW_BAT_ACT (INT32)

Battery failsafe mode

Comment: Action the system takes on low battery. Defaults to off

Values:
  • 0: Warning
  • 1: Return to land
  • 2: Land at current position
  • 3: Return to land at critically low level, land at current position if reaching dangerously low levels
(1) 0
COM_OF_LOSS_T (FLOAT)

Time-out to wait when offboard connection is lost before triggering offboard lost action. See COM_OBL_ACT and COM_OBL_RC_ACT to configure action

0 > 60 (1) 0.0 second
COM_ARM_EKF_POS (FLOAT)

Maximum EKF position innovation test ratio that will allow arming

0.1 > 1.0 (0.05) 0.5 m
COM_ARM_EKF_VEL (FLOAT)

Maximum EKF velocity innovation test ratio that will allow arming

0.1 > 1.0 (0.05) 0.5 m/s
COM_ARM_EKF_HGT (FLOAT)

Maximum EKF height innovation test ratio that will allow arming

0.1 > 1.0 (0.05) 1.0 m
COM_ARM_EKF_YAW (FLOAT)

Maximum EKF yaw innovation test ratio that will allow arming

0.1 > 1.0 (0.05) 0.5 rad
COM_ARM_EKF_AB (FLOAT)

Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming

0.001 > 0.01 (0.0005) 5.0e-3 m/s
COM_ARM_EKF_GB (FLOAT)

Maximum value of EKF gyro delta angle bias estimate that will allow arming

0.0001 > 0.0017 (0.0001) 8.7e-4 rad
COM_ARM_IMU_ACC (FLOAT)

Maximum accelerometer inconsistency between IMU units that will allow arming

0.1 > 1.0 (0.05) 0.7 m/s/s
COM_ARM_IMU_GYR (FLOAT)

Maximum rate gyro inconsistency between IMU units that will allow arming

0.02 > 0.2 (0.01) 0.15 rad/s

Data Link Loss

  • 定义这些参数的模块是:src/modules/navigator
NameDescriptionMin > Max (Incr.)DefaultUnits
NAV_DLL_CH_T (FLOAT)

Comms hold wait time

Comment: The amount of time in seconds the system should wait at the comms hold waypoint

0.0 > 3600.0 (1) 120.0 s
NAV_DLL_CH_LAT (INT32)

Comms hold Lat

Comment: Latitude of comms hold waypoint

-900000000 > 900000000 -266072120 deg * 1e7
NAV_DLL_CH_LON (INT32)

Comms hold Lon

Comment: Longitude of comms hold waypoint

-1800000000 > 1800000000 1518453890 deg * 1e7
NAV_DLL_CH_ALT (FLOAT)

Comms hold alt

Comment: Altitude of comms hold waypoint

-50 > 30000 (0.5) 600.0 m
NAV_DLL_AH_T (FLOAT)

Airfield home wait time

Comment: The amount of time in seconds the system should wait at the airfield home waypoint

0.0 > 3600.0 (1) 120.0 s
NAV_DLL_N (INT32)

Number of allowed Datalink timeouts

Comment: After more than this number of data link timeouts the aircraft returns home directly

0 > 1000 2
NAV_DLL_CHSK (INT32)

Skip comms hold wp

Comment: If set to 1 the system will skip the comms hold wp on data link loss and will directly fly to airfield home

0
NAV_AH_LAT (INT32)

Airfield home Lat

Comment: Latitude of airfield home waypoint

-900000000 > 900000000 -265847810 deg * 1e7
NAV_AH_LON (INT32)

Airfield home Lon

Comment: Longitude of airfield home waypoint

-1800000000 > 1800000000 1518423250 deg * 1e7
NAV_AH_ALT (FLOAT)

Airfield home alt

Comment: Altitude of airfield home waypoint

-50 > ? (0.5) 600.0 m

纠错,疑问,交流: 请进入讨论区点击加入Q群

获取最新文章: 扫一扫右上角的二维码加入“创客智造”公众号


标签: px4开发指南