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Hamish Willee
2025-09-24 10:01:55 +10:00
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docs/en/advanced_config/parameter_reference.md
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@@ -10,264 +10,6 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
<!-- markdown generator: src/lib/parameters/px4params/markdownout.py -->
## UAVCAN Motor Parameters
### ctl_bw (`INT32`) {#ctl_bw}
Speed controller bandwidth.
Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 10 | 250 | | 75 | Hz |
### ctl_dir (`INT32`) {#ctl_dir}
Reverse direction.
Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | | 1 |
### ctl_gain (`FLOAT`) {#ctl_gain}
Speed (RPM) controller gain.
Determines controller
aggressiveness; units are amp-seconds per radian. Systems with
higher rotational inertia (large props) will need gain increased;
systems with low rotational inertia (small props) may need gain
decreased. Higher values result in faster response, but may result
in oscillation and excessive overshoot. Lower values result in a
slower, smoother response.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ----- |
| &nbsp; | 0.00 | 1.00 | | 1 | C/rad |
### ctl_hz_idle (`FLOAT`) {#ctl_hz_idle}
Idle speed (e Hz).
Idle speed (e Hz)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.0 | 100.0 | | 3.5 | Hz |
### ctl_start_rate (`INT32`) {#ctl_start_rate}
Spin-up rate (e Hz/s).
Spin-up rate (e Hz/s)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ----- |
| &nbsp; | 5 | 1000 | | 25 | 1/s^2 |
### esc_index (`INT32`) {#esc_index}
Index of this ESC in throttle command messages.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 15 | | 0 |
### id_ext_status (`INT32`) {#id_ext_status}
Extended status ID.
Extended status ID
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1 | 1000000 | | 20034 |
### int_ext_status (`INT32`) {#int_ext_status}
Extended status interval (µs).
Extended status interval (µs)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1000000 | | 50000 | us |
### int_status (`INT32`) {#int_status}
ESC status interval (µs).
ESC status interval (µs)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | 1000000 | | 50000 | us |
### mot_i_max (`FLOAT`) {#mot_i_max}
Motor current limit in amps.
This determines the maximum
current controller setpoint, as well as the maximum allowable
current setpoint slew rate. This value should generally be set to
the continuous current rating listed in the motor’s specification
sheet, or set equal to the motor’s specified continuous power
divided by the motor voltage limit.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1 | 80 | | 12 | A |
### mot_kv (`INT32`) {#mot_kv}
Motor Kv in RPM per volt.
This can be taken from the motor’s
specification sheet; accuracy will help control performance but
some deviation from the specified value is acceptable.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ----- |
| &nbsp; | 0 | 4000 | | 2300 | rpm/V |
### mot_ls (`FLOAT`) {#mot_ls}
READ ONLY: Motor inductance in henries.
This is measured on start-up.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | H |
### mot_num_poles (`INT32`) {#mot_num_poles}
Number of motor poles.
Used to convert mechanical speeds to
electrical speeds. This number should be taken from the motor’s
specification sheet.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 2 | 40 | | 14 |
### mot_rs (`FLOAT`) {#mot_rs}
READ ONLY: Motor resistance in ohms.
This is measured on start-up. When
tuning a new motor, check that this value is approximately equal
to the value shown in the motor’s specification sheet.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | Ohm |
### mot_v_accel (`FLOAT`) {#mot_v_accel}
Acceleration limit (V).
Acceleration limit (V)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | 1.00 | | 0.5 | V |
### mot_v_max (`FLOAT`) {#mot_v_max}
Motor voltage limit in volts.
The current controller’s
commanded voltage will never exceed this value. Note that this may
safely be above the nominal voltage of the motor; to determine the
actual motor voltage limit, divide the motor’s rated power by the
motor current limit.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | | | 14.8 | V |
## UAVCAN GNSS
### gnss.dyn_model (`INT32`) {#gnss.dyn_model}
GNSS dynamic model.
Dynamic model used in the GNSS positioning engine. 0 –
Automotive, 1 – Sea, 2 – Airborne.
**Values:**
- `0`: Automotive
- `1`: Sea
- `2`: Airborne
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 2 | | 2 |
### gnss.old_fix_msg (`INT32`) {#gnss.old_fix_msg}
Broadcast old GNSS fix message.
Broadcast the old (deprecated) GNSS fix message
uavcan.equipment.gnss.Fix alongside the new alternative
uavcan.equipment.gnss.Fix2. It is recommended to
disable this feature to reduce the CAN bus traffic.
**Values:**
- `0`: Fix2
- `1`: Fix and Fix2
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | | 1 |
### gnss.warn_dimens (`INT32`) {#gnss.warn_dimens}
device health warning.
Set the device health to Warning if the dimensionality of
the GNSS solution is less than this value. 3 for the full (3D)
solution, 2 for planar (2D) solution, 1 for time-only solution,
0 disables the feature.
**Values:**
- `0`: disables the feature
- `1`: time-only solution
- `2`: planar (2D) solution
- `3`: full (3D) solution
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 3 | | 0 |
### gnss.warn_sats (`INT32`) {#gnss.warn_sats}
Set the device health to Warning if the number of satellites
used in the GNSS solution is below this threshold. Zero
disables the feature
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### uavcan.pubp-pres (`INT32`) {#uavcan.pubp-pres}
Set the device health to Warning if the number of satellites
used in the GNSS solution is below this threshold. Zero
disables the feature
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1000000 | | 0 | us |
## ADSB
### ADSB_CALLSIGN_1 (`INT32`) {#ADSB_CALLSIGN_1}
@@ -15723,6 +15465,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@@ -15760,6 +15503,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@@ -15797,6 +15541,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@@ -15834,6 +15579,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@@ -15871,6 +15617,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@@ -15908,6 +15655,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@@ -16369,10 +16117,11 @@ External modes requiring stick input will still failsafe.
- `1`: Hold
- `2`: Offboard
- `3`: External Mode
- `4`: Altitude Cruise
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 15 | | 0 |
| &nbsp; | 0 | 31 | | 0 |
### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}
@@ -24821,6 +24570,19 @@ arms and to the lower left disarms the vehicle.
| ------ | -------- | -------- | --------- | ----------- | ---- |
| &nbsp; | | | | Enabled (1) |
### MAN_DEADZONE (`FLOAT`) {#MAN_DEADZONE}
Deadzone for sticks (only specific use cases).
Range around stick center ignored to prevent
vehicle drift from stick hardware inaccuracy.
Does not apply to any precise constant input like
throttle and attitude or rate piloting.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.1 |
### MAN_KILL_GEST_T (`FLOAT`) {#MAN_KILL_GEST_T}
Trigger time for kill stick gesture.
@@ -25672,16 +25434,6 @@ The speed threshold is MPC_HOLD_MAX_XY
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 2 | | 2 |
### MPC_HOLD_DZ (`FLOAT`) {#MPC_HOLD_DZ}
Deadzone for sticks in manual piloted modes.
Does not apply to manual throttle and direct attitude piloting by stick.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.1 |
### MPC_HOLD_MAX_XY (`FLOAT`) {#MPC_HOLD_MAX_XY}
Maximum horizontal velocity for which position hold is enabled (use 0 to disable check).
@@ -25824,7 +25576,7 @@ Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).
### MPC_MAN_TILT_MAX (`FLOAT`) {#MPC_MAN_TILT_MAX}
Maximal tilt angle in Stabilized or Altitude mode.
Maximal tilt angle in Stabilized, Altitude and Altitude Cruise mode.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@@ -26092,19 +25844,6 @@ capabilities of the vehicle.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.1 | 10 | 1 | 2. |
### MPC_XY_MAN_EXPO (`FLOAT`) {#MPC_XY_MAN_EXPO}
Manual position control stick exponential curve sensitivity.
The higher the value the less sensitivity the stick has around zero
while still reaching the maximum value with full stick deflection.
0 Purely linear input curve
1 Purely cubic input curve
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.6 |
### MPC_XY_P (`FLOAT`) {#MPC_XY_P}
Proportional gain for horizontal position error.
@@ -26177,32 +25916,6 @@ Defined as corrective acceleration in m/s^2 per m/s velocity error
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.2 | 5 | 0.1 | 1.8 |
### MPC_YAW_EXPO (`FLOAT`) {#MPC_YAW_EXPO}
Manual control stick yaw rotation exponential curve.
The higher the value the less sensitivity the stick has around zero
while still reaching the maximum value with full stick deflection.
0 Purely linear input curve
1 Purely cubic input curve
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.6 |
### MPC_Z_MAN_EXPO (`FLOAT`) {#MPC_Z_MAN_EXPO}
Manual control stick vertical exponential curve.
The higher the value the less sensitivity the stick has around zero
while still reaching the maximum value with full stick deflection.
0 Purely linear input curve
1 Purely cubic input curve
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.6 |
### MPC_Z_P (`FLOAT`) {#MPC_Z_P}
Proportional gain for vertical position error.
@@ -26537,7 +26250,7 @@ Pitch rate controller gain.
Global gain of the controller.
This gain scales the P, I and D terms of the controller:
output = MC_PITCHRATE_K _ (MC_PITCHRATE_P _ error
output = MC*PITCHRATE_K * (MC*PITCHRATE_P * error
- MC_PITCHRATE_I \* error_integral
- MC_PITCHRATE_D \* error_derivative)
@@ -26604,7 +26317,7 @@ Roll rate controller gain.
Global gain of the controller.
This gain scales the P, I and D terms of the controller:
output = MC_ROLLRATE_K _ (MC_ROLLRATE_P _ error
output = MC*ROLLRATE_K * (MC*ROLLRATE_P * error
- MC_ROLLRATE_I \* error_integral
- MC_ROLLRATE_D \* error_derivative)
@@ -26671,7 +26384,7 @@ Yaw rate controller gain.
Global gain of the controller.
This gain scales the P, I and D terms of the controller:
output = MC_YAWRATE_K _ (MC_YAWRATE_P _ error
output = MC*YAWRATE_K * (MC*YAWRATE_P * error
- MC_YAWRATE_I \* error_integral
- MC_YAWRATE_D \* error_derivative)
@@ -26905,7 +26618,7 @@ Thrust to motor control signal model parameter.
Parameter used to model the nonlinear relationship between
motor control signal (e.g. PWM) and static thrust.
The model is: rel_thrust = factor _ rel_signal^2 + (1-factor) _ rel_signal,
The model is: rel*thrust = factor * rel*signal^2 + (1-factor) * rel_signal,
where rel_thrust is the normalized thrust between 0 and 1, and
rel_signal is the relative motor control signal between 0 and 1.
@@ -29769,7 +29482,7 @@ Proportional gain for ground speed controller.
Tuning parameter for the speed reduction based on the course error.
Reduced_speed = RO_MAX_THR_SPEED _ (1 - normalized_course_error _ RO_SPEED_RED)
Reduced*speed = RO_MAX_THR_SPEED * (1 - normalized*course_error * RO_SPEED_RED)
The normalized course error is the angle between the current course and the bearing setpoint
interpolated from [0, 180] -> [0, 1].
Higher value -> More speed reduction.
@@ -33020,6 +32733,49 @@ reset of counter takes some time - measurement with reset has worse accuracy.
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 500000 |
### SBG_BAUDRATE (`INT32`) {#SBG_BAUDRATE}
sbgECom driver baudrate.
Baudrate used by default for serial communication between PX4
and SBG Systems INS through sbgECom driver.
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 9600 | 921600 | | 921600 |
### SBG_CONFIGURE_EN (`INT32`) {#SBG_CONFIGURE_EN}
sbgECom driver INS configuration enable.
Enable SBG Systems INS configuration through sbgECom driver
on start.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------------ | ---- |
| &nbsp; | | | | Disabled (0) |
### SBG_MODE (`INT32`) {#SBG_MODE}
sbgECom driver mode.
Modes available for sbgECom driver.
In Sensors Only mode, use external IMU and magnetometer.
In GNSS mode, use external GNSS in addition to sensors only mode.
In INS mode, use external Kalman Filter in addition to GNSS mode.
In INS mode, requires EKF2_EN 0. Keeping both enabled
can lead to an unexpected behavior and vehicle instability.
**Values:**
- `0`: Sensors Only
- `1`: GNSS
- `2`: INS (default)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 2 |
### SENS_AFBR_HYSTER (`INT32`) {#SENS_AFBR_HYSTER}
AFBR Rangefinder Short/Long Range Threshold Hysteresis.
@@ -34556,6 +34312,31 @@ Analog Devices ADIS16448 IMU Orientation(external SPI).
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 101 | | 0 |
### SENS_SBG_CFG (`INT32`) {#SENS_SBG_CFG}
Serial Configuration for sbgECom.
Configure on which serial port to run sbgECom.
**Values:**
- `0`: Disabled
- `6`: UART 6
- `101`: TELEM 1
- `102`: TELEM 2
- `103`: TELEM 3
- `104`: TELEM/SERIAL 4
- `201`: GPS 1
- `202`: GPS 2
- `203`: GPS 3
- `300`: Radio Controller
- `301`: Wifi Port
- `401`: EXT2
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 0 |
### SENS_SF0X_CFG (`INT32`) {#SENS_SF0X_CFG}
Serial Configuration for Lightware Laser Rangefinder (serial).
@@ -36480,7 +36261,7 @@ Pitch rate controller gain.
Global gain of the controller.
This gain scales the P, I and D terms of the controller:
output = SC_PITCHRATE_K _ (SC_PITCHRATE_P _ error
output = SC*PITCHRATE_K * (SC*PITCHRATE_P * error
- SC_PITCHRATE_I \* error_integral
- SC_PITCHRATE_D \* error_derivative)
@@ -36547,7 +36328,7 @@ Roll rate controller gain.
Global gain of the controller.
This gain scales the P, I and D terms of the controller:
output = SC_ROLLRATE_K _ (SC_ROLLRATE_P _ error
output = SC*ROLLRATE_K * (SC*ROLLRATE_P * error
- SC_ROLLRATE_I \* error_integral
- SC_ROLLRATE_D \* error_derivative)
@@ -36614,7 +36395,7 @@ Yaw rate controller gain.
Global gain of the controller.
This gain scales the P, I and D terms of the controller:
output = SC_YAWRATE_K _ (SC_YAWRATE_P _ error
output = SC*YAWRATE_K * (SC*YAWRATE_P * error
- SC_YAWRATE_I \* error_integral
- SC_YAWRATE_D \* error_derivative)
@@ -40029,6 +39810,17 @@ must have a unique session key.
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 1 |
### UXRCE_DDS_NS_IDX (`INT32`) {#UXRCE_DDS_NS_IDX}
Define an index-based message namespace.
Defines an index-based namespace for DDS messages, e.g, uav_0, uav_1, up to uav_9999
A value less than zero leaves the namespace empty
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | -1 | 9999 | | -1 |
### UXRCE_DDS_PRT (`INT32`) {#UXRCE_DDS_PRT}
uXRCE-DDS UDP port.