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docs/en/advanced_config/parameter_reference.md
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@@ -17996,9 +17996,9 @@ Accelerometer noise for covariance prediction.
| ------ | -------- | -------- | --------- | ------- | ----- |
| &nbsp; | 0.01 | 1.0 | | 0.35 | m/s^2 |
### EKF2_AGP_CTRL (`INT32`) {#EKF2_AGP_CTRL}
### EKF2_AGP0_CTRL (`INT32`) {#EKF2_AGP0_CTRL}
Aux global position (AGP) sensor aiding.
Auxiliary global position sensor 0 aiding.
Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
@@ -18011,17 +18011,17 @@ Set bits in the following positions to enable: 0 : Horizontal position fusion 1
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 3 | | 0 |
### EKF2_AGP_DELAY (`FLOAT`) {#EKF2_AGP_DELAY}
### EKF2_AGP0_DELAY (`FLOAT`) {#EKF2_AGP0_DELAY}
Aux global position estimator delay relative to IMU measurements.
Auxiliary global position sensor 0 delay (to IMU).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 300 | | 0 | ms |
| &check; | 0 | 1000 | | 0 | ms |
### EKF2_AGP_GATE (`FLOAT`) {#EKF2_AGP_GATE}
### EKF2_AGP0_GATE (`FLOAT`) {#EKF2_AGP0_GATE}
Gate size for aux global position fusion.
Gate size for auxiliary global position sensor 0 fusion.
Sets the number of standard deviations used by the innovation consistency test.
@@ -18029,9 +18029,19 @@ Sets the number of standard deviations used by the innovation consistency test.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.0 | | | 3.0 | SD |
### EKF2_AGP_MODE (`INT32`) {#EKF2_AGP_MODE}
### EKF2_AGP0_ID (`INT32`) {#EKF2_AGP0_ID}
Fusion reset mode.
Auxiliary global position sensor 0 ID.
Sensor ID for slot 0. Set to 0 to disable this slot.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 255 | | 0 |
### EKF2_AGP0_MODE (`INT32`) {#EKF2_AGP0_MODE}
Fusion reset mode for sensor 0.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
@@ -18044,15 +18054,219 @@ Automatic: reset on fusion timeout if no other source of position is available D
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### EKF2_AGP_NOISE (`FLOAT`) {#EKF2_AGP_NOISE}
### EKF2_AGP0_NOISE (`FLOAT`) {#EKF2_AGP0_NOISE}
Measurement noise for aux global position measurements.
Measurement noise for auxiliary global position sensor 0.
Used to lower bound or replace the uncertainty included in the message
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | | | 0.9 | m |
| &nbsp; | 0.01 | | | 1.0 | m |
### EKF2_AGP1_CTRL (`INT32`) {#EKF2_AGP1_CTRL}
Auxiliary global position sensor 1 aiding.
Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
**Bitmask:**
- `0`: Horizontal position
- `1`: Vertical position
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 3 | | 0 |
### EKF2_AGP1_DELAY (`FLOAT`) {#EKF2_AGP1_DELAY}
Auxiliary global position sensor 1 delay (to IMU).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 1000 | | 0 | ms |
### EKF2_AGP1_GATE (`FLOAT`) {#EKF2_AGP1_GATE}
Gate size for auxiliary global position sensor 1 fusion.
Sets the number of standard deviations used by the innovation consistency test.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.0 | | | 3.0 | SD |
### EKF2_AGP1_ID (`INT32`) {#EKF2_AGP1_ID}
Auxiliary global position sensor 1 ID.
Sensor ID for slot 1. Set to 0 to disable this slot.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 255 | | 0 |
### EKF2_AGP1_MODE (`INT32`) {#EKF2_AGP1_MODE}
Fusion reset mode for sensor 1.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
**Values:**
- `0`: Automatic
- `1`: Dead-reckoning
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### EKF2_AGP1_NOISE (`FLOAT`) {#EKF2_AGP1_NOISE}
Measurement noise for auxiliary global position sensor 1.
Used to lower bound or replace the uncertainty included in the message
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | | | 1.0 | m |
### EKF2_AGP2_CTRL (`INT32`) {#EKF2_AGP2_CTRL}
Auxiliary global position sensor 2 aiding.
Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
**Bitmask:**
- `0`: Horizontal position
- `1`: Vertical position
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 3 | | 0 |
### EKF2_AGP2_DELAY (`FLOAT`) {#EKF2_AGP2_DELAY}
Auxiliary global position sensor 2 delay (to IMU).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 1000 | | 0 | ms |
### EKF2_AGP2_GATE (`FLOAT`) {#EKF2_AGP2_GATE}
Gate size for auxiliary global position sensor 2 fusion.
Sets the number of standard deviations used by the innovation consistency test.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.0 | | | 3.0 | SD |
### EKF2_AGP2_ID (`INT32`) {#EKF2_AGP2_ID}
Auxiliary global position sensor 2 ID.
Sensor ID for slot 2. Set to 0 to disable this slot.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 255 | | 0 |
### EKF2_AGP2_MODE (`INT32`) {#EKF2_AGP2_MODE}
Fusion reset mode for sensor 2.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
**Values:**
- `0`: Automatic
- `1`: Dead-reckoning
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### EKF2_AGP2_NOISE (`FLOAT`) {#EKF2_AGP2_NOISE}
Measurement noise for auxiliary global position sensor 2.
Used to lower bound or replace the uncertainty included in the message
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | | | 1.0 | m |
### EKF2_AGP3_CTRL (`INT32`) {#EKF2_AGP3_CTRL}
Auxiliary global position sensor 3 aiding.
Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
**Bitmask:**
- `0`: Horizontal position
- `1`: Vertical position
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 3 | | 0 |
### EKF2_AGP3_DELAY (`FLOAT`) {#EKF2_AGP3_DELAY}
Auxiliary global position sensor 3 delay (to IMU).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 1000 | | 0 | ms |
### EKF2_AGP3_GATE (`FLOAT`) {#EKF2_AGP3_GATE}
Gate size for auxiliary global position sensor 3 fusion.
Sets the number of standard deviations used by the innovation consistency test.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.0 | | | 3.0 | SD |
### EKF2_AGP3_ID (`INT32`) {#EKF2_AGP3_ID}
Auxiliary global position sensor 3 ID.
Sensor ID for slot 3. Set to 0 to disable this slot.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 255 | | 0 |
### EKF2_AGP3_MODE (`INT32`) {#EKF2_AGP3_MODE}
Fusion reset mode for sensor 3.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
**Values:**
- `0`: Automatic
- `1`: Dead-reckoning
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### EKF2_AGP3_NOISE (`FLOAT`) {#EKF2_AGP3_NOISE}
Measurement noise for auxiliary global position sensor 3.
Used to lower bound or replace the uncertainty included in the message
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | | | 1.0 | m |
### EKF2_ANGERR_INIT (`FLOAT`) {#EKF2_ANGERR_INIT}
@@ -40966,6 +41180,70 @@ uavcan::equipment::range_sensor::Measurement
## UUV Attitude Control
### UUV_HGT_B_DOWN (`INT32`) {#UUV_HGT_B_DOWN}
Height rc-button down.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 16 | | 12 |
### UUV_HGT_B_UP (`INT32`) {#UUV_HGT_B_UP}
Height rc-button up.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 16 | | 11 |
### UUV_HGT_D (`FLOAT`) {#UUV_HGT_D}
Height differential gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 1.0 |
### UUV_HGT_I (`FLOAT`) {#UUV_HGT_I}
Height integrational gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.2 |
### UUV_HGT_I_SPD (`FLOAT`) {#UUV_HGT_I_SPD}
sum speed of error for integrational gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 1.0 |
### UUV_HGT_MAX_DIFF (`FLOAT`) {#UUV_HGT_MAX_DIFF}
maximum Height distance controlled by manual input. Diff between actual and desired Height cant be higher than that.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.3 |
### UUV_HGT_P (`FLOAT`) {#UUV_HGT_P}
Height proportional gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 1.0 |
### UUV_HGT_STR (`FLOAT`) {#UUV_HGT_STR}
Height change strength from manual input.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 1.0 |
### UUV_MGM_PITCH (`FLOAT`) {#UUV_MGM_PITCH}
Pitch gain for manual inputs in manual control mode.