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docs: Update metadata (#26167)

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Hamish Willee
2025-12-24 14:57:46 +11:00
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parent 722133f79a
commit 96f428b683
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.github/instructions/docs.en.instructions.md
+18 -1
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@@ -25,7 +25,24 @@ applyTo: "docs/en/**"
- **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
## Linking & Navigation
- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
Note relative link.
- **Table Links:** To keep tables readable, use reference-style links.
- Definition: `[Link Name]: https://example.com` (placed below the table).
- Usage: `[Link Name]` within the table cell.
- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder)
- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
- **Table Links:** To keep tables easier to edit, prefer reference-style links.
- Definition: `[Link Name]: https://example.com` (placed below the table).
- Usage: `[Link Name]` within the table cell.
- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
- **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
## Quality Control
- **Formatting:** Ensure Prettier rules have been applied.
- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
- **Language:** Enforce **UK English** spelling and grammar.
docs/en/SUMMARY.md
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@@ -564,6 +564,7 @@
- [DebugKeyValue](msg_docs/DebugKeyValue.md)
- [DebugValue](msg_docs/DebugValue.md)
- [DebugVect](msg_docs/DebugVect.md)
- [DeviceInformation](msg_docs/DeviceInformation.md)
- [DifferentialPressure](msg_docs/DifferentialPressure.md)
- [DistanceSensor](msg_docs/DistanceSensor.md)
- [DistanceSensorModeChangeRequest](msg_docs/DistanceSensorModeChangeRequest.md)
docs/en/advanced_config/parameter_reference.md
+518 -27
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@@ -486,16 +486,6 @@ The integer refers to the I2C bus number where PCA9685 is connected.
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 10 | | 0 |
### PCA9685_I2C_ADDR (`INT32`) {#PCA9685_I2C_ADDR}
I2C address of PCA9685.
The default address is 0x40 (64).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 127 | | 64 |
### PCA9685_FAIL1 (`INT32`) {#PCA9685_FAIL1}
PCA9685 Output Channel 1 Failsafe Value.
@@ -1808,6 +1798,16 @@ The default failsafe value is set according to the selected function:
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | | | | 0 |
### PCA9685_I2C_ADDR (`INT32`) {#PCA9685_I2C_ADDR}
I2C address of PCA9685.
The default address is 0x40 (64).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 1 | 127 | | 64 |
### PCA9685_MAX1 (`INT32`) {#PCA9685_MAX1}
PCA9685 Output Channel 1 Maximum Value.
@@ -4924,6 +4924,39 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_DIS10 (`INT32`) {#SIM_GZ_EC_DIS10}
SIM_GZ ESC 10 Disarmed Value.
This is the output value that is set when not armed.
Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_DIS11 (`INT32`) {#SIM_GZ_EC_DIS11}
SIM_GZ ESC 11 Disarmed Value.
This is the output value that is set when not armed.
Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_DIS12 (`INT32`) {#SIM_GZ_EC_DIS12}
SIM_GZ ESC 12 Disarmed Value.
This is the output value that is set when not armed.
Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_DIS2 (`INT32`) {#SIM_GZ_EC_DIS2}
SIM_GZ ESC 2 Disarmed Value.
@@ -5001,6 +5034,17 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_DIS9 (`INT32`) {#SIM_GZ_EC_DIS9}
SIM_GZ ESC 9 Disarmed Value.
This is the output value that is set when not armed.
Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_FAIL1 (`INT32`) {#SIM_GZ_EC_FAIL1}
SIM_GZ ESC 1 Failsafe Value.
@@ -5012,6 +5056,39 @@ When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC1
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 1000 | | -1 |
### SIM_GZ_EC_FAIL10 (`INT32`) {#SIM_GZ_EC_FAIL10}
SIM_GZ ESC 10 Failsafe Value.
This is the output value that is set when in failsafe mode.
When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC10).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 1000 | | -1 |
### SIM_GZ_EC_FAIL11 (`INT32`) {#SIM_GZ_EC_FAIL11}
SIM_GZ ESC 11 Failsafe Value.
This is the output value that is set when in failsafe mode.
When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC11).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 1000 | | -1 |
### SIM_GZ_EC_FAIL12 (`INT32`) {#SIM_GZ_EC_FAIL12}
SIM_GZ ESC 12 Failsafe Value.
This is the output value that is set when in failsafe mode.
When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC12).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 1000 | | -1 |
### SIM_GZ_EC_FAIL2 (`INT32`) {#SIM_GZ_EC_FAIL2}
SIM_GZ ESC 2 Failsafe Value.
@@ -5089,6 +5166,17 @@ When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC8
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 1000 | | -1 |
### SIM_GZ_EC_FAIL9 (`INT32`) {#SIM_GZ_EC_FAIL9}
SIM_GZ ESC 9 Failsafe Value.
This is the output value that is set when in failsafe mode.
When set to -1 (default), the value depends on the function (see SIM_GZ_EC_FUNC9).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | -1 | 1000 | | -1 |
### SIM_GZ_EC_FUNC1 (`INT32`) {#SIM_GZ_EC_FUNC1}
SIM_GZ ESC 1 Output Function.
@@ -5160,6 +5248,219 @@ The default failsafe value is set according to the selected function:
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | | | | 0 |
### SIM_GZ_EC_FUNC10 (`INT32`) {#SIM_GZ_EC_FUNC10}
SIM_GZ ESC 10 Output Function.
Select what should be output on SIM_GZ ESC 10.
The default failsafe value is set according to the selected function:
- 'Min' for ConstantMin
- 'Max' for ConstantMax
- 'Max' for Parachute
- ('Max'+'Min')/2 for Servos
- 'Disarmed' for the rest
**Values:**
- `0`: Disabled
- `1`: Constant Min
- `2`: Constant Max
- `101`: Motor 1
- `102`: Motor 2
- `103`: Motor 3
- `104`: Motor 4
- `105`: Motor 5
- `106`: Motor 6
- `107`: Motor 7
- `108`: Motor 8
- `109`: Motor 9
- `110`: Motor 10
- `111`: Motor 11
- `112`: Motor 12
- `201`: Servo 1
- `202`: Servo 2
- `203`: Servo 3
- `204`: Servo 4
- `205`: Servo 5
- `206`: Servo 6
- `207`: Servo 7
- `208`: Servo 8
- `301`: Peripheral via Actuator Set 1
- `302`: Peripheral via Actuator Set 2
- `303`: Peripheral via Actuator Set 3
- `304`: Peripheral via Actuator Set 4
- `305`: Peripheral via Actuator Set 5
- `306`: Peripheral via Actuator Set 6
- `400`: Landing Gear
- `401`: Parachute
- `402`: RC Roll
- `403`: RC Pitch
- `404`: RC Throttle
- `405`: RC Yaw
- `406`: RC Flaps
- `407`: RC AUX 1
- `408`: RC AUX 2
- `409`: RC AUX 3
- `410`: RC AUX 4
- `411`: RC AUX 5
- `412`: RC AUX 6
- `420`: Gimbal Roll
- `421`: Gimbal Pitch
- `422`: Gimbal Yaw
- `430`: Gripper
- `440`: Landing Gear Wheel
- `450`: IC Engine Ignition
- `451`: IC Engine Throttle
- `452`: IC Engine Choke
- `453`: IC Engine Starter
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | | | | 0 |
### SIM_GZ_EC_FUNC11 (`INT32`) {#SIM_GZ_EC_FUNC11}
SIM_GZ ESC 11 Output Function.
Select what should be output on SIM_GZ ESC 11.
The default failsafe value is set according to the selected function:
- 'Min' for ConstantMin
- 'Max' for ConstantMax
- 'Max' for Parachute
- ('Max'+'Min')/2 for Servos
- 'Disarmed' for the rest
**Values:**
- `0`: Disabled
- `1`: Constant Min
- `2`: Constant Max
- `101`: Motor 1
- `102`: Motor 2
- `103`: Motor 3
- `104`: Motor 4
- `105`: Motor 5
- `106`: Motor 6
- `107`: Motor 7
- `108`: Motor 8
- `109`: Motor 9
- `110`: Motor 10
- `111`: Motor 11
- `112`: Motor 12
- `201`: Servo 1
- `202`: Servo 2
- `203`: Servo 3
- `204`: Servo 4
- `205`: Servo 5
- `206`: Servo 6
- `207`: Servo 7
- `208`: Servo 8
- `301`: Peripheral via Actuator Set 1
- `302`: Peripheral via Actuator Set 2
- `303`: Peripheral via Actuator Set 3
- `304`: Peripheral via Actuator Set 4
- `305`: Peripheral via Actuator Set 5
- `306`: Peripheral via Actuator Set 6
- `400`: Landing Gear
- `401`: Parachute
- `402`: RC Roll
- `403`: RC Pitch
- `404`: RC Throttle
- `405`: RC Yaw
- `406`: RC Flaps
- `407`: RC AUX 1
- `408`: RC AUX 2
- `409`: RC AUX 3
- `410`: RC AUX 4
- `411`: RC AUX 5
- `412`: RC AUX 6
- `420`: Gimbal Roll
- `421`: Gimbal Pitch
- `422`: Gimbal Yaw
- `430`: Gripper
- `440`: Landing Gear Wheel
- `450`: IC Engine Ignition
- `451`: IC Engine Throttle
- `452`: IC Engine Choke
- `453`: IC Engine Starter
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | | | | 0 |
### SIM_GZ_EC_FUNC12 (`INT32`) {#SIM_GZ_EC_FUNC12}
SIM_GZ ESC 12 Output Function.
Select what should be output on SIM_GZ ESC 12.
The default failsafe value is set according to the selected function:
- 'Min' for ConstantMin
- 'Max' for ConstantMax
- 'Max' for Parachute
- ('Max'+'Min')/2 for Servos
- 'Disarmed' for the rest
**Values:**
- `0`: Disabled
- `1`: Constant Min
- `2`: Constant Max
- `101`: Motor 1
- `102`: Motor 2
- `103`: Motor 3
- `104`: Motor 4
- `105`: Motor 5
- `106`: Motor 6
- `107`: Motor 7
- `108`: Motor 8
- `109`: Motor 9
- `110`: Motor 10
- `111`: Motor 11
- `112`: Motor 12
- `201`: Servo 1
- `202`: Servo 2
- `203`: Servo 3
- `204`: Servo 4
- `205`: Servo 5
- `206`: Servo 6
- `207`: Servo 7
- `208`: Servo 8
- `301`: Peripheral via Actuator Set 1
- `302`: Peripheral via Actuator Set 2
- `303`: Peripheral via Actuator Set 3
- `304`: Peripheral via Actuator Set 4
- `305`: Peripheral via Actuator Set 5
- `306`: Peripheral via Actuator Set 6
- `400`: Landing Gear
- `401`: Parachute
- `402`: RC Roll
- `403`: RC Pitch
- `404`: RC Throttle
- `405`: RC Yaw
- `406`: RC Flaps
- `407`: RC AUX 1
- `408`: RC AUX 2
- `409`: RC AUX 3
- `410`: RC AUX 4
- `411`: RC AUX 5
- `412`: RC AUX 6
- `420`: Gimbal Roll
- `421`: Gimbal Pitch
- `422`: Gimbal Yaw
- `430`: Gripper
- `440`: Landing Gear Wheel
- `450`: IC Engine Ignition
- `451`: IC Engine Throttle
- `452`: IC Engine Choke
- `453`: IC Engine Starter
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | | | | 0 |
### SIM_GZ_EC_FUNC2 (`INT32`) {#SIM_GZ_EC_FUNC2}
SIM_GZ ESC 2 Output Function.
@@ -5657,6 +5958,77 @@ The default failsafe value is set according to the selected function:
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | | | | 0 |
### SIM_GZ_EC_FUNC9 (`INT32`) {#SIM_GZ_EC_FUNC9}
SIM_GZ ESC 9 Output Function.
Select what should be output on SIM_GZ ESC 9.
The default failsafe value is set according to the selected function:
- 'Min' for ConstantMin
- 'Max' for ConstantMax
- 'Max' for Parachute
- ('Max'+'Min')/2 for Servos
- 'Disarmed' for the rest
**Values:**
- `0`: Disabled
- `1`: Constant Min
- `2`: Constant Max
- `101`: Motor 1
- `102`: Motor 2
- `103`: Motor 3
- `104`: Motor 4
- `105`: Motor 5
- `106`: Motor 6
- `107`: Motor 7
- `108`: Motor 8
- `109`: Motor 9
- `110`: Motor 10
- `111`: Motor 11
- `112`: Motor 12
- `201`: Servo 1
- `202`: Servo 2
- `203`: Servo 3
- `204`: Servo 4
- `205`: Servo 5
- `206`: Servo 6
- `207`: Servo 7
- `208`: Servo 8
- `301`: Peripheral via Actuator Set 1
- `302`: Peripheral via Actuator Set 2
- `303`: Peripheral via Actuator Set 3
- `304`: Peripheral via Actuator Set 4
- `305`: Peripheral via Actuator Set 5
- `306`: Peripheral via Actuator Set 6
- `400`: Landing Gear
- `401`: Parachute
- `402`: RC Roll
- `403`: RC Pitch
- `404`: RC Throttle
- `405`: RC Yaw
- `406`: RC Flaps
- `407`: RC AUX 1
- `408`: RC AUX 2
- `409`: RC AUX 3
- `410`: RC AUX 4
- `411`: RC AUX 5
- `412`: RC AUX 6
- `420`: Gimbal Roll
- `421`: Gimbal Pitch
- `422`: Gimbal Yaw
- `430`: Gripper
- `440`: Landing Gear Wheel
- `450`: IC Engine Ignition
- `451`: IC Engine Throttle
- `452`: IC Engine Choke
- `453`: IC Engine Starter
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | | | | 0 |
### SIM_GZ_EC_MAX1 (`INT32`) {#SIM_GZ_EC_MAX1}
SIM_GZ ESC 1 Maximum Value.
@@ -5667,6 +6039,36 @@ Maxmimum output value (when not disarmed).
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 1000 |
### SIM_GZ_EC_MAX10 (`INT32`) {#SIM_GZ_EC_MAX10}
SIM_GZ ESC 10 Maximum Value.
Maxmimum output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 1000 |
### SIM_GZ_EC_MAX11 (`INT32`) {#SIM_GZ_EC_MAX11}
SIM_GZ ESC 11 Maximum Value.
Maxmimum output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 1000 |
### SIM_GZ_EC_MAX12 (`INT32`) {#SIM_GZ_EC_MAX12}
SIM_GZ ESC 12 Maximum Value.
Maxmimum output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 1000 |
### SIM_GZ_EC_MAX2 (`INT32`) {#SIM_GZ_EC_MAX2}
SIM_GZ ESC 2 Maximum Value.
@@ -5737,6 +6139,16 @@ Maxmimum output value (when not disarmed).
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 1000 |
### SIM_GZ_EC_MAX9 (`INT32`) {#SIM_GZ_EC_MAX9}
SIM_GZ ESC 9 Maximum Value.
Maxmimum output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 1000 |
### SIM_GZ_EC_MIN1 (`INT32`) {#SIM_GZ_EC_MIN1}
SIM_GZ ESC 1 Minimum Value.
@@ -5747,6 +6159,36 @@ Minimum output value (when not disarmed).
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_MIN10 (`INT32`) {#SIM_GZ_EC_MIN10}
SIM_GZ ESC 10 Minimum Value.
Minimum output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_MIN11 (`INT32`) {#SIM_GZ_EC_MIN11}
SIM_GZ ESC 11 Minimum Value.
Minimum output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_MIN12 (`INT32`) {#SIM_GZ_EC_MIN12}
SIM_GZ ESC 12 Minimum Value.
Minimum output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_MIN2 (`INT32`) {#SIM_GZ_EC_MIN2}
SIM_GZ ESC 2 Minimum Value.
@@ -5817,6 +6259,16 @@ Minimum output value (when not disarmed).
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_MIN9 (`INT32`) {#SIM_GZ_EC_MIN9}
SIM_GZ ESC 9 Minimum Value.
Minimum output value (when not disarmed).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 1000 | | 0 |
### SIM_GZ_EC_REV (`INT32`) {#SIM_GZ_EC_REV}
Reverse Output Range for SIM_GZ.
@@ -5834,10 +6286,14 @@ Note: this is only useful for servos.
- `5`: SIM_GZ ESC 6
- `6`: SIM_GZ ESC 7
- `7`: SIM_GZ ESC 8
- `8`: SIM_GZ ESC 9
- `9`: SIM_GZ ESC 10
- `10`: SIM_GZ ESC 11
- `11`: SIM_GZ ESC 12
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 255 | | 0 |
|   | 0 | 4095 | | 0 |
### SIM_GZ_SV_DIS1 (`INT32`) {#SIM_GZ_SV_DIS1}
@@ -14553,16 +15009,21 @@ If non-negative, then this will be used instead of the online estimated internal
Battery 1 monitoring source.
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.
This parameter controls the source of battery data. The value 'Power Module / Analog'
means that measurements are expected to come from either analog (ADC) inputs
or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
measurements read from the board's ADC channels, typically from an onboard
voltage divider and current shunt, or an external analog power module.
I2C power monitors are digital sensors on the I2C bus.
If the value is set to 'External' then the system expects to receive MAVLink
or CAN battery status messages, or the battery data is published by an external driver.
If the value is set to 'ESCs', the battery information are taken from the esc_status message.
This requires the ESC to provide both voltage as well as current.
This requires the ESC to provide both voltage as well as current (via ESC telemetry).
**Values:**
- `-1`: Disabled
- `0`: Power Module
- `0`: Power Module / Analog
- `1`: External
- `2`: ESCs
@@ -14713,16 +15174,21 @@ If non-negative, then this will be used instead of the online estimated internal
Battery 2 monitoring source.
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.
This parameter controls the source of battery data. The value 'Power Module / Analog'
means that measurements are expected to come from either analog (ADC) inputs
or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
measurements read from the board's ADC channels, typically from an onboard
voltage divider and current shunt, or an external analog power module.
I2C power monitors are digital sensors on the I2C bus.
If the value is set to 'External' then the system expects to receive MAVLink
or CAN battery status messages, or the battery data is published by an external driver.
If the value is set to 'ESCs', the battery information are taken from the esc_status message.
This requires the ESC to provide both voltage as well as current.
This requires the ESC to provide both voltage as well as current (via ESC telemetry).
**Values:**
- `-1`: Disabled
- `0`: Power Module
- `0`: Power Module / Analog
- `1`: External
- `2`: ESCs
@@ -14834,16 +15300,21 @@ If non-negative, then this will be used instead of the online estimated internal
Battery 3 monitoring source.
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.
This parameter controls the source of battery data. The value 'Power Module / Analog'
means that measurements are expected to come from either analog (ADC) inputs
or an I2C power monitor (e.g. INA226). Analog inputs are voltage and current
measurements read from the board's ADC channels, typically from an onboard
voltage divider and current shunt, or an external analog power module.
I2C power monitors are digital sensors on the I2C bus.
If the value is set to 'External' then the system expects to receive MAVLink
or CAN battery status messages, or the battery data is published by an external driver.
If the value is set to 'ESCs', the battery information are taken from the esc_status message.
This requires the ESC to provide both voltage as well as current.
This requires the ESC to provide both voltage as well as current (via ESC telemetry).
**Values:**
- `-1`: Disabled
- `0`: Power Module
- `0`: Power Module / Analog
- `1`: External
- `2`: ESCs
@@ -17270,10 +17741,11 @@ Each threshold value is defined by the parameter indicated next to the check. Dr
- `8`: Vertical speed offset (EKF2_REQ_VDRIFT)
- `9`: Spoofing
- `10`: GPS fix type (EKF2_REQ_FIX)
- `11`: Jamming
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 2047 | | 2047 |
|   | 0 | 4095 | | 2047 |
### EKF2_GPS_CTRL (`INT32`) {#EKF2_GPS_CTRL}
@@ -20170,6 +20642,14 @@ Mode 6 is intended for use with a ground control station (not necessarily an RTK
| ------- | -------- | -------- | --------- | ------- | ---- |
| ✓ | 0 | 1 | | 0 |
### GPS_UBX_PPK (`INT32`) {#GPS_UBX_PPK}
Enable MSM7 message output for PPK workflow.
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| ✓ | | | | Disabled (0) |
### GPS_YAW_OFFSET (`FLOAT`) {#GPS_YAW_OFFSET}
Heading/Yaw offset for dual antenna GPS.
@@ -39457,6 +39937,17 @@ uavcan::equipment::ahrs::MagneticFieldStrength2
| ------- | -------- | -------- | --------- | ----------- | ---- |
| ✓ | | | | Enabled (1) |
### UAVCAN_SUB_MBD (`INT32`) {#UAVCAN_SUB_MBD}
subscription MovingBaselineData.
Enable UAVCAN MovingBaselineData subscription.
ardupilot::gnss::MovingBaselineData
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| ✓ | | | | Disabled (0) |
### UAVCAN_SUB_RNG (`INT32`) {#UAVCAN_SUB_RNG}
subscription range finder.
docs/en/assembly/_assembly.md
+1 -2
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@@ -284,7 +284,7 @@ A particular vehicle might have more/fewer motors and actuators, but the wiring
The following sections explain each part in more detail.
::: tip
If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
If you're using [DroneCAN ESC](../dronecan/escs.md) the control signals will be connected to the CAN BUS instead of the PWM outputs as shown.
:::
### Flight Controller Power
@@ -425,7 +425,6 @@ They recommend sensors, power systems, and other components from the same manufa
- [Drone Components & Parts](../getting_started/px4_basic_concepts.md#drone-components-parts) (Basic Concepts)
- [Payloads](../getting_started/px4_basic_concepts.md#payloads) (Basic Concepts)
- [Hardware Selection & Setup](../hardware/drone_parts.md) — information about connecting and configuring specific flight controllers, sensors and other peripherals (e.g. airspeed sensor for planes).
- [Mounting the Flight Controller](../assembly/mount_and_orient_controller.md)
- [Vibration Isolation](../assembly/vibration_isolation.md)
- [Mounting a Compass](../assembly/mount_gps_compass.md)
docs/en/config_mc/filter_tuning.md
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@@ -70,7 +70,7 @@ Airframes with more than two frequency noise spikes typically clean the first tw
Dynamic notch filters use ESC RPM feedback and/or the onboard FFT analysis.
The ESC RPM feedback is used to track the rotor blade pass frequency and its harmonics, while the FFT analysis can be used to track a frequency of another vibration source, such as a fuel engine.
ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/esc_motors.md#dshot) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
ESC RPM feedback requires ESCs capable of providing RPM feedback such as [DShot](../peripherals/dshot.md) with telemetry connected, a bidirectional DShot set up ([work in progress](https://github.com/PX4/PX4-Autopilot/pull/23863)), or [UAVCAN/DroneCAN ESCs](../dronecan/escs.md).
Before enabling, make sure that the ESC RPM is correct.
You might have to adjust the [pole count of the motors](../advanced_config/parameter_reference.md#MOT_POLE_COUNT).
@@ -92,10 +92,10 @@ To reduce the control latency, we want to increase the cutoff frequency for the
The effect on latency of increasing `IMU_GYRO_CUTOFF` is approximated below.
| Cutoff (Hz) | Delay approx. (ms) |
| ------------ | ------------------ |
| 30 | 8 |
| 60 | 3.8 |
| 120 | 1.9 |
| ----------- | ------------------ |
| 30 | 8 |
| 60 | 3.8 |
| 120 | 1.9 |
However this is a trade-off as increasing `IMU_GYRO_CUTOFF` will also increase the noise of the signal that is fed to the motors.
Noise on the motors has the following consequences:
docs/en/dronecan/escs.md
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@@ -1,7 +1,14 @@
# DroneCAN ESCs
PX4 supports DroneCAN compliant ESCs.
For more information, see the following articles for specific hardware/firmware:
## Supported ESC
:::info
[Supported ESCs](../peripherals/esc_motors#supported-esc) in _ESCs & Motors_ may include additional devices that are not listed below.
:::
The following articles have specific hardware/firmware information:
- [PX4 Sapog ESC Firmware](sapog.md)
- [Holybro Kotleta 20](holybro_kotleta.md)
docs/en/modules/modules_driver.md
+34 -34
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@@ -15,38 +15,6 @@ Subcategories:
- [Rpm Sensor](modules_driver_rpm_sensor.md)
- [Transponder](modules_driver_transponder.md)
## MCP23009
Source: [drivers/gpio/mcp23009](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/gpio/mcp23009)
### Usage {#MCP23009_usage}
```
MCP23009 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 37
[-D <val>] Direction
default: 0
[-O <val>] Output
default: 0
[-P <val>] Pullups
default: 0
[-U <val>] Update Interval [ms]
default: 0
stop
status print status info
```
## atxxxx
Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
@@ -749,6 +717,40 @@ lsm303agr <command> [arguments...]
status print status info
```
## mcp230xx
Source: [lib/drivers/mcp_common](https://github.com/PX4/PX4-Autopilot/tree/main/src/lib/drivers/mcp_common)
### Usage {#mcp230xx_usage}
```
mcp230xx <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 39
[-D <val>] Direction (1=Input, 0=Output)
default: 0
[-O <val>] Output
default: 0
[-P <val>] Pullups
default: 0
[-U <val>] Update Interval [ms]
default: 0
[-M <val>] First minor number
default: 0
stop
status print status info
```
## mcp9808
Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808)
@@ -899,8 +901,6 @@ fetching the latest mixing result and write them to PCA9685 at its scheduling ti
It can do full 12bits output as duty-cycle mode, while also able to output precious pulse width
that can be accepted by most ESCs and servos.
The I2C bus and address can be configured via parameters `PCA9685_EN_BUS` and `PCA9685_I2C_ADDR`, or via command line arguments.
### Examples
It is typically started with:
docs/en/modules/modules_system.md
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@@ -127,6 +127,10 @@ commander <command> [arguments...]
check Run preflight checks
safety Change prearm safety state
on|off [on] to activate safety, [off] to deactivate safety and allow
control surface movements
arm
[-f] Force arming (do not run preflight checks)
docs/en/msg_docs/BatteryStatus.md
+5 -5
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@@ -2,7 +2,7 @@
Battery status
Battery status information for up to 4 battery instances.
Battery status information for up to 3 battery instances.
These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
Battery instance information is also logged and streamed in MAVLink telemetry.
@@ -11,7 +11,7 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
```c
# Battery status
#
# Battery status information for up to 4 battery instances.
# Battery status information for up to 3 battery instances.
# These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
# Battery instance information is also logged and streamed in MAVLink telemetry.
@@ -33,9 +33,9 @@ uint8 cell_count # [-] [@invalid 0] Number of cells
uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module
uint8 SOURCE_EXTERNAL = 1 # External
uint8 SOURCE_ESCS = 2 # ESCs
uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged
docs/en/msg_docs/BatteryStatusV0.md
+3 -3
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@@ -32,9 +32,9 @@ uint8 cell_count # [@invalid 0] Number of cells
uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module
uint8 SOURCE_EXTERNAL = 1 # External
uint8 SOURCE_ESCS = 2 # ESCs
uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged
docs/en/msg_docs/DeviceInformation.md
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@@ -0,0 +1,45 @@
# DeviceInformation (UORB message)
Device information
Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
as well as tracking of the used firmware versions on the devices.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg)
```c
# Device information
#
# Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
# as well as tracking of the used firmware versions on the devices.
uint64 timestamp # time since system start (microseconds)
uint8 device_type # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum
uint8 DEVICE_TYPE_GENERIC = 0 # Generic/unknown sensor
uint8 DEVICE_TYPE_AIRSPEED = 1 # Airspeed sensor
uint8 DEVICE_TYPE_ESC = 2 # ESC
uint8 DEVICE_TYPE_SERVO = 3 # Servo
uint8 DEVICE_TYPE_GPS = 4 # GPS
uint8 DEVICE_TYPE_MAGNETOMETER = 5 # Magnetometer
uint8 DEVICE_TYPE_PARACHUTE = 6 # Parachute
uint8 DEVICE_TYPE_RANGEFINDER = 7 # Rangefinder
uint8 DEVICE_TYPE_WINCH = 8 # Winch
uint8 DEVICE_TYPE_BAROMETER = 9 # Barometer
uint8 DEVICE_TYPE_OPTICAL_FLOW = 10 # Optical flow
uint8 DEVICE_TYPE_ACCELEROMETER = 11 # Accelerometer
uint8 DEVICE_TYPE_GYROSCOPE = 12 # Gyroscope
uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13 # Differential pressure
uint8 DEVICE_TYPE_BATTERY = 14 # Battery
uint8 DEVICE_TYPE_HYGROMETER = 15 # Hygrometer
char[32] vendor_name # Name of the device vendor
char[32] model_name # Name of the device model
uint32 device_id # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles.
char[24] firmware_version # [-] [@invalid empty if not available] Firmware version.
char[24] hardware_version # [-] [@invalid empty if not available] Hardware version.
char[33] serial_number # [-] [@invalid empty if not available] Device serial number or unique identifier.
```
docs/en/msg_docs/EstimatorStatus.md
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@@ -21,6 +21,7 @@ uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position
uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail
uint8 GPS_CHECK_FAIL_SPOOFED = 10 # 10 : GPS signal is spoofed
uint8 GPS_CHECK_FAIL_JAMMED = 11 # 11 : GPS signal is jammed
uint64 control_mode_flags # Bitmask to indicate EKF logic state
uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete
docs/en/msg_docs/GpioIn.md
+1
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@@ -6,6 +6,7 @@ GPIO mask and state
```c
# GPIO mask and state
uint8 MAX_INSTANCES = 8
uint64 timestamp # time since system start (microseconds)
uint32 device_id # Device id
docs/en/msg_docs/GpsDump.md
+5 -1
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@@ -9,11 +9,15 @@ This message is used to dump the raw gps communication to the log.
uint64 timestamp # time since system start (microseconds)
uint8 INSTANCE_MAIN = 0
uint8 INSTANCE_SECONDARY = 1
uint8 instance # Instance of GNSS receiver
uint32 device_id
uint8 len # length of data, MSB bit set = message to the gps device,
# clear = message from the device
uint8[79] data # data to write to the log
uint8 ORB_QUEUE_LENGTH = 8
uint8 ORB_QUEUE_LENGTH = 16
```
docs/en/msg_docs/VehicleCommand.md
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@@ -108,6 +108,7 @@ uint16 VEHICLE_CMD_LOGGING_START = 2510 # Start streaming ULog data.
uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # Stop streaming ULog data.
uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # Control starting/stopping transmitting data over the high latency link.
uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition.
uint16 VEHICLE_CMD_DO_SET_SAFETY_SWITCH_STATE = 5300 # Command safety on/off. |1 to activate safety, 0 to deactivate safety and allow control surface movements|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization.
uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan.
uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment.
@@ -187,6 +188,10 @@ int8 ARMING_ACTION_ARM = 1
uint8 GRIPPER_ACTION_RELEASE = 0
uint8 GRIPPER_ACTION_GRAB = 1
# Used as param1 in DO_SET_SAFETY_SWITCH_STATE command.
uint8 SAFETY_OFF = 0
uint8 SAFETY_ON = 1
uint8 ORB_QUEUE_LENGTH = 8
float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
docs/en/msg_docs/index.md
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@@ -105,6 +105,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [DebugKeyValue](DebugKeyValue.md)
- [DebugValue](DebugValue.md)
- [DebugVect](DebugVect.md)
- [DeviceInformation](DeviceInformation.md) — Device information
- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
- [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
docs/en/peripherals/dshot.md
+4 -2
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@@ -11,6 +11,10 @@ DShot is an alternative ESC protocol that has several advantages over [PWM](../p
This topic shows how to connect and configure DShot ESCs.
## Supported ESC
[ESCs & Motors > Supported ESCs](../peripherals/esc_motors#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).
## Wiring/Connections {#wiring}
DShot ESC are wired the same way as [PWM ESCs](pwm_escs_and_servo.md).
@@ -76,7 +80,6 @@ The most important ones are:
```
- Permanently set the spin direction of a motor connected to FMU output pin 1 (while motors are _not_ spinning):
- Set spin direction to `reversed`:
```sh
@@ -104,7 +107,6 @@ The most important ones are:
```
::: info
- The commands will have no effect if the motors are spinning, or if the ESC is already set to the corresponding direction.
- The ESC will revert to its last saved direction (normal or reversed) on reboot if `save` is not called after changing the direction.
docs/en/peripherals/esc_motors.md
+9 -7
View File
@@ -9,13 +9,14 @@ PX4 supports a number of [common protocols](../esc/esc_protocols.md) for sending
The following list is non-exhaustive.
| ESC Device | Protocols | Firmwares | Notes |
| ---------------------------- | ------------------------------------ | ------------------------ | ----------------------------------------------------- |
| [ARK 4IN1 ESC] | [Dshot], [PWM] | [AM32] | Has versions with/without connnectors |
| [Holybro Kotleta 20] | [DroneCAN], [PWM] | [PX4 Sapog ESC Firmware] | |
| [Vertiq Motor & ESC modules] | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware | Larger modules support DroneCAN, ESC and Motor in one |
| [VESC ESCs] | [DroneCAN], [PWM] | VESC project firmware | |
| [Zubax Telega] | [DroneCAN], [PWM] | Telega-based | ESC and Motor in one |
| ESC Device | Protocols | Firmwares | Notes |
| ------------------------------ | ------------------------------------ | ------------------------ | ----------------------------------------------------- |
| [ARK 4IN1 ESC] | [Dshot], [PWM] | [AM32] | Has versions with/without connnectors |
| [Holybro Kotleta 20] | [DroneCAN], [PWM] | [PX4 Sapog ESC Firmware] | |
| [Vertiq Motor & ESC modules] | [Dshot], [OneShot], Multishot, [PWM] | Vertiq firmware | Larger modules support DroneCAN, ESC and Motor in one |
| [RaccoonLab CAN PWM ESC nodes] | [DroneCAN], Cyphal | | Cyphal and DroneCAN notes for PWM ESC |
| [VESC ESCs] | [DroneCAN], [PWM] | VESC project firmware | |
| [Zubax Telega] | [DroneCAN], [PWM] | Telega-based | ESC and Motor in one |
<!-- Links for table above -->
@@ -29,6 +30,7 @@ The following list is non-exhaustive.
[PWM]: ../peripherals/pwm_escs_and_servo.md
[Holybro Kotleta 20]: ../dronecan/holybro_kotleta.md
[Vertiq Motor & ESC modules]: ../peripherals/vertiq.md
[RaccoonLab CAN PWM nodes]: ../dronecan/raccoonlab_nodes.md
[Zubax Telega]: ../dronecan/zubax_telega.md
## See Also