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---------

Co-authored-by: PX4BuildBot <bot@pixhawk.org>
This commit is contained in:
Hamish Willee
2025-05-28 12:23:02 +10:00
committed by GitHub
co-authored by PX4BuildBot
parent effcb32a3e
commit eb72925045
53 changed files with 937 additions and 783 deletions
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docs/en/advanced_config/parameter_reference.md
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@@ -17304,14 +17304,6 @@ Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.2 | 1.0 | 0.05 | 0.4 | s
### FW_SPOILERS_LND (`FLOAT`) {#FW_SPOILERS_LND}
Spoiler landing setting.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 0. | norm
### FW_WR_FF (`FLOAT`) {#FW_WR_FF}
Wheel steering rate feed forward.
@@ -17378,6 +17370,16 @@ Reboot | minValue | maxValue | increment | default | unit
## FW Auto Landing
### FW_FLAPS_LND_SCL (`FLOAT`) {#FW_FLAPS_LND_SCL}
Flaps setting during landing.
Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 1.0 | norm
### FW_LND_ABORT (`INT32`) {#FW_LND_ABORT}
Bit mask to set the automatic landing abort conditions.
@@ -17536,29 +17538,25 @@ Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0 | 2 | | 1 |
## FW Geometry
### FW_SPOILERS_LND (`FLOAT`) {#FW_SPOILERS_LND}
### FW_WING_HEIGHT (`FLOAT`) {#FW_WING_HEIGHT}
Height (AGL) of the wings when the aircraft is on the ground.
This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (> 0m)
Spoiler landing setting.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | | 1 | 0.5 | m
&nbsp; | 0.0 | 1.0 | 0.01 | 0. | norm
### FW_WING_SPAN (`FLOAT`) {#FW_WING_SPAN}
## FW Auto Takeoff
The aircraft's wing span (length from tip to tip).
### FW_FLAPS_TO_SCL (`FLOAT`) {#FW_FLAPS_TO_SCL}
This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)
Flaps setting during take-off.
Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.1 | | 0.1 | 3.0 | m
## FW Launch detection
&nbsp; | 0.0 | 1.0 | 0.01 | 0.0 | norm
### FW_LAUN_AC_T (`FLOAT`) {#FW_LAUN_AC_T}
@@ -17600,6 +17598,374 @@ Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 10.0 | 0.5 | 0.0 | s
### FW_TKO_AIRSPD (`FLOAT`) {#FW_TKO_AIRSPD}
Takeoff Airspeed.
The calibrated airspeed setpoint during the takeoff climbout. If set <= 0, FW_AIRSPD_MIN will be set by default.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -1.0 | | 0.1 | -1.0 | m/s
### FW_TKO_PITCH_MIN (`FLOAT`) {#FW_TKO_PITCH_MIN}
Minimum pitch during takeoff.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -5.0 | 30.0 | 0.5 | 10.0 | deg
## FW General
### FW_GPSF_LT (`INT32`) {#FW_GPSF_LT}
GPS failure loiter time.
The time the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0 | 3600 | | 30 | s
### FW_GPSF_R (`FLOAT`) {#FW_GPSF_R}
GPS failure fixed roll angle.
Roll angle in GPS failure loiter mode.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 30.0 | 0.5 | 15.0 | deg
### FW_POS_STK_CONF (`INT32`) {#FW_POS_STK_CONF}
Custom stick configuration.
Applies in manual Position and Altitude flight modes.
**Bitmask:**
- `0`: Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)
- `1`: Enable airspeed setpoint via sticks in altitude and position flight mode
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0 | 3 | | 2 |
### FW_P_LIM_MAX (`FLOAT`) {#FW_P_LIM_MAX}
Maximum pitch angle setpoint.
Applies in any altitude controlled flight mode.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 60.0 | 0.5 | 30.0 | deg
### FW_P_LIM_MIN (`FLOAT`) {#FW_P_LIM_MIN}
Minimum pitch angle setpoint.
Applies in any altitude controlled flight mode.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -60.0 | 0.0 | 0.5 | -30.0 | deg
### FW_R_LIM (`FLOAT`) {#FW_R_LIM}
Maximum roll angle setpoint.
Applies in any altitude controlled flight mode.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 35.0 | 65.0 | 0.5 | 50.0 | deg
### FW_THR_IDLE (`FLOAT`) {#FW_THR_IDLE}
Idle throttle.
This is the minimum throttle while on the ground ("landed") in auto modes.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 0.4 | 0.01 | 0.0 | norm
### FW_THR_MAX (`FLOAT`) {#FW_THR_MAX}
Throttle limit max.
Applies in any altitude controlled flight mode. Should be set accordingly to achieve FW_T_CLMB_MAX.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 1.0 | norm
### FW_THR_MIN (`FLOAT`) {#FW_THR_MIN}
Throttle limit min.
Applies in any altitude controlled flight mode. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 0.0 | norm
### FW_T_CLMB_R_SP (`FLOAT`) {#FW_T_CLMB_R_SP}
Default target climbrate.
In auto modes: default climb rate output by controller to achieve altitude setpoints. In manual modes: maximum climb rate setpoint.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.5 | 15 | 0.01 | 3.0 | m/s
### FW_T_SINK_R_SP (`FLOAT`) {#FW_T_SINK_R_SP}
Default target sinkrate.
In auto modes: default sink rate output by controller to achieve altitude setpoints. In manual modes: maximum sink rate setpoint.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.5 | 15 | 0.01 | 2.0 | m/s
### FW_T_SPDWEIGHT (`FLOAT`) {#FW_T_SPDWEIGHT}
Speed <--> Altitude weight.
Adjusts the amount of weighting that the pitch control applies to speed vs height errors. 0 -> control height only 2 -> control speed only (gliders)
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 2.0 | 1.0 | 1.0 |
### FW_WING_HEIGHT (`FLOAT`) {#FW_WING_HEIGHT}
Height (AGL) of the wings when the aircraft is on the ground.
This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer to give a slight margin here (> 0m)
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | | 1 | 0.5 | m
### FW_WING_SPAN (`FLOAT`) {#FW_WING_SPAN}
The aircraft's wing span (length from tip to tip).
This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.1 | | 0.1 | 3.0 | m
## FW Lateral Control
### FW_PN_R_SLEW_MAX (`FLOAT`) {#FW_PN_R_SLEW_MAX}
Path navigation roll slew rate limit.
Maximum change in roll angle setpoint per second. Applied in all Auto modes, plus manual Position & Altitude modes.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0 | | 1 | 90.0 | deg/s
## FW Longitudinal Control
### FW_GND_SPD_MIN (`FLOAT`) {#FW_GND_SPD_MIN}
Minimum groundspeed.
The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 40 | 0.5 | 5.0 | m/s
### FW_THR_SLEW_MAX (`FLOAT`) {#FW_THR_SLEW_MAX}
Throttle max slew rate.
Maximum slew rate for the commanded throttle
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 0.0 |
### FW_T_ALT_TC (`FLOAT`) {#FW_T_ALT_TC}
Altitude error time constant.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 2.0 | | 0.5 | 5.0 |
### FW_T_F_ALT_ERR (`FLOAT`) {#FW_T_F_ALT_ERR}
Fast descend: minimum altitude error.
Minimum altitude error needed to descend with max airspeed and minimal throttle. A negative value disables fast descend.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -1.0 | | | -1.0 |
### FW_T_HRATE_FF (`FLOAT`) {#FW_T_HRATE_FF}
Height rate feed forward.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.05 | 0.3 |
### FW_T_I_GAIN_PIT (`FLOAT`) {#FW_T_I_GAIN_PIT}
Integrator gain pitch.
Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 2.0 | 0.05 | 0.1 |
### FW_T_PTCH_DAMP (`FLOAT`) {#FW_T_PTCH_DAMP}
Pitch damping gain.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 2.0 | 0.1 | 0.1 |
### FW_T_RLL2THR (`FLOAT`) {#FW_T_RLL2THR}
Roll -> Throttle feedforward.
Is used to compensate for the additional drag created by turning. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 20.0 | 0.5 | 15.0 |
### FW_T_SEB_R_FF (`FLOAT`) {#FW_T_SEB_R_FF}
Specific total energy balance rate feedforward gain.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.5 | 3 | 0.01 | 1.0 |
### FW_T_SINK_MAX (`FLOAT`) {#FW_T_SINK_MAX}
Maximum descent rate.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 1.0 | 15.0 | 0.5 | 5.0 | m/s
### FW_T_SPD_DEV_STD (`FLOAT`) {#FW_T_SPD_DEV_STD}
Airspeed rate measurement standard deviation.
For the airspeed filter in TECS.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.01 | 10.0 | 0.1 | 0.2 | m/s^2
### FW_T_SPD_PRC_STD (`FLOAT`) {#FW_T_SPD_PRC_STD}
Process noise standard deviation for the airspeed rate.
This is defining the noise in the airspeed rate for the constant airspeed rate model of the TECS airspeed filter.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.01 | 10.0 | 0.1 | 0.2 | m/s^2
### FW_T_SPD_STD (`FLOAT`) {#FW_T_SPD_STD}
Airspeed measurement standard deviation.
For the airspeed filter in TECS.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.01 | 10.0 | 0.1 | 0.07 | m/s
### FW_T_STE_R_TC (`FLOAT`) {#FW_T_STE_R_TC}
Specific total energy rate first order filter time constant.
This filter is applied to the specific total energy rate used for throttle damping.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 2 | 0.01 | 0.4 |
### FW_T_TAS_TC (`FLOAT`) {#FW_T_TAS_TC}
True airspeed error time constant.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 2.0 | | 0.5 | 5.0 |
### FW_T_THR_DAMPING (`FLOAT`) {#FW_T_THR_DAMPING}
Throttle damping factor.
This is the damping gain for the throttle demand loop.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 0.05 |
### FW_T_THR_INTEG (`FLOAT`) {#FW_T_THR_INTEG}
Integrator gain throttle.
Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.005 | 0.02 |
### FW_T_THR_LOW_HGT (`FLOAT`) {#FW_T_THR_LOW_HGT}
Low-height threshold for tighter altitude tracking.
Height above ground threshold below which tighter altitude tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly (1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC to FW_LND_THRTC_SC*FW_T_ALT_TC. -1 to disable.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -1 | | 1 | -1. | m
### FW_T_VERT_ACC (`FLOAT`) {#FW_T_VERT_ACC}
Maximum vertical acceleration.
This is the maximum vertical acceleration either up or down that the controller will use to correct speed or height errors.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 1.0 | 10.0 | 0.5 | 7.0 | m/s^2
### FW_WIND_ARSP_SC (`FLOAT`) {#FW_WIND_ARSP_SC}
Wind-based airspeed scaling factor.
Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0 | | 0.01 | 0. |
## FW NPFG Control
### NPFG_DAMPING (`FLOAT`) {#NPFG_DAMPING}
@@ -17612,24 +17978,6 @@ Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.10 | 1.00 | 0.01 | 0.7 |
### NPFG_EN_MIN_GSP (`INT32`) {#NPFG_EN_MIN_GSP}
Enable minimum forward ground speed maintaining excess wind handling logic.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | | | | Enabled (1) |
### NPFG_GSP_MAX_TK (`FLOAT`) {#NPFG_GSP_MAX_TK}
Maximum, minimum forward ground speed for track keeping in excess wind.
The maximum value of the minimum forward ground speed that may be commanded by the track keeping excess wind handling logic. Commanded in full at the normalized track error fraction of the track error boundary and reduced to zero on track.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 10.0 | 0.5 | 5.0 | m/s
### NPFG_LB_PERIOD (`INT32`) {#NPFG_LB_PERIOD}
Enable automatic lower bound on the NPFG period.
@@ -17680,14 +18028,6 @@ Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.1 | 1.0 | 0.01 | 0.32 |
### NPFG_TRACK_KEEP (`INT32`) {#NPFG_TRACK_KEEP}
Enable track keeping excess wind handling logic.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | | | | Enabled (1) |
### NPFG_UB_PERIOD (`INT32`) {#NPFG_UB_PERIOD}
Enable automatic upper bound on the NPFG period.
@@ -17698,64 +18038,18 @@ Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | | | | Enabled (1) |
### NPFG_WIND_REG (`INT32`) {#NPFG_WIND_REG}
Enable wind excess regulation.
Disabling this parameter further disables all other airspeed incrementation options.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | | | | Enabled (1) |
## FW Path Control
### FW_PN_R_SLEW_MAX (`FLOAT`) {#FW_PN_R_SLEW_MAX}
Path navigation roll slew rate limit.
Maximum change in roll angle setpoint per second. Applied in all Auto modes, plus manual Position & Altitude modes.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0 | | 1 | 90.0 | deg/s
### FW_POS_STK_CONF (`INT32`) {#FW_POS_STK_CONF}
Custom stick configuration.
Applies in manual Position and Altitude flight modes.
**Bitmask:**
- `0`: Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)
- `1`: Enable airspeed setpoint via sticks in altitude and position flight mode
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0 | 3 | | 2 |
### FW_R_LIM (`FLOAT`) {#FW_R_LIM}
Maximum roll angle setpoint.
Applies in any altitude controlled flight mode.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 35.0 | 65.0 | 0.5 | 50.0 | deg
### FW_TKO_PITCH_MIN (`FLOAT`) {#FW_TKO_PITCH_MIN}
Minimum pitch during takeoff.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -5.0 | 30.0 | 0.5 | 10.0 | deg
## FW Performance
### FW_AIRSPD_FLP_SC (`FLOAT`) {#FW_AIRSPD_FLP_SC}
Airspeed scale with full flaps.
Factor applied to the minimum and stall airspeed when flaps are fully deployed.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.5 | 1 | 0.01 | 1. |
### FW_AIRSPD_MAX (`FLOAT`) {#FW_AIRSPD_MAX}
Maximum Airspeed (CAS).
@@ -17992,26 +18286,6 @@ Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -0.5 | 0.5 | 0.01 | 0.0 |
### FW_FLAPS_LND_SCL (`FLOAT`) {#FW_FLAPS_LND_SCL}
Flaps setting during landing.
Sets a fraction of full flaps during landing. Also applies to flaperons if enabled in the mixer/allocation.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 1.0 | norm
### FW_FLAPS_TO_SCL (`FLOAT`) {#FW_FLAPS_TO_SCL}
Flaps setting during take-off.
Sets a fraction of full flaps during take-off. Also applies to flaperons if enabled in the mixer/allocation.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 0.0 | norm
### FW_MAN_P_SC (`FLOAT`) {#FW_MAN_P_SC}
Manual pitch scale.
@@ -18207,286 +18481,6 @@ Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 10 | 0.005 | 0.05 | %/rad/s
## FW TECS
### FW_GND_SPD_MIN (`FLOAT`) {#FW_GND_SPD_MIN}
Minimum groundspeed.
The controller will increase the commanded airspeed to maintain this minimum groundspeed to the next waypoint.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 40 | 0.5 | 5.0 | m/s
### FW_P_LIM_MAX (`FLOAT`) {#FW_P_LIM_MAX}
Maximum pitch angle setpoint.
Applies in any altitude controlled flight mode.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 60.0 | 0.5 | 30.0 | deg
### FW_P_LIM_MIN (`FLOAT`) {#FW_P_LIM_MIN}
Minimum pitch angle setpoint.
Applies in any altitude controlled flight mode.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -60.0 | 0.0 | 0.5 | -30.0 | deg
### FW_THR_IDLE (`FLOAT`) {#FW_THR_IDLE}
Idle throttle.
This is the minimum throttle while on the ground ("landed") in auto modes.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 0.4 | 0.01 | 0.0 | norm
### FW_THR_MAX (`FLOAT`) {#FW_THR_MAX}
Throttle limit max.
Applies in any altitude controlled flight mode. Should be set accordingly to achieve FW_T_CLMB_MAX.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 1.0 | norm
### FW_THR_MIN (`FLOAT`) {#FW_THR_MIN}
Throttle limit min.
Applies in any altitude controlled flight mode. Usually set to 0 but can be increased to prevent the motor from stopping when descending, which can increase achievable descent rates.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 0.0 | norm
### FW_THR_SLEW_MAX (`FLOAT`) {#FW_THR_SLEW_MAX}
Throttle max slew rate.
Maximum slew rate for the commanded throttle
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 0.0 |
### FW_TKO_AIRSPD (`FLOAT`) {#FW_TKO_AIRSPD}
Takeoff Airspeed.
The calibrated airspeed setpoint during the takeoff climbout. If set <= 0, FW_AIRSPD_MIN will be set by default.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -1.0 | | 0.1 | -1.0 | m/s
### FW_T_ALT_TC (`FLOAT`) {#FW_T_ALT_TC}
Altitude error time constant.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 2.0 | | 0.5 | 5.0 |
### FW_T_CLMB_R_SP (`FLOAT`) {#FW_T_CLMB_R_SP}
Default target climbrate.
In auto modes: default climb rate output by controller to achieve altitude setpoints. In manual modes: maximum climb rate setpoint.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.5 | 15 | 0.01 | 3.0 | m/s
### FW_T_F_ALT_ERR (`FLOAT`) {#FW_T_F_ALT_ERR}
Fast descend: minimum altitude error.
Minimum altitude error needed to descend with max airspeed and minimal throttle. A negative value disables fast descend.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -1.0 | | | -1.0 |
### FW_T_HRATE_FF (`FLOAT`) {#FW_T_HRATE_FF}
Height rate feed forward.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.05 | 0.3 |
### FW_T_I_GAIN_PIT (`FLOAT`) {#FW_T_I_GAIN_PIT}
Integrator gain pitch.
Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 2.0 | 0.05 | 0.1 |
### FW_T_PTCH_DAMP (`FLOAT`) {#FW_T_PTCH_DAMP}
Pitch damping gain.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 2.0 | 0.1 | 0.1 |
### FW_T_RLL2THR (`FLOAT`) {#FW_T_RLL2THR}
Roll -> Throttle feedforward.
Is used to compensate for the additional drag created by turning. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 20.0 | 0.5 | 15.0 |
### FW_T_SEB_R_FF (`FLOAT`) {#FW_T_SEB_R_FF}
Specific total energy balance rate feedforward gain.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.5 | 3 | 0.01 | 1.0 |
### FW_T_SINK_MAX (`FLOAT`) {#FW_T_SINK_MAX}
Maximum descent rate.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 1.0 | 15.0 | 0.5 | 5.0 | m/s
### FW_T_SINK_R_SP (`FLOAT`) {#FW_T_SINK_R_SP}
Default target sinkrate.
In auto modes: default sink rate output by controller to achieve altitude setpoints. In manual modes: maximum sink rate setpoint.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.5 | 15 | 0.01 | 2.0 | m/s
### FW_T_SPDWEIGHT (`FLOAT`) {#FW_T_SPDWEIGHT}
Speed <--> Altitude weight.
Adjusts the amount of weighting that the pitch control applies to speed vs height errors. 0 -> control height only 2 -> control speed only (gliders)
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 2.0 | 1.0 | 1.0 |
### FW_T_SPD_DEV_STD (`FLOAT`) {#FW_T_SPD_DEV_STD}
Airspeed rate measurement standard deviation.
For the airspeed filter in TECS.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.01 | 10.0 | 0.1 | 0.2 | m/s^2
### FW_T_SPD_PRC_STD (`FLOAT`) {#FW_T_SPD_PRC_STD}
Process noise standard deviation for the airspeed rate.
This is defining the noise in the airspeed rate for the constant airspeed rate model of the TECS airspeed filter.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.01 | 10.0 | 0.1 | 0.2 | m/s^2
### FW_T_SPD_STD (`FLOAT`) {#FW_T_SPD_STD}
Airspeed measurement standard deviation.
For the airspeed filter in TECS.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.01 | 10.0 | 0.1 | 0.07 | m/s
### FW_T_STE_R_TC (`FLOAT`) {#FW_T_STE_R_TC}
Specific total energy rate first order filter time constant.
This filter is applied to the specific total energy rate used for throttle damping.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 2 | 0.01 | 0.4 |
### FW_T_TAS_TC (`FLOAT`) {#FW_T_TAS_TC}
True airspeed error time constant.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 2.0 | | 0.5 | 5.0 |
### FW_T_THR_DAMPING (`FLOAT`) {#FW_T_THR_DAMPING}
Throttle damping factor.
This is the damping gain for the throttle demand loop.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 0.05 |
### FW_T_THR_INTEG (`FLOAT`) {#FW_T_THR_INTEG}
Integrator gain throttle.
Increase it to trim out speed and height offsets faster, with the downside of possible overshoots and oscillations.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.005 | 0.02 |
### FW_T_THR_LOW_HGT (`FLOAT`) {#FW_T_THR_LOW_HGT}
Low-height threshold for tighter altitude tracking.
Height above ground threshold below which tighter altitude tracking gets enabled (see FW_LND_THRTC_SC). Below this height, TECS smoothly (1 sec / sec) transitions the altitude tracking time constant from FW_T_ALT_TC to FW_LND_THRTC_SC*FW_T_ALT_TC. -1 to disable.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | -1 | | 1 | -1. | m
### FW_T_VERT_ACC (`FLOAT`) {#FW_T_VERT_ACC}
Maximum vertical acceleration.
This is the maximum vertical acceleration either up or down that the controller will use to correct speed or height errors.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 1.0 | 10.0 | 0.5 | 7.0 | m/s^2
### FW_WIND_ARSP_SC (`FLOAT`) {#FW_WIND_ARSP_SC}
Wind-based airspeed scaling factor.
Multiplying this factor with the current absolute wind estimate gives the airspeed offset added to the minimum airspeed setpoint limit. This helps to make the system more robust against disturbances (turbulence) in high wind.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0 | | 0.01 | 0. |
## Failure Detector
### FD_ACT_EN (`INT32`) {#FD_ACT_EN}
@@ -23288,26 +23282,6 @@ Reboot | minValue | maxValue | increment | default | unit
## Mission
### FW_GPSF_LT (`INT32`) {#FW_GPSF_LT}
GPS failure loiter time.
The time the system should do open loop loiter and wait for GPS recovery before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0 | 3600 | | 30 | s
### FW_GPSF_R (`FLOAT`) {#FW_GPSF_R}
GPS failure fixed roll angle.
Roll angle in GPS failure loiter mode.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 30.0 | 0.5 | 15.0 | deg
### MIS_COMMAND_TOUT (`FLOAT`) {#MIS_COMMAND_TOUT}
Timeout to allow the payload to execute the mission command.
@@ -23957,7 +23931,7 @@ Limits the acceleration of the yaw setpoint to avoid large control output and mi
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 5 | 360 | 5 | 60. | deg/s^2
&nbsp; | 5 | 360 | 5 | 20. | deg/s^2
### MPC_YAWRAUTO_MAX (`FLOAT`) {#MPC_YAWRAUTO_MAX}
@@ -23967,7 +23941,7 @@ Limits the rate of change of the yaw setpoint to avoid large control output and
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 5 | 360 | 5 | 45. | deg/s
&nbsp; | 5 | 360 | 5 | 60. | deg/s
## Multicopter Position Control
@@ -28072,38 +28046,14 @@ Reboot | minValue | maxValue | increment | default | unit
## Runway Takeoff
### RWTO_HDG (`INT32`) {#RWTO_HDG}
Specifies which heading should be held during the runway takeoff ground roll.
0: airframe heading when takeoff is initiated 1: position control along runway direction (bearing defined from vehicle position on takeoff initiation to MAV_CMD_TAKEOFF position defined by operator)
**Values:**
- `0`: Airframe
- `1`: Runway
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0 | 1 | | 0 |
### RWTO_MAX_THR (`FLOAT`) {#RWTO_MAX_THR}
Max throttle during runway takeoff.
Throttle during runway takeoff.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 0.0 | 1.0 | 0.01 | 1.0 | norm
### RWTO_NPFG_PERIOD (`FLOAT`) {#RWTO_NPFG_PERIOD}
NPFG period while steering on runway.
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&nbsp; | 1.0 | 100.0 | 0.1 | 5.0 | s
### RWTO_NUDGE (`INT32`) {#RWTO_NUDGE}
Enable use of yaw stick for nudging the wheel during runway ground roll.
@@ -28274,11 +28224,12 @@ This integer bitmask controls the set and rates of logged topics. The default al
- `8`: Raw FIFO high-rate IMU (Gyro)
- `9`: Raw FIFO high-rate IMU (Accel)
- `10`: Mavlink tunnel message logging
- `11`: High rate sensors
Reboot | minValue | maxValue | increment | default | unit
--- | --- | --- | --- | --- | ---
&check; | 0 | 2047 | | 1 |
&check; | 0 | 4095 | | 1 |
### SDLOG_UTC_OFFSET (`INT32`) {#SDLOG_UTC_OFFSET}