From f4ea6feb4766aea2dbab63cf1e6c608be6220704 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Wed, 30 Jul 2025 14:25:22 +1000 Subject: [PATCH] Update metadata for modules and params --- .../en/advanced_config/parameter_reference.md | 131 ++++++++++++++++-- docs/en/modules/modules_controller.md | 24 ++++ docs/en/modules/modules_driver_ins.md | 49 ++++++- docs/en/modules/modules_system.md | 2 +- 4 files changed, 192 insertions(+), 14 deletions(-) diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index 6988e54321..301b719658 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -15107,6 +15107,7 @@ Specify USB MAVLink mode. - `10`: gimbal - `11`: onboard_low_bandwidth - `12`: uavionix +- `13`: Low Bandwidth | Reboot | minValue | maxValue | increment | default | unit | | ------- | -------- | -------- | --------- | ------- | ---- | @@ -15924,7 +15925,7 @@ the estimated time it takes to reach the RTL destination. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | 1 | 3 | +|   | | | 1 | 0 | ### COM_FLT_PROFILE (`INT32`) {#COM_FLT_PROFILE} @@ -17009,6 +17010,21 @@ Sets the number of standard deviations used by the innovation consistency test. | ------ | -------- | -------- | --------- | ------- | ---- | |   | 1.0 | | | 3.0 | SD | +### EKF2_AGP_MODE (`INT32`) {#EKF2_AGP_MODE} + +Fusion reset mode. + +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 | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | | | | 0 | + ### EKF2_AGP_NOISE (`FLOAT`) {#EKF2_AGP_NOISE} Measurement noise for aux global position measurements. @@ -20106,6 +20122,20 @@ Auto-detection will probe all protocols, and thus is a bit slower. | ------- | -------- | -------- | --------- | ------- | ---- | | ✓ | 0 | 6 | | 1 | +### GPS_CFG_WIPE (`INT32`) {#GPS_CFG_WIPE} + +Wipes the flash config of UBX modules. + +Some UBX modules have a FLASH that allows to store persistent configuration that will be loaded on start. +PX4 does override all configuration parameters it needs in RAM, which takes precedence over the values in FLASH. +However, configuration parameters that are not overriden by PX4 can still cause unexpected problems during flight. +To avoid these kind of problems a clean config can be reached by wiping the FLASH on boot. +Note: Currently only supported on UBX. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------------ | ---- | +| ✓ | | | | Disabled (0) | + ### GPS_DUMP_COMM (`INT32`) {#GPS_DUMP_COMM} Log GPS communication data. @@ -24938,11 +24968,13 @@ Acceptance radius for fixedwing altitude. Loiter radius (FW only). -Default value of loiter radius in FW mode (e.g. for Loiter mode). +Default value of loiter radius in fixed-wing mode (e.g. for Loiter mode). +The direction of the loiter can be set via the sign: A positive value for +clockwise, negative for counter-clockwise. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | 25 | 1000 | 0.5 | 80.0 | m | +|   | -10000 | 10000 | 0.5 | 80.0 | m | ### NAV_MC_ALT_RAD (`FLOAT`) {#NAV_MC_ALT_RAD} @@ -26644,6 +26676,48 @@ Can be set to increase the amount of integrator available to counteract disturba | ------ | -------- | -------- | --------- | ------- | ---- | |   | 0.0 | | 0.01 | 0.30 | +## Neural Control + +### MC_NN_EN (`INT32`) {#MC_NN_EN} + +If true the neural network control is automatically started on boot. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ----------- | ---- | +|   | | | | Enabled (1) | + +### MC_NN_MANL_CTRL (`INT32`) {#MC_NN_MANL_CTRL} + +Enable or disable setting the trajectory setpoint with manual control. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ----------- | ---- | +| ✓ | | | | Enabled (1) | + +### MC_NN_MAX_RPM (`INT32`) {#MC_NN_MAX_RPM} + +The maximum RPM of the motors. Used to normalize the output of the neural network. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 80000 | | 22000 | + +### MC_NN_MIN_RPM (`INT32`) {#MC_NN_MIN_RPM} + +The minimum RPM of the motors. Used to normalize the output of the neural network. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 80000 | | 1000 | + +### MC_NN_THRST_COEF (`FLOAT`) {#MC_NN_THRST_COEF} + +Thrust coefficient of the motors. Used to normalize the output of the neural network. Divided by 100 000. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0.0 | 5.0 | | 1.2 | + ## OSD ### MSP_OSD_CONFIG (`INT32`) {#MSP_OSD_CONFIG} @@ -26804,14 +26878,6 @@ rel_signal is the relative motor control signal between 0 and 1. ## Payload Deliverer -### PD_GRIPPER_EN (`INT32`) {#PD_GRIPPER_EN} - -Enable Gripper actuation in Payload Deliverer. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------- | -------- | -------- | --------- | ------------ | ---- | -| ✓ | | | | Disabled (0) | - ### PD_GRIPPER_TO (`FLOAT`) {#PD_GRIPPER_TO} Timeout for successful gripper actuation acknowledgement. @@ -26823,7 +26889,7 @@ this time before considering gripper actuation successful and publish a | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0 | | | 3 | s | +|   | 0 | | | 1 | s | ### PD_GRIPPER_TYPE (`INT32`) {#PD_GRIPPER_TYPE} @@ -32137,6 +32203,22 @@ Use SENS_MAG_SIDES instead | ------ | -------- | -------- | --------- | ------- | ---- | |   | | | | 63 | +### ILABS_MODE (`INT32`) {#ILABS_MODE} + +InertialLabs INS sensor mode configuration. + +Configures whether the driver outputs only raw sensor output (the default), +or additionally supplies INS data such as position and velocity estimates. + +**Values:** + +- `0`: Sensors Only (default) +- `1`: INS + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | | | | 0 | + ### IMU_ACCEL_CUTOFF (`FLOAT`) {#IMU_ACCEL_CUTOFF} Low pass filter cutoff frequency for accel. @@ -33308,6 +33390,31 @@ Sets the longest time constant that will be applied to the calculation of GPS po | ------ | -------- | -------- | --------- | ------- | ---- | |   | 1.0 | 100.0 | | 10.0 | s | +### SENS_ILABS_CFG (`INT32`) {#SENS_ILABS_CFG} + +Serial Configuration for InertialLabs. + +Configure on which serial port to run InertialLabs. + +**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 | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0 | + ### SENS_IMU_AUTOCAL (`INT32`) {#SENS_IMU_AUTOCAL} IMU auto calibration. diff --git a/docs/en/modules/modules_controller.md b/docs/en/modules/modules_controller.md index 626633d7b6..f2a6e3a484 100644 --- a/docs/en/modules/modules_controller.md +++ b/docs/en/modules/modules_controller.md @@ -186,6 +186,30 @@ mc_att_control [arguments...] status print status info ``` +## mc_nn_control + +Source: [modules/mc_nn_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_nn_control) + +### Description + +Multicopter Neural Network Control module. +This module is an end-to-end neural network control system for multicopters. +It takes in 15 input values and outputs 4 control actions. +Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)] +Outputs: [Actuator motors(4)] + +### Usage {#mc_nn_control_usage} + +``` +mc_nn_control [arguments...] + Commands: + start + + stop + + status print status info +``` + ## mc_pos_control Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control) diff --git a/docs/en/modules/modules_driver_ins.md b/docs/en/modules/modules_driver_ins.md index 5425ab01f2..2952bacdb0 100644 --- a/docs/en/modules/modules_driver_ins.md +++ b/docs/en/modules/modules_driver_ins.md @@ -1,10 +1,54 @@ # Modules Reference: Ins (Driver) +## ilabs + +Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs) + +### Description + +Serial bus driver for the ILabs sensors. + +Most boards are configured to enable/start the driver on a specified UART using the SENS_ILABS_CFG. +After that you can use the ILABS_MODE parameter to config outputs: + +- Only raw sensor output (the default). +- Sensor output and INS data such as position and velocity estimates. + +Setup/usage information: https://docs.px4.io/main/en/sensor/ilabs.html + +### Examples + +Attempt to start driver on a specified serial device. + +``` +ilabs start -d /dev/ttyS1 +``` + +Stop driver + +``` +ilabs stop +``` + +### Usage {#ilabs_usage} + +``` +ilabs [arguments...] + Commands: + start Start driver + -d Serial device + + status Driver status + + stop Stop driver + + status Print driver status +``` + ## vectornav Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav) - ### Description Serial bus driver for the VectorNav VN-100, VN-200, VN-300. @@ -16,10 +60,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/vectornav.html ### Examples Attempt to start driver on a specified serial device. + ``` vectornav start -d /dev/ttyS1 ``` + Stop driver + ``` vectornav stop ``` diff --git a/docs/en/modules/modules_system.md b/docs/en/modules/modules_system.md index 6c9473873d..c078d9202e 100644 --- a/docs/en/modules/modules_system.md +++ b/docs/en/modules/modules_system.md @@ -146,7 +146,7 @@ commander [arguments...] pair - lockdown + termination on|off Turn lockdown on or off set_ekf_origin