mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 06:33:34 +08:00
Jacob Dahl
5586a666c6
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
290 lines
8.5 KiB
YAML
290 lines
8.5 KiB
YAML
module_name: uavcan
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parameters:
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- group: UAVCAN
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definitions:
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UAVCAN_ENABLE:
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description:
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short: UAVCAN mode
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long: |-
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0 - UAVCAN disabled.
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1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update.
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2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update.
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3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
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type: enum
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values:
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0: Disabled
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1: Sensors Manual Config
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2: Sensors Automatic Config
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3: Sensors and Actuators (ESCs) Automatic Config
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default: 0
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min: 0
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max: 3
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reboot_required: true
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UAVCAN_NODE_ID:
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description:
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short: UAVCAN Node ID
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long: Read the specs at https://dronecan.github.io/ to learn more about Node
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ID.
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type: int32
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default: 1
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min: 1
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max: 125
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reboot_required: true
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UAVCAN_BITRATE:
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description:
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short: UAVCAN CAN bus bitrate
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type: int32
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default: 1000000
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unit: bit/s
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min: 20000
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max: 1000000
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reboot_required: true
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UAVCAN_RNG_MIN:
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description:
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short: UAVCAN rangefinder minimum range
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long: This parameter defines the minimum valid range for a rangefinder connected
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via UAVCAN.
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type: float
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default: 0.0
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unit: m
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UAVCAN_RNG_MAX:
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description:
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short: UAVCAN rangefinder maximum range
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long: This parameter defines the maximum valid range for a rangefinder connected
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via UAVCAN.
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type: float
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default: 999.0
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unit: m
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UAVCAN_ECU_MAXF:
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description:
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short: UAVCAN fuel tank maximum capacity
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long: This parameter defines the maximum fuel capacity of the vehicle's fuel
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tank.
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type: float
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default: 15.0
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min: 0.0
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max: 100000.0
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unit: liters
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decimal: 1
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increment: 0.1
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reboot_required: true
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UAVCAN_ECU_FUELT:
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description:
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short: UAVCAN fuel tank fuel type
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long: |-
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This parameter defines the type of fuel used in the vehicle's fuel tank.
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0: Unknown
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1: Liquid (e.g., gasoline, diesel)
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2: Gas (e.g., hydrogen, methane, propane)
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type: enum
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values:
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0: Unknown
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1: Liquid
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2: Gas
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default: 1
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min: 0
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max: 2
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reboot_required: true
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UAVCAN_LGT_MODE:
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description:
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short: UAVCAN Navigation light operating mode
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long: |-
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This parameter defines the minimum condition under which the system will command
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Navigation lights to turn on. Affects lights with functions: Anti-collision, Colored Navigation Lights or Hybrid lights.
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For hybrid functions (StatusOrAntiCollision, etc.), the light
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displays status colors when this mode is inactive, and switches to the
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navigation light function when this mode becomes active.
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0 - Always off
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1 - When autopilot is armed
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2 - When autopilot is prearmed
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3 - Always on
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type: enum
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values:
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0: Always off
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1: When autopilot is armed
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2: When autopilot is prearmed
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3: Always on
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default: 1
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min: 0
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max: 3
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reboot_required: true
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UAVCAN_PUB_ARM:
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description:
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short: publish Arming Status stream
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long: |-
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Enable UAVCAN Arming Status stream publication
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uavcan::equipment::safety::ArmingStatus
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_PUB_RTCM:
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description:
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short: publish RTCM stream
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long: |-
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Enable UAVCAN RTCM stream publication
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uavcan::equipment::gnss::RTCMStream
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_PUB_MBD:
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description:
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short: publish moving baseline data RTCM stream
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long: |-
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Enable UAVCAN RTCM stream publication
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ardupilot::gnss::MovingBaselineData
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_ASPD:
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description:
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short: subscription airspeed
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long: |-
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Enable UAVCAN airspeed subscriptions.
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uavcan::equipment::air_data::IndicatedAirspeed
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uavcan::equipment::air_data::TrueAirspeed
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uavcan::equipment::air_data::StaticTemperature
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_BARO:
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description:
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short: subscription barometer
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long: |-
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Enable UAVCAN barometer subscription.
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uavcan::equipment::air_data::StaticPressure
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uavcan::equipment::air_data::StaticTemperature
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_BAT:
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description:
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short: subscription battery
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long: |-
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Enable UAVCAN battery subscription.
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uavcan::equipment::power::BatteryInfo
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ardupilot::equipment::power::BatteryInfoAux
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cuav::equipment::power::CBAT
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0 - Disable
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1 - Use raw data. Recommended for Smart battery
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2 - Filter the data with internal battery library (unsupported with CBAT)
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type: enum
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values:
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0: Disable
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1: Raw data
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2: Filter data
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default: 0
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min: 0
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max: 2
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reboot_required: true
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UAVCAN_SUB_DPRES:
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description:
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short: subscription differential pressure
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long: |-
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Enable UAVCAN differential pressure subscription.
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uavcan::equipment::air_data::RawAirData
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_FLOW:
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description:
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short: subscription flow
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long: Enable UAVCAN optical flow subscription.
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_FUEL:
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description:
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short: subscription fuel tank
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long: Enable UAVCAN fuel tank status subscription.
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_GPS:
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description:
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short: subscription GPS
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long: |-
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Enable UAVCAN GPS subscriptions.
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uavcan::equipment::gnss::Fix
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uavcan::equipment::gnss::Fix2
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uavcan::equipment::gnss::Auxiliary
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type: boolean
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default: 1
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reboot_required: true
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UAVCAN_SUB_GPS_R:
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description:
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short: subscription GPS Relative
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long: |-
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Enable UAVCAN GPS Relative subscription.
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ardupilot::gnss::RelPosHeading
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type: boolean
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default: 1
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reboot_required: true
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UAVCAN_SUB_HYGRO:
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description:
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short: subscription hygrometer
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long: |-
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Enable UAVCAN hygrometer subscriptions.
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dronecan::sensors::hygrometer::Hygrometer
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_ICE:
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description:
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short: subscription ICE
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long: |-
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Enable UAVCAN internal combustion engine (ICE) subscription.
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uavcan::equipment::ice::reciprocating::Status
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_IMU:
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description:
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short: subscription IMU
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long: |-
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Enable UAVCAN IMU subscription.
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uavcan::equipment::ahrs::RawIMU
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_MAG:
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description:
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short: subscription magnetometer
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long: |-
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Enable UAVCAN mag subscription.
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uavcan::equipment::ahrs::MagneticFieldStrength
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uavcan::equipment::ahrs::MagneticFieldStrength2
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type: boolean
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default: 1
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reboot_required: true
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UAVCAN_SUB_RNG:
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description:
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short: subscription range finder
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long: |-
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Enable UAVCAN range finder subscription.
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uavcan::equipment::range_sensor::Measurement
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_BTN:
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description:
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short: subscription button
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long: |-
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Enable UAVCAN button subscription.
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ardupilot::indication::Button
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type: boolean
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default: 0
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reboot_required: true
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UAVCAN_SUB_MBD:
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description:
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short: subscription MovingBaselineData
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long: |-
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Enable UAVCAN MovingBaselineData subscription.
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ardupilot::gnss::MovingBaselineData
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type: boolean
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default: 0
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reboot_required: true
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