fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-26 10:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
Files
f4eaea99c55e160ef2471d31ec1ab3b476e16ac7
PX4-Autopilot/src/modules/sensors/sensor_params.c
T
Beat Küng 4afa931d80 voted_sensors_update: fix mag rotation 
fixes a wrong index for _mag_device_id: previously, driver_index was used
(the CAL_MAG param index), but the correct index is the uorb topic
instance.
2017-06-17 06:36:54 +02:00

3546 lines
68 KiB
C
Raw Blame History

/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sensor_params.c
*
* Parameters defined by the sensors task.
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Julian Oes <julian@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
/**
* ID of the board this parameter set was calibrated on.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_BOARD_ID, 0);
/**
* ID of the Gyro that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO0_ID, 0);
/**
* Gyro X-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @min -5.0
* @max 5.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_ZOFF, 0.0f);
/**
* Gyro X-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_XSCALE, 1.0f);
/**
* Gyro Y-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_YSCALE, 1.0f);
/**
* Gyro Z-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO0_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
/**
* Rotation of magnetometer 0 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal mag
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
*
* @min -1
* @max 30
* @reboot_required true
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG0_ZSCALE, 1.0f);
/**
* ID of the Accelerometer that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC0_ID, 0);
/**
* Accelerometer X-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC0_ZSCALE, 1.0f);
/**
* ID of the Gyro that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO1_ID, 0);
/**
* Gyro X-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @min -5.0
* @max 5.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_ZOFF, 0.0f);
/**
* Gyro X-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_XSCALE, 1.0f);
/**
* Gyro Y-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_YSCALE, 1.0f);
/**
* Gyro Z-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO1_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
/**
* Rotation of magnetometer 1 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal mag
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
*
* @min -1
* @max 30
* @reboot_required true
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG1_ZSCALE, 1.0f);
/**
* ID of the Accelerometer that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC1_ID, 0);
/**
* Accelerometer X-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC1_ZSCALE, 1.0f);
/**
* ID of the Gyro that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO2_ID, 0);
/**
* Gyro X-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_XOFF, 0.0f);
/**
* Gyro Y-axis offset
*
* @min -10.0
* @max 10.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_YOFF, 0.0f);
/**
* Gyro Z-axis offset
*
* @min -5.0
* @max 5.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_ZOFF, 0.0f);
/**
* Gyro X-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_XSCALE, 1.0f);
/**
* Gyro Y-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_YSCALE, 1.0f);
/**
* Gyro Z-axis scaling factor
*
* @min -1.5
* @max 1.5
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_GYRO2_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
/**
* Rotation of magnetometer 2 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal mag
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
*
* @min -1
* @max 30
* @reboot_required true
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG2_ZSCALE, 1.0f);
/**
* ID of the Accelerometer that the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC2_ID, 0);
/**
* Accelerometer X-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_XOFF, 0.0f);
/**
* Accelerometer Y-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_YOFF, 0.0f);
/**
* Accelerometer Z-axis offset
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_ZOFF, 0.0f);
/**
* Accelerometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_XSCALE, 1.0f);
/**
* Accelerometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_YSCALE, 1.0f);
/**
* Accelerometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_ACC2_ZSCALE, 1.0f);
/**
* ID of Magnetometer the calibration is for.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG3_ID, 0);
/**
* Rotation of magnetometer 2 relative to airframe.
*
* An internal magnetometer will force a value of -1, so a GCS
* should only attempt to configure the rotation if the value is
* greater than or equal to zero.
*
* @value -1 Internal mag
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
*
* @min -1
* @max 30
* @reboot_required true
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG3_ROT, -1);
/**
* Magnetometer X-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_XOFF, 0.0f);
/**
* Magnetometer Y-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_YOFF, 0.0f);
/**
* Magnetometer Z-axis offset
*
* @min -500.0
* @max 500.0
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_ZOFF, 0.0f);
/**
* Magnetometer X-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_XSCALE, 1.0f);
/**
* Magnetometer Y-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_YSCALE, 1.0f);
/**
* Magnetometer Z-axis scaling factor
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(CAL_MAG3_ZSCALE, 1.0f);
/**
* Primary accel ID
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_ACC_PRIME, 0);
/**
* Primary gyro ID
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_GYRO_PRIME, 0);
/**
* Primary mag ID
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG_PRIME, 0);
/**
* Bitfield selecting mag sides for calibration
*
* DETECT_ORIENTATION_TAIL_DOWN = 1
* DETECT_ORIENTATION_NOSE_DOWN = 2
* DETECT_ORIENTATION_LEFT = 4
* DETECT_ORIENTATION_RIGHT = 8
* DETECT_ORIENTATION_UPSIDE_DOWN = 16
* DETECT_ORIENTATION_RIGHTSIDE_UP = 32
*
* @min 34
* @max 63
* @value 34 Two side calibration
* @value 38 Three side calibration
* @value 63 Six side calibration
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG_SIDES, 63);
/**
* Primary baro ID
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_BARO_PRIME, 0);
/**
* Differential pressure sensor offset
*
* The offset (zero-reading) in Pascal
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
/**
* Differential pressure sensor analog scaling
*
* Pick the appropriate scaling from the datasheet.
* this number defines the (linear) conversion from voltage
* to Pascal (pa). For the MPXV7002DP this is 1000.
*
* NOTE: If the sensor always registers zero, try switching
* the static and dynamic tubes.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
/**
* QNH for barometer
*
* @min 500
* @max 1500
* @group Sensor Calibration
* @unit hPa
*/
PARAM_DEFINE_FLOAT(SENS_BARO_QNH, 1013.25f);
/**
* Board rotation
*
* This parameter defines the rotation of the FMU board relative to the platform.
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
* @value 8 Roll 180°
* @value 9 Roll 180°, Yaw 45°
* @value 10 Roll 180°, Yaw 90°
* @value 11 Roll 180°, Yaw 135°
* @value 12 Pitch 180°
* @value 13 Roll 180°, Yaw 225°
* @value 14 Roll 180°, Yaw 270°
* @value 15 Roll 180°, Yaw 315°
* @value 16 Roll 90°
* @value 17 Roll 90°, Yaw 45°
* @value 18 Roll 90°, Yaw 90°
* @value 19 Roll 90°, Yaw 135°
* @value 20 Roll 270°
* @value 21 Roll 270°, Yaw 45°
* @value 22 Roll 270°, Yaw 90°
* @value 23 Roll 270°, Yaw 135°
* @value 24 Pitch 90°
* @value 25 Pitch 270°
*
* @reboot_required true
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
/**
* PX4Flow board rotation
*
* This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame.
* Zero rotation is defined as X on flow board pointing towards front of vehicle.
* The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).
*
* @value 0 No rotation
* @value 1 Yaw 45°
* @value 2 Yaw 90°
* @value 3 Yaw 135°
* @value 4 Yaw 180°
* @value 5 Yaw 225°
* @value 6 Yaw 270°
* @value 7 Yaw 315°
*
* @reboot_required true
*
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6);
/**
* Board rotation Y (Pitch) offset
*
* This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
* to fine tune the board offset in the event of misalignment.
*
* @unit deg
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
/**
* Board rotation X (Roll) offset
*
* This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
* to fine tune the board offset in the event of misalignment.
*
* @unit deg
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
/**
* Board rotation Z (YAW) offset
*
* This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
* to fine tune the board offset in the event of misalignment.
*
* @unit deg
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
/**
* Select primary magnetometer.
* DEPRECATED, only used on V1 hardware
*
* @min 0
* @max 2
* @value 0 Auto-select Mag
* @value 1 External is primary Mag
* @value 2 Internal is primary Mag
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(SENS_EXT_MAG, 0);
/**
* Threshold (of RMS) to warn about high vibration levels
*
* @group Sensor Calibration
* @min 0.01
* @max 10
* @decimal 2
*/
PARAM_DEFINE_FLOAT(ATT_VIBE_THRESH, 0.2f);
/**
* RC Channel 1 Minimum
*
* Minimum value for RC channel 1
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
/**
* RC Channel 1 Trim
*
* Mid point value (same as min for throttle)
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
/**
* RC Channel 1 Maximum
*
* Maximum value for RC channel 1
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
/**
* RC Channel 1 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
/**
* RC Channel 1 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
/**
* RC Channel 2 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_MIN, 1000.0f);
/**
* RC Channel 2 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500.0f);
/**
* RC Channel 2 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_MAX, 2000.0f);
/**
* RC Channel 2 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
/**
* RC Channel 2 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
/**
* RC Channel 3 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
/**
* RC Channel 3 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
/**
* RC Channel 3 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
/**
* RC Channel 3 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
/**
* RC Channel 3 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f);
/**
* RC Channel 4 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
/**
* RC Channel 4 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
/**
* RC Channel 4 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
/**
* RC Channel 4 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
/**
* RC Channel 4 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f);
/**
* RC Channel 5 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
/**
* RC Channel 5 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
/**
* RC Channel 5 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
/**
* RC Channel 5 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
/**
* RC Channel 5 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC5_DZ, 10.0f);
/**
* RC Channel 6 Minimum
*
* Minimum value for this channel.
*
* @unit us
* @min 800.0
* @max 1500.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
/**
* RC Channel 6 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
/**
* RC Channel 6 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
/**
* RC Channel 6 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
/**
* RC Channel 6 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f);
/**
* RC Channel 7 Minimum
*
* Minimum value for this channel.
*
* @unit us
* @min 800.0
* @max 1500.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
/**
* RC Channel 7 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
/**
* RC Channel 7 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
/**
* RC Channel 7 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
/**
* RC Channel 7 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f);
/**
* RC Channel 8 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
/**
* RC Channel 8 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
/**
* RC Channel 8 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
/**
* RC Channel 8 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
/**
* RC Channel 8 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f);
/**
* RC Channel 9 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
/**
* RC Channel 9 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);
/**
* RC Channel 9 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC9_MAX, 2000);
/**
* RC Channel 9 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC9_REV, 1.0f);
/**
* RC Channel 9 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f);
/**
* RC Channel 10 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC10_MIN, 1000);
/**
* RC Channel 10 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC10_TRIM, 1500);
/**
* RC Channel 10 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC10_MAX, 2000);
/**
* RC Channel 10 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC10_REV, 1.0f);
/**
* RC Channel 10 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f);
/**
* RC Channel 11 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC11_MIN, 1000);
/**
* RC Channel 11 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC11_TRIM, 1500);
/**
* RC Channel 11 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC11_MAX, 2000);
/**
* RC Channel 11 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC11_REV, 1.0f);
/**
* RC Channel 11 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f);
/**
* RC Channel 12 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC12_MIN, 1000);
/**
* RC Channel 12 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC12_TRIM, 1500);
/**
* RC Channel 12 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC12_MAX, 2000);
/**
* RC Channel 12 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC12_REV, 1.0f);
/**
* RC Channel 12 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f);
/**
* RC Channel 13 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC13_MIN, 1000);
/**
* RC Channel 13 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC13_TRIM, 1500);
/**
* RC Channel 13 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC13_MAX, 2000);
/**
* RC Channel 13 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC13_REV, 1.0f);
/**
* RC Channel 13 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f);
/**
* RC Channel 14 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC14_MIN, 1000);
/**
* RC Channel 14 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC14_TRIM, 1500);
/**
* RC Channel 14 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
/**
* RC Channel 14 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
/**
* RC Channel 14 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
/**
* RC Channel 15 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC15_MIN, 1000);
/**
* RC Channel 15 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC15_TRIM, 1500);
/**
* RC Channel 15 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
/**
* RC Channel 15 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
/**
* RC Channel 15 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
/**
* RC Channel 16 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
/**
* RC Channel 16 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC16_TRIM, 1500);
/**
* RC Channel 16 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
/**
* RC Channel 16 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
/**
* RC Channel 16 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);
/**
* RC Channel 17 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
/**
* RC Channel 17 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC17_TRIM, 1500);
/**
* RC Channel 17 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
/**
* RC Channel 17 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
/**
* RC Channel 17 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);
/**
* RC Channel 18 Minimum
*
* Minimum value for this channel.
*
* @min 800.0
* @max 1500.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
/**
* RC Channel 18 Trim
*
* Mid point value (has to be set to the same as min for throttle channel).
*
* @min 800.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC18_TRIM, 1500);
/**
* RC Channel 18 Maximum
*
* Maximum value for this channel.
*
* @min 1500.0
* @max 2200.0
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
/**
* RC Channel 18 Reverse
*
* Set to -1 to reverse channel.
*
* @min -1.0
* @max 1.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
/**
* RC Channel 18 dead zone
*
* The +- range of this value around the trim value will be considered as zero.
*
* @min 0.0
* @max 100.0
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
/**
* Relay control of relay 1 mapped to the Spektrum receiver power supply
*
* @min 0
* @max 1
* @value 0 Disabled
* @value 1 Relay controls DSM power
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
/**
* DSM binding trigger.
*
* @value -1 Inactive
* @value 0 Start DSM2 bind
* @value 1 Start DSMX bind
* @min -1
* @max 1
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_DSM_BIND, -1);
/**
* Scaling factor for battery voltage sensor on PX4IO.
*
* @min 1
* @max 100000
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
/**
* Scaling from ADC counts to volt on the ADC input (battery voltage)
*
* This is not the battery voltage, but the intermediate ADC voltage.
* A value of -1 signifies that the board defaults are used, which is
* highly recommended.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_CNT_V_VOLT, -1.0f);
/**
* Scaling from ADC counts to volt on the ADC input (battery current)
*
* This is not the battery current, but the intermediate ADC voltage.
* A value of -1 signifies that the board defaults are used, which is
* highly recommended.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_CNT_V_CURR, -1.0);
/**
* Offset in volt as seen by the ADC input of the current sensor.
*
* This offset will be subtracted before calculating the battery
* current based on the voltage.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_V_OFFS_CURR, 0.0);
/**
* Battery voltage divider (V divider)
*
* This is the divider from battery voltage to 3.3V ADC voltage.
* If using e.g. Mauch power modules the value from the datasheet
* can be applied straight here. A value of -1 means to use
* the board default.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_V_DIV, -1.0);
/**
* Battery current per volt (A/V)
*
* The voltage seen by the 3.3V ADC multiplied by this factor
* will determine the battery current. A value of -1 means to use
* the board default.
*
* @group Battery Calibration
* @decimal 8
*/
PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
/**
* Battery 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.
*
* @min 0
* @max 1
* @value 0 Power Module
* @value 1 External
* @group Battery Calibration
*/
PARAM_DEFINE_INT32(BAT_SOURCE, 0);
/**
* RC channel count
*
* This parameter is used by Ground Station software to save the number
* of channels which were used during RC calibration. It is only meant
* for ground station use.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_CHAN_CNT, 0);
/**
* RC mode switch threshold automatic distribution
*
* This parameter is used by Ground Station software to specify whether
* the threshold values for flight mode switches were automatically calculated.
* 0 indicates that the threshold values were set by the user. Any other value
* indicates that the threshold value where automatically set by the ground
* station software. It is only meant for ground station use.
*
* @boolean
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_TH_USER, 1);
/**
* Roll control channel mapping.
*
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for reading roll inputs from.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_ROLL, 0);
/**
* Pitch control channel mapping.
*
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for reading pitch inputs from.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_PITCH, 0);
/**
* Failsafe channel mapping.
*
* The RC mapping index indicates which channel is used for failsafe
* If 0, whichever channel is mapped to throttle is used
* otherwise the value indicates the specific rc channel to use
*
* @min 0
* @max 18
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0); //Default to throttle function
/**
* Throttle control channel mapping.
*
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for reading throttle inputs from.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 0);
/**
* Yaw control channel mapping.
*
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for reading yaw inputs from.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_YAW, 0);
/**
* Single channel flight mode selection
*
* If this parameter is non-zero, flight modes are only selected
* by this channel and are assigned to six slots.
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_FLTMODE, 0);
/**
* Mode switch channel mapping.
*
* This is the main flight mode selector.
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for deciding about the main mode.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
/**
* Return switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
/**
* Rattitude switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_RATT_SW, 0);
/**
* Position Control switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
/**
* Loiter switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
/**
* Acro switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
/**
* Offboard switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
/**
* Kill switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_KILL_SW, 0);
/**
* Arm switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_ARM_SW, 0);
/**
* Flaps channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
/**
* VTOL transition switch channel mapping
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_TRANS_SW, 0);
/**
* Landing gear switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_GEAR_SW, 0);
/**
* Stabilize switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_STAB_SW, 0);
/**
* Manual switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0);
/**
* AUX1 Passthrough RC Channel
*
* Default function: Camera pitch
*
* @min 0
* @max 18
* @group Radio Calibration
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);
/**
* AUX2 Passthrough RC Channel
*
* Default function: Camera roll
*
* @min 0
* @max 18
* @group Radio Calibration
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_AUX2, 0);
/**
* AUX3 Passthrough RC Channel
*
* Default function: Camera azimuth / yaw
*
* @min 0
* @max 18
* @group Radio Calibration
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
/**
* AUX4 Passthrough RC Channel
*
* @min 0
* @max 18
* @group Radio Calibration
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_AUX4, 0);
/**
* AUX5 Passthrough RC Channel
*
* @min 0
* @max 18
* @group Radio Calibration
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_AUX5, 0);
/**
* PARAM1 tuning channel
*
* Can be used for parameter tuning with the RC. This one is further referenced as the 1st parameter channel.
* Set to 0 to deactivate *
*
* @min 0
* @max 18
* @group Radio Calibration
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_PARAM1, 0);
/**
* PARAM2 tuning channel
*
* Can be used for parameter tuning with the RC. This one is further referenced as the 2nd parameter channel.
* Set to 0 to deactivate *
*
* @min 0
* @max 18
* @group Radio Calibration
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_PARAM2, 0);
/**
* PARAM3 tuning channel
*
* Can be used for parameter tuning with the RC. This one is further referenced as the 3th parameter channel.
* Set to 0 to deactivate *
*
* @min 0
* @max 18
* @group Radio Calibration
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_PARAM3, 0);
/**
* Failsafe channel PWM threshold.
*
* Set to a value slightly above the PWM value assumed by throttle in a failsafe event,
* but ensure it is below the PWM value assumed by throttle during normal operation.
*
* @min 0
* @max 2200
* @unit us
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
/**
* Threshold for selecting assist mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
/**
* Threshold for selecting auto mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
/**
* Threshold for selecting rattitude mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*/
PARAM_DEFINE_FLOAT(RC_RATT_TH, 0.5f);
/**
* Threshold for selecting posctl mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*/
PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
/**
* Threshold for selecting return to launch mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
/**
* Threshold for selecting loiter mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
/**
* Threshold for selecting acro mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
/**
* Threshold for selecting offboard mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);
/**
* Threshold for the kill switch
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_KILLSWITCH_TH, 0.25f);
/**
* Threshold for the arm switch
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_ARMSWITCH_TH, 0.25f);
/**
* Threshold for the VTOL transition switch
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_TRANS_TH, 0.25f);
/**
* Threshold for the landing gear switch
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_GEAR_TH, 0.25f);
/**
* Threshold for the stabilize switch.
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_STAB_TH, 0.5f);
/**
* Threshold for the manual switch.
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*
*
*/
PARAM_DEFINE_FLOAT(RC_MAN_TH, 0.5f);
/**
* PWM input channel that provides RSSI.
*
* 0: do not read RSSI from input channel
* 1-18: read RSSI from specified input channel
*
* Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
*
* @min 0
* @max 18
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_CHAN, 0);
/**
* Max input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
/**
* Min input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);
/**
* Lidar-Lite (LL40LS)
*
* @reboot_required true
* @min 0
* @max 2
* @group Sensor Enable
* @value 0 Disabled
* @value 1 PWM
* @value 2 I2C
*/
PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
/**
* Lightware laser rangefinder (serial)
*
* @reboot_required true
* @min 0
* @max 4
* @group Sensor Enable
* @value 0 Disabled
* @value 1 SF02
* @value 2 SF10/a
* @value 3 SF10/b
* @value 4 SF10/c
* @value 5 SF11/c
*/
PARAM_DEFINE_INT32(SENS_EN_SF0X, 0);
/**
* Maxbotix Soanr (mb12xx)
*
* @reboot_required true
*
* @boolean
* @group Sensor Enable
*/
PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
/**
* TeraRanger One (trone)
*
* @reboot_required true
*
* @boolean
* @group Sensor Enable
*/
PARAM_DEFINE_INT32(SENS_EN_TRONE, 0);
/**
* Lightware SF1xx laser rangefinder (i2c)
*
* @reboot_required true
* @min 0
* @max 4
* @group Sensor Enable
* @value 0 Disabled
* @value 1 SF10/a
* @value 2 SF10/b
* @value 3 SF10/c
* @value 4 SF11/c
*/
PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
/**
* Thermal control of sensor temperature
*
* @value -1 Thermal control unavailable
* @value 0 Thermal control off
* @group Sensor Enable
*/
PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
/**
* Set the PWM output frequency for the main outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* Set to 400 for industry default or 1000 for high frequency ESCs.
*
* Set to 0 for Oneshot125.
*
* @reboot_required true
*
* @min -1
* @max 2000
* @unit Hz
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_RATE, 400);
/**
* Set the minimum PWM for the main outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* Set to 1000 for industry default or 900 to increase servo travel.
*
* @reboot_required true
*
* @min 800
* @max 1400
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MIN, 1000);
/**
* Set the maximum PWM for the main outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* Set to 2000 for industry default or 2100 to increase servo travel.
*
* @reboot_required true
*
* @min 1600
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAX, 2000);
/**
* Set the disarmed PWM for the main outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* This is the PWM pulse the autopilot is outputting if not armed.
* The main use of this parameter is to silence ESCs when they are disarmed.
*
* @reboot_required true
*
* @min 0
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_DISARMED, 900);
/**
* Set the minimum PWM for the auxiliary outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* Set to 1000 for default or 900 to increase servo travel
*
* @reboot_required true
*
* @min 800
* @max 1400
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
/**
* Set the maximum PWM for the auxiliary outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* Set to 2000 for default or 2100 to increase servo travel
*
* @reboot_required true
*
* @min 1600
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
/**
* Set the disarmed PWM for auxiliary outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* This is the PWM pulse the autopilot is outputting if not armed.
* The main use of this parameter is to silence ESCs when they are disarmed.
*
* @reboot_required true
*
* @min 0
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
/**
* Thrust to PWM model parameter
*
* Parameter used to model the relationship between static thrust and motor
* input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
*
* @min 0.0
* @max 1.0
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);
/**
* Minimum motor rise time (slew rate limit).
*
* Minimum time allowed for the motor input signal to pass through
* a range of 1000 PWM units. A value x means that the motor signal
* can only go from 1000 to 2000 PWM in maximum x seconds.
*
* Zero means that slew rate limiting is disabled.
*
* @min 0.0
* @unit s/(1000*PWM)
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);
/**
* Sample rate of the remote control values for the low pass filter on roll,pitch, yaw and throttle
*
* Has an influence on the cutoff frequency precision.
*
* @min 1.0
* @unit Hz
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_FLT_SMP_RATE, 50.0f);
/**
* Cutoff frequency for the low pass filter on roll,pitch, yaw and throttle
*
* Does not get set unless below RC_FLT_SMP_RATE/2 because of filter instability characteristics.
*
* @min 0.1
* @unit Hz
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_FLT_CUTOFF, 10.0f);
Reference in New Issue View Git Blame Copy Permalink