mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-14 23:40:36 +08:00
Julian Oes
fad0c31872
This reverts a previous change because we're not entirely sure about all implications on various airframes. It makes sense to change this default after the failsafe state machines have been consolidated and the various failsafe behaviours are more predictable for all airframes (not just multicopter).
980 lines
26 KiB
C
980 lines
26 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file commander_params.c
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*
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* Parameters defined by the sensors task.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Thomas Gubler <thomas@px4.io>
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* @author Julian Oes <julian@px4.io>
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*/
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/**
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* Roll trim
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*
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* The trim value is the actuator control value the system needs
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* for straight and level flight. It can be calibrated by
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* flying manually straight and level using the RC trims and
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* copying them using the GCS.
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*
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* @group Radio Calibration
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* @min -0.25
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* @max 0.25
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
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/**
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* Pitch trim
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*
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* The trim value is the actuator control value the system needs
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* for straight and level flight. It can be calibrated by
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* flying manually straight and level using the RC trims and
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* copying them using the GCS.
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*
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* @group Radio Calibration
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* @min -0.25
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* @max 0.25
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
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/**
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* Yaw trim
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*
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* The trim value is the actuator control value the system needs
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* for straight and level flight. It can be calibrated by
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* flying manually straight and level using the RC trims and
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* copying them using the GCS.
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*
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* @group Radio Calibration
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* @min -0.25
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* @max 0.25
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
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/**
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* Datalink loss time threshold
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*
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* After this amount of seconds without datalink the data link lost mode triggers
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*
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* @group Commander
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* @unit s
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* @min 5
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* @max 300
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* @decimal 1
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* @increment 0.5
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*/
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PARAM_DEFINE_INT32(COM_DL_LOSS_T, 10);
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/**
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* High Latency Datalink loss time threshold
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*
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* After this amount of seconds without datalink the data link lost mode triggers
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*
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* @group Commander
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* @unit s
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* @min 60
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* @max 3600
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*/
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PARAM_DEFINE_INT32(COM_HLDL_LOSS_T, 120);
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/**
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* High Latency Datalink regain time threshold
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*
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* After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss'
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* flag is set back to false
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*
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* @group Commander
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* @unit s
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* @min 0
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* @max 60
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*/
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PARAM_DEFINE_INT32(COM_HLDL_REG_T, 0);
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/**
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* Engine Failure Throttle Threshold
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*
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* Engine failure triggers only above this throttle value
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*
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* @group Commander
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* @unit norm
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.01
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*/
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PARAM_DEFINE_FLOAT(COM_EF_THROT, 0.5f);
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/**
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* Engine Failure Current/Throttle Threshold
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*
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* Engine failure triggers only below this current value
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*
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* @group Commander
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* @min 0.0
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* @max 50.0
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* @unit A/%
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* @decimal 2
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* @increment 1
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*/
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PARAM_DEFINE_FLOAT(COM_EF_C2T, 5.0f);
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/**
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* Engine Failure Time Threshold
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*
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* Engine failure triggers only if the throttle threshold and the
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* current to throttle threshold are violated for this time
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*
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* @group Commander
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* @unit s
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* @min 0.0
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* @max 60.0
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* @decimal 1
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* @increment 1
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*/
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PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
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/**
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* RC loss time threshold
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*
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* After this amount of seconds without RC connection the rc lost flag is set to true
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*
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* @group Commander
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* @unit s
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* @min 0
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* @max 35
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* @decimal 1
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* @increment 0.1
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*/
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PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
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/**
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* RC stick override threshold
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*
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* If an RC stick is moved more than by this amount the system will interpret this as
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* override request by the pilot.
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*
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* @group Commander
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* @unit %
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* @min 5
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* @max 40
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* @decimal 0
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* @increment 0.05
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*/
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PARAM_DEFINE_FLOAT(COM_RC_STICK_OV, 12.0f);
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/**
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* Home set horizontal threshold
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*
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* The home position will be set if the estimated positioning accuracy is below the threshold.
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*
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* @group Commander
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* @unit m
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* @min 2
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* @max 15
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* @decimal 2
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* @increment 0.5
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*/
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PARAM_DEFINE_FLOAT(COM_HOME_H_T, 5.0f);
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/**
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* Home set vertical threshold
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*
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* The home position will be set if the estimated positioning accuracy is below the threshold.
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*
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* @group Commander
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* @unit m
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* @min 5
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* @max 25
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* @decimal 2
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* @increment 0.5
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*/
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PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
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/**
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* RC control input mode
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*
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* The default value of 0 requires a valid RC transmitter setup.
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* Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of
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* 2 will generate RC control data from manual input received via MAVLink instead
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* of directly forwarding the manual input data.
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*
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* @group Commander
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* @min 0
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* @max 2
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* @value 0 RC Transmitter
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* @value 1 Joystick/No RC Checks
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* @value 2 Virtual RC by Joystick
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*/
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PARAM_DEFINE_INT32(COM_RC_IN_MODE, 0);
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/**
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* RC input arm/disarm command duration
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*
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* The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
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*
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* @group Commander
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* @min 100
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* @max 1500
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*/
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PARAM_DEFINE_INT32(COM_RC_ARM_HYST, 1000);
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/**
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* Time-out for auto disarm after landing
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*
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* A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be
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* automatically disarmed in case a landing situation has been detected during this period.
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*
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* A zero or negative value means that automatic disarming triggered by landing detection is disabled.
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*
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* @group Commander
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* @unit s
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 2.0f);
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/**
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* Time-out for auto disarm if too slow to takeoff
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*
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* A non-zero, positive value specifies the time after arming, in seconds, within which the
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* vehicle must take off (after which it will automatically disarm).
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*
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* A zero or negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.
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*
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* @group Commander
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* @unit s
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f);
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/**
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* Allow arming without GPS
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*
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* The default allows to arm the vehicle without GPS signal.
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*
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* @group Commander
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* @boolean
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*/
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PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
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/**
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* Arm switch is only a button
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*
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* The default uses the arm switch as real switch.
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* If parameter set button gets handled like stick arming.
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*
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* @group Commander
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* @min 0
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* @max 1
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* @value 0 Arm switch is a switch that stays on when armed
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* @value 1 Arm switch is a button that only triggers arming and disarming
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*/
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PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0);
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/**
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* Battery failsafe mode
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*
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* Action the system takes at critical battery. See also BAT_CRIT_THR and BAT_EMERGEN_THR
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* for definition of battery states.
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*
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* @group Commander
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* @value 0 Warning
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* @value 2 Land mode
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* @value 3 Return at critical level, land at emergency level
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* @decimal 0
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* @increment 1
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*/
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PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0);
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/**
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* Time-out to wait when offboard connection is lost before triggering offboard lost action.
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* See COM_OBL_ACT and COM_OBL_RC_ACT to configure action.
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*
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* @group Commander
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* @unit s
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* @min 0
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* @max 60
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* @increment 1
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*/
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PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.0f);
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/**
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* Set offboard loss failsafe mode
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*
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* The offboard loss failsafe will only be entered after a timeout,
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* set by COM_OF_LOSS_T in seconds.
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*
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* @value -1 Disabled
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* @value 0 Land mode
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* @value 1 Hold mode
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* @value 2 Return mode
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* @value 3 Terminate
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* @value 4 Lockdown
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*
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* @group Commander
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*/
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PARAM_DEFINE_INT32(COM_OBL_ACT, 0);
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/**
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* Set offboard loss failsafe mode when RC is available
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*
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* The offboard loss failsafe will only be entered after a timeout,
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* set by COM_OF_LOSS_T in seconds.
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*
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* @value -1 Disabled
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* @value 0 Position mode
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* @value 1 Altitude mode
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* @value 2 Manual
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* @value 3 Return mode
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* @value 4 Land mode
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* @value 5 Hold mode
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* @value 6 Terminate
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* @value 7 Lockdown
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* @group Commander
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*/
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PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
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/**
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* First flightmode slot (1000-1160)
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*
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* If the main switch channel is in this range the
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* selected flight mode will be applied.
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*
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* @value -1 Unassigned
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* @value 0 Manual
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* @value 1 Altitude
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* @value 2 Position
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* @value 3 Mission
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* @value 4 Hold
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* @value 10 Takeoff
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* @value 11 Land
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* @value 5 Return
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* @value 6 Acro
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* @value 7 Offboard
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* @value 8 Stabilized
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* @value 9 Rattitude
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* @value 12 Follow Me
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* @group Commander
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*/
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PARAM_DEFINE_INT32(COM_FLTMODE1, -1);
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/**
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* Second flightmode slot (1160-1320)
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*
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* If the main switch channel is in this range the
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* selected flight mode will be applied.
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*
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* @value -1 Unassigned
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* @value 0 Manual
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* @value 1 Altitude
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* @value 2 Position
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* @value 3 Mission
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* @value 4 Hold
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* @value 10 Takeoff
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* @value 11 Land
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* @value 5 Return
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* @value 6 Acro
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* @value 7 Offboard
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* @value 8 Stabilized
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* @value 9 Rattitude
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* @value 12 Follow Me
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* @group Commander
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*/
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PARAM_DEFINE_INT32(COM_FLTMODE2, -1);
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/**
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* Third flightmode slot (1320-1480)
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*
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* If the main switch channel is in this range the
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* selected flight mode will be applied.
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*
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* @value -1 Unassigned
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* @value 0 Manual
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* @value 1 Altitude
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* @value 2 Position
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* @value 3 Mission
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* @value 4 Hold
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* @value 10 Takeoff
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* @value 11 Land
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* @value 5 Return
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* @value 6 Acro
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* @value 7 Offboard
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* @value 8 Stabilized
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* @value 9 Rattitude
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* @value 12 Follow Me
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* @group Commander
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*/
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PARAM_DEFINE_INT32(COM_FLTMODE3, -1);
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/**
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* Fourth flightmode slot (1480-1640)
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*
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* If the main switch channel is in this range the
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* selected flight mode will be applied.
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*
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* @value -1 Unassigned
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* @value 0 Manual
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* @value 1 Altitude
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* @value 2 Position
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* @value 3 Mission
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* @value 4 Hold
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* @value 10 Takeoff
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* @value 11 Land
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* @value 5 Return
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* @value 6 Acro
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* @value 7 Offboard
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* @value 8 Stabilized
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* @value 9 Rattitude
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* @value 12 Follow Me
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* @group Commander
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*/
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PARAM_DEFINE_INT32(COM_FLTMODE4, -1);
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/**
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* Fifth flightmode slot (1640-1800)
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*
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* If the main switch channel is in this range the
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* selected flight mode will be applied.
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*
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* @value -1 Unassigned
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* @value 0 Manual
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* @value 1 Altitude
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* @value 2 Position
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* @value 3 Mission
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* @value 4 Hold
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* @value 10 Takeoff
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* @value 11 Land
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* @value 5 Return
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* @value 6 Acro
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* @value 7 Offboard
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* @value 8 Stabilized
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* @value 9 Rattitude
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* @value 12 Follow Me
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* @group Commander
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*/
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PARAM_DEFINE_INT32(COM_FLTMODE5, -1);
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/**
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* Sixth flightmode slot (1800-2000)
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*
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* If the main switch channel is in this range the
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* selected flight mode will be applied.
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*
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* @value -1 Unassigned
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* @value 0 Manual
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* @value 1 Altitude
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* @value 2 Position
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* @value 3 Mission
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* @value 4 Hold
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* @value 10 Takeoff
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* @value 11 Land
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* @value 5 Return
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* @value 6 Acro
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* @value 7 Offboard
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* @value 8 Stabilized
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* @value 9 Rattitude
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* @value 12 Follow Me
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* @group Commander
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*/
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PARAM_DEFINE_INT32(COM_FLTMODE6, -1);
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/**
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* Maximum EKF position innovation test ratio that will allow arming
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*
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* @group Commander
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* @unit m
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* @min 0.1
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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*/
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PARAM_DEFINE_FLOAT(COM_ARM_EKF_POS, 0.5f);
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/**
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* Maximum EKF velocity innovation test ratio that will allow arming
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*
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* @group Commander
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* @unit m/s
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* @min 0.1
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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*/
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PARAM_DEFINE_FLOAT(COM_ARM_EKF_VEL, 0.5f);
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/**
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* Maximum EKF height innovation test ratio that will allow arming
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*
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* @group Commander
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* @unit m
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* @min 0.1
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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*/
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PARAM_DEFINE_FLOAT(COM_ARM_EKF_HGT, 1.0f);
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/**
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* Maximum EKF yaw innovation test ratio that will allow arming
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*
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* @group Commander
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* @unit rad
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* @min 0.1
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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*/
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PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f);
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/**
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* Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming.
|
|
* Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful.
|
|
*
|
|
* @group Commander
|
|
* @unit m/s
|
|
* @min 0.001
|
|
* @max 0.01
|
|
* @decimal 4
|
|
* @increment 0.0001
|
|
*/
|
|
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 1.73e-3f);
|
|
|
|
/**
|
|
* Maximum value of EKF gyro delta angle bias estimate that will allow arming
|
|
*
|
|
* @group Commander
|
|
* @unit rad
|
|
* @min 0.0001
|
|
* @max 0.0017
|
|
* @decimal 5
|
|
* @increment 0.0001
|
|
*/
|
|
PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 8.7e-4f);
|
|
|
|
/**
|
|
* Maximum accelerometer inconsistency between IMU units that will allow arming
|
|
*
|
|
* @group Commander
|
|
* @unit m/s/s
|
|
* @min 0.1
|
|
* @max 1.0
|
|
* @decimal 2
|
|
* @increment 0.05
|
|
*/
|
|
PARAM_DEFINE_FLOAT(COM_ARM_IMU_ACC, 0.7f);
|
|
|
|
/**
|
|
* Maximum rate gyro inconsistency between IMU units that will allow arming
|
|
*
|
|
* @group Commander
|
|
* @unit rad/s
|
|
* @min 0.02
|
|
* @max 0.3
|
|
* @decimal 3
|
|
* @increment 0.01
|
|
*/
|
|
PARAM_DEFINE_FLOAT(COM_ARM_IMU_GYR, 0.25f);
|
|
|
|
/**
|
|
* Maximum magnetic field inconsistency between units that will allow arming
|
|
* Set -1 to disable the check.
|
|
*
|
|
* @group Commander
|
|
* @unit deg
|
|
* @min 3
|
|
* @max 180
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_ARM_MAG_ANG, 30);
|
|
|
|
/**
|
|
* Enable RC stick override of auto modes
|
|
*
|
|
* When an auto mode is active (except a critical battery reaction) moving the RC sticks
|
|
* gives control back to the pilot in manual position mode immediately.
|
|
*
|
|
* Only has an effect on multicopters and VTOLS in multicopter mode.
|
|
*
|
|
* @boolean
|
|
* @group Commander
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1);
|
|
|
|
/**
|
|
* Require valid mission to arm
|
|
*
|
|
* The default allows to arm the vehicle without a valid mission.
|
|
*
|
|
* @group Commander
|
|
* @boolean
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0);
|
|
|
|
/**
|
|
* Position control navigation loss response.
|
|
*
|
|
* This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control.
|
|
* Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.
|
|
*
|
|
* @value 0 Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
|
|
* @value 1 Land/Terminate. Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
|
|
*
|
|
* @group Commander
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_POSCTL_NAVL, 0);
|
|
|
|
/**
|
|
* Arm authorization parameters, this uint32_t will be split between starting from the LSB:
|
|
* - 8bits to authorizer system id
|
|
* - 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods.
|
|
* - 7bits to authentication method
|
|
* - one arm = 0
|
|
* - two step arm = 1
|
|
* * the MSB bit is not used to avoid problems in the conversion between int and uint
|
|
*
|
|
* Default value: (10 << 0 | 1000 << 8 | 0 << 24) = 256010
|
|
* - authorizer system id = 10
|
|
* - authentication method parameter = 10000msec of timeout
|
|
* - authentication method = during arm
|
|
* @group Commander
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_ARM_AUTH, 256010);
|
|
|
|
/**
|
|
* Loss of position failsafe activation delay.
|
|
*
|
|
* This sets number of seconds that the position checks need to be failed before the failsafe will activate.
|
|
* The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.
|
|
*
|
|
* @unit sec
|
|
* @reboot_required true
|
|
* @group Commander
|
|
* @min 1
|
|
* @max 100
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1);
|
|
|
|
/**
|
|
* Loss of position probation delay at takeoff.
|
|
*
|
|
* The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad.
|
|
* The probation delay will be reset to this parameter value when takeoff is detected.
|
|
* After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second.
|
|
* If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds.
|
|
* The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.
|
|
*
|
|
* @unit sec
|
|
* @reboot_required true
|
|
* @group Commander
|
|
* @min 1
|
|
* @max 100
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_POS_FS_PROB, 30);
|
|
|
|
/**
|
|
* Loss of position probation gain factor.
|
|
*
|
|
* This sets the rate that the loss of position probation time grows when position checks are failing.
|
|
* The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.
|
|
*
|
|
* @reboot_required true
|
|
* @group Commander
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_POS_FS_GAIN, 10);
|
|
|
|
/**
|
|
* Horizontal position error threshold.
|
|
*
|
|
* This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
|
|
*
|
|
* @unit m
|
|
* @group Commander
|
|
*/
|
|
PARAM_DEFINE_FLOAT(COM_POS_FS_EPH, 5);
|
|
|
|
/**
|
|
* Vertical position error threshold.
|
|
*
|
|
* This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
|
|
*
|
|
* @unit m
|
|
* @group Commander
|
|
*/
|
|
PARAM_DEFINE_FLOAT(COM_POS_FS_EPV, 10);
|
|
|
|
/**
|
|
* Horizontal velocity error threshold.
|
|
*
|
|
* This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
|
|
*
|
|
* @unit m/s
|
|
* @group Commander
|
|
*/
|
|
PARAM_DEFINE_FLOAT(COM_VEL_FS_EVH, 1);
|
|
|
|
/**
|
|
* Next flight UUID
|
|
*
|
|
* This number is incremented automatically after every flight on
|
|
* disarming in order to remember the next flight UUID.
|
|
* The first flight is 0.
|
|
*
|
|
* @group Commander
|
|
* @category system
|
|
* @volatile
|
|
* @min 0
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_FLIGHT_UUID, 0);
|
|
|
|
/**
|
|
* Action after TAKEOFF has been accepted.
|
|
*
|
|
* The mode transition after TAKEOFF has completed successfully.
|
|
*
|
|
* @value 0 Hold
|
|
* @value 1 Mission (if valid)
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_TAKEOFF_ACT, 0);
|
|
|
|
/**
|
|
* Set data link loss failsafe mode
|
|
*
|
|
* The data link loss failsafe will only be entered after a timeout,
|
|
* set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected
|
|
* action will be executed. Setting this parameter to 4 will enable CASA
|
|
* Outback Challenge rules, which are only recommended to participants
|
|
* of that competition.
|
|
*
|
|
* @value 0 Disabled
|
|
* @value 1 Hold mode
|
|
* @value 2 Return mode
|
|
* @value 3 Land mode
|
|
* @value 4 Data Link Auto Recovery (CASA Outback Challenge rules)
|
|
* @value 5 Terminate
|
|
* @value 6 Lockdown
|
|
*
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
|
|
|
|
/**
|
|
* Set RC loss failsafe mode
|
|
*
|
|
* The RC loss failsafe will only be entered after a timeout,
|
|
* set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
|
|
* by setting the COM_RC_IN_MODE param it will not be triggered.
|
|
* Setting this parameter to 4 will enable CASA Outback Challenge rules,
|
|
* which are only recommended to participants of that competition.
|
|
*
|
|
* @value 0 Disabled
|
|
* @value 1 Hold mode
|
|
* @value 2 Return mode
|
|
* @value 3 Land mode
|
|
* @value 4 RC Auto Recovery (CASA Outback Challenge rules)
|
|
* @value 5 Terminate
|
|
* @value 6 Lockdown
|
|
*
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
|
|
|
|
/**
|
|
* Flag to enable obstacle avoidance.
|
|
*
|
|
* @boolean
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
|
|
|
|
/**
|
|
* Set avoidance system bootup timeout.
|
|
*
|
|
* The avoidance system running on the companion computer is expected to boot
|
|
* within this time and start providing trajectory points.
|
|
* If no avoidance system is detected a MAVLink warning message is sent.
|
|
* @group Commander
|
|
* @unit s
|
|
* @min 0
|
|
* @max 200
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_OA_BOOT_T, 100);
|
|
|
|
/**
|
|
* Airspeed failsafe consistency threshold (Experimental)
|
|
*
|
|
* This specifies the minimum airspeed test ratio as logged in estimator_status.tas_test_ratio required to trigger a failsafe. Larger values make the check less sensitive, smaller values make it more sensitive. Start with a value of 1.0 when tuning. When estimator_status.tas_test_ratio is > 1.0 it indicates the inconsistency between predicted and measured airspeed is large enough to cause the navigation EKF to reject airspeed measurements. The time required to detect a fault when the threshold is exceeded depends on the size of the exceedance and is controlled by the COM_TAS_FS_INTEG parameter. The subsequent failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
|
|
*
|
|
* @min 0.5
|
|
* @max 3.0
|
|
* @group Commander
|
|
* @category Developer
|
|
*/
|
|
PARAM_DEFINE_FLOAT(COM_TAS_FS_INNOV, 1.0f);
|
|
|
|
/**
|
|
* Airspeed failsafe consistency delay (Experimental)
|
|
*
|
|
* This sets the time integral of airspeed test ratio exceedance above COM_TAS_FS_INNOV required to trigger a failsafe. For example if COM_TAS_FS_INNOV is 100 and estimator_status.tas_test_ratio is 2.0, then the exceedance is 1.0 and the integral will rise at a rate of 1.0/second. A negative value disables the check. Larger positive values make the check less sensitive, smaller positive values make it more sensitive. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
|
|
*
|
|
* @unit s
|
|
* @max 30.0
|
|
* @group Commander
|
|
* @category Developer
|
|
*/
|
|
PARAM_DEFINE_FLOAT(COM_TAS_FS_INTEG, -1.0f);
|
|
|
|
/**
|
|
* Airspeed failsafe stop delay (Experimental)
|
|
*
|
|
* Delay before stopping use of airspeed sensor if checks indicate sensor is bad. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
|
|
*
|
|
* @unit s
|
|
* @group Commander
|
|
* @category Developer
|
|
* @min 1
|
|
* @max 10
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_TAS_FS_T1, 3);
|
|
|
|
/**
|
|
* Airspeed failsafe start delay (Experimental)
|
|
*
|
|
* Delay before switching back to using airspeed sensor if checks indicate sensor is good. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
|
|
*
|
|
* @unit s
|
|
* @group Commander
|
|
* @category Developer
|
|
* @min 10
|
|
* @max 1000
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_TAS_FS_T2, 100);
|
|
|
|
/**
|
|
* Airspeed fault detection stall airspeed. (Experimental)
|
|
*
|
|
* This is the minimum indicated airspeed at which the wing can produce 1g of lift. It is used by the airspeed sensor fault detection and failsafe calculation to detect a significant airspeed low measurement error condition and should be set based on flight test for reliable operation. The failsafe response is controlled by the COM_ASPD_FS_ACT parameter.
|
|
*
|
|
* @group Commander
|
|
* @category Developer
|
|
* @unit m/s
|
|
*/
|
|
PARAM_DEFINE_FLOAT(COM_ASPD_STALL, 10.0f);
|
|
|
|
/**
|
|
* Airspeed fault detection (Experimental)
|
|
*
|
|
* Failsafe action when bad airspeed measurements are detected. Ensure the COM_ASPD_STALL parameter is set correctly before use.
|
|
*
|
|
* @value 0 disabled
|
|
* @value 1 log a message
|
|
* @value 2 log a message, warn the user
|
|
* @value 3 log a message, warn the user, switch to non-airspeed TECS mode
|
|
* @value 4 log a message, warn the user, switch to non-airspeed TECS mode, switch to Return mode after COM_ASPD_FS_DLY seconds
|
|
* @group Commander
|
|
* @category Developer
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_ASPD_FS_ACT, 0);
|
|
|
|
/**
|
|
* Airspeed fault detection delay before RTL (Experimental)
|
|
*
|
|
* RTL delay after bad airspeed measurements are detected if COM_ASPD_FS_ACT is set to 4. Ensure the COM_ASPD_STALL parameter is set correctly before use. The failsafe start and stop delays are controlled by the COM_TAS_FS_T1 and COM_TAS_FS_T2 parameters. Additional protection against persistent airspeed sensor errors can be enabled using the COM_TAS_FS_INNOV parameter, but these addtional checks are more prone to false positives in windy conditions.
|
|
*
|
|
* @min 0
|
|
* @max 300
|
|
* @unit s
|
|
* @group Commander
|
|
* @category Developer
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_ASPD_FS_DLY, 0);
|
|
|
|
/**
|
|
* User Flight Profile
|
|
*
|
|
* Describes the intended use of the vehicle.
|
|
* Can be used by ground control software or log post processing.
|
|
* This param does not influence the behavior within the firmware. This means for example the control logic is independent of the setting of this param (but depends on other params).
|
|
*
|
|
* @value 0 Default
|
|
* @value 100 Pro User
|
|
* @value 200 Flight Tester
|
|
* @value 300 Developer
|
|
*
|
|
* @group Commander
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_FLT_PROFILE, 0);
|
|
|
|
/**
|
|
* Require all the ESCs to be detected to arm.
|
|
*
|
|
* This param is specific for ESCs reporting status. Normal ESCs configurations are not affected by the change of this param.
|
|
*
|
|
* @group Commander
|
|
* @boolean
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_ARM_CHK_ESCS, 1);
|
|
|
|
/**
|
|
* Condition to enter prearmed mode
|
|
*
|
|
* Condition to enter the prearmed state, an intermediate state between disarmed and armed
|
|
* in which non-throttling actuators are active.
|
|
*
|
|
* @value 0 Disabled
|
|
* @value 1 Safety button
|
|
* @value 2 Always
|
|
*
|
|
* @group Commander
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_PREARM_MODE, 1);
|
|
|
|
/**
|
|
* Enable Motor Testing
|
|
*
|
|
* If set, enables the motor test interface via MAVLink (DO_MOTOR_TEST), that
|
|
* allows spinning the motors for testing purposes.
|
|
*
|
|
* @boolean
|
|
* @group Commander
|
|
*/
|
|
PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1);
|