PX4-Autopilot/src/modules/mavlink/mavlink_params.c

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/**
 * MAVLink system ID
 * @group MAVLink
 * @min 1
 * @max 250
 * @reboot_required true
 */
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);

/**
 * MAVLink component ID
 * @group MAVLink
 * @min 1
 * @max 250
 * @reboot_required true
 */
PARAM_DEFINE_INT32(MAV_COMP_ID, 1);

/**
 * MAVLink protocol version
 * @group MAVLink
 * @value 0 Default to 1, switch to 2 if GCS sends version 2
 * @value 1 Always use version 1
 * @value 2 Always use version 2
 */
PARAM_DEFINE_INT32(MAV_PROTO_VER, 0);

/**
 * MAVLink Radio ID
 *
 * When non-zero the MAVLink app will attempt to configure the
 * radio to this ID and re-set the parameter to 0. If the value
 * is negative it will reset the complete radio config to
 * factory defaults.
 *
 * @group MAVLink
 * @min -1
 * @max 240
 */
PARAM_DEFINE_INT32(MAV_RADIO_ID, 0);

/**
 * MAVLink airframe type
 *
 * @min 1
 * @max 27
 * @value 0 Generic micro air vehicle
 * @value 1 Fixed wing aircraft
 * @value 2 Quadrotor
 * @value 3 Coaxial helicopter
 * @value 4 Normal helicopter with tail rotor
 * @value 5 Ground installation
 * @value 6 Operator control unit / ground control station
 * @value 7 Airship, controlled
 * @value 8 Free balloon, uncontrolled
 * @value 9 Rocket
 * @value 10 Ground rover
 * @value 11 Surface vessel, boat, ship
 * @value 12 Submarine
 * @value 13 Hexarotor
 * @value 14 Octorotor
 * @value 15 Tricopter
 * @value 16 Flapping wing
 * @value 17 Kite
 * @value 18 Onboard companion controller
 * @value 19 Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
 * @value 20 Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
 * @value 21 Tiltrotor VTOL
 * @value 22 VTOL reserved 2
 * @value 23 VTOL reserved 3
 * @value 24 VTOL reserved 4
 * @value 25 VTOL reserved 5
 * @value 26 Onboard gimbal
 * @value 27 Onboard ADSB peripheral
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_TYPE, 2);

/**
 * Use/Accept HIL GPS message even if not in HIL mode
 *
 * If set to 1 incoming HIL GPS messages are parsed.
 *
 * @boolean
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);

/**
 * Forward external setpoint messages
 *
 * If set to 1 incoming external setpoint messages will be directly forwarded
 * to the controllers if in offboard control mode
 *
 * @boolean
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);

/**
 * Broadcast heartbeats on local network
 *
 * This allows a ground control station to automatically find the drone
 * on the local network.
 *
 * @value 0 Never broadcast
 * @value 1 Always broadcast
 * @value 2 Only multicast
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_BROADCAST, 0);

/**
 * Parameter hash check.
 *
 * Disabling the parameter hash check functionality will make the mavlink instance
 * stream parameters continuously.
 *
 * @boolean
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_HASH_CHK_EN, 1);

/**
 * Hearbeat message forwarding.
 *
 * The mavlink hearbeat message will not be forwarded if this parameter is set to 'disabled'.
 * The main reason for disabling heartbeats to be forwarded is because they confuse dronekit.
 *
 * @boolean
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_HB_FORW_EN, 1);

/**
 * Activate ODOMETRY loopback.
 *
 * If set, it gets the data from 'vehicle_visual_odometry' instead of 'vehicle_odometry'
 * serving as a loopback of the received ODOMETRY messages on the Mavlink receiver.
 *
 * @boolean
 * @group MAVLink
 */
PARAM_DEFINE_INT32(MAV_ODOM_LP, 0);