PX4-Autopilot/src/modules/navigator/navigator_params.yaml

module_name: navigator
parameters:
- group: Mission
  definitions:
    NAV_LOITER_RAD:
      description:
        short: Loiter radius (FW only)
        long: |-
          Default value of loiter radius in fixed-wing mode (e.g. for Loiter mode).

          The direction of the loiter can be set via the sign: A positive value for
          clockwise, negative for counter-clockwise.
      type: float
      default: 80.0
      unit: m
      min: -10000
      max: 10000
      decimal: 1
      increment: 0.5
    NAV_ACC_RAD:
      description:
        short: Acceptance Radius
        long: |-
          Default acceptance radius, overridden by acceptance radius of waypoint if set.
          For fixed wing the npfg switch distance is used for horizontal acceptance.
      type: float
      default: 10.0
      unit: m
      min: 0.05
      max: 200.0
      decimal: 1
      increment: 0.5
    NAV_FW_ALT_RAD:
      description:
        short: FW Altitude Acceptance Radius
        long: Acceptance radius for fixedwing altitude.
      type: float
      default: 10.0
      unit: m
      min: 0.05
      max: 200.0
      decimal: 1
      increment: 0.5
    NAV_FW_ALTL_RAD:
      description:
        short: FW Altitude Acceptance Radius before a landing
        long: |-
          Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller
          than the standard vertical acceptance because close to the ground higher accuracy is required.
      type: float
      default: 5.0
      unit: m
      min: 0.05
      max: 200.0
      decimal: 1
    NAV_MC_ALT_RAD:
      description:
        short: MC Altitude Acceptance Radius
        long: Acceptance radius for multicopter altitude.
      type: float
      default: 0.8
      unit: m
      min: 0.05
      max: 200.0
      decimal: 1
      increment: 0.5
    NAV_TRAFF_AVOID:
      description:
        short: Set traffic avoidance mode
        long: |-
          Enabling this will allow the system to respond
          to transponder data from e.g. ADSB transponders
      type: enum
      values:
        0: Disabled
        1: Warn only
        2: Return mode
        3: Land mode
        4: Position Hold mode
      default: 1
    NAV_TRAFF_A_HOR:
      description:
        short: Set NAV TRAFFIC AVOID horizontal distance
        long: Defines a crosstrack horizontal distance
      type: float
      default: 500
      unit: m
      min: 500
    NAV_TRAFF_A_VER:
      description:
        short: Set NAV TRAFFIC AVOID vertical distance
      type: float
      default: 500
      unit: m
      min: 10
      max: 500
    NAV_TRAFF_COLL_T:
      description:
        short: Estimated time until collision
        long: |-
          Minimum acceptable time until collsion.
          Assumes constant speed over 3d distance.
      type: int32
      default: 60
      unit: s
      min: 1
      max: 900000000
    NAV_FORCE_VT:
      description:
        short: Force VTOL mode takeoff and land
      type: boolean
      default: 1
    NAV_MIN_LTR_ALT:
      description:
        short: Minimum Loiter altitude
        long: |-
          This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this
          mode without specifying an altitude (e.g. through Loiter switch on RC).
          Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to").
          Set to a negative value to disable.
      type: float
      default: -1.0
      unit: m
      min: -1
      decimal: 1
      increment: 0.5
    NAV_MIN_GND_DIST:
      description:
        short: Minimum height above ground during Mission and RTL
        long: |-
          Minimum height above ground the vehicle is allowed to descend to during Mission and RTL,
          excluding landing commands.
          Requires a distance sensor to be set up.
          Note: only prevents the vehicle from descending further, but does not force it to climb.

          Set to a negative value to disable.
      type: float
      default: -1.0
      unit: m
      min: -1
      decimal: 1
      increment: 1
    NAV_LTR_LAST_DL:
      description:
        short: Loiter at last GCS heartbeat position on data link loss
        long: |-
          When the data link is lost and this setting is enabled,
          the vehicle will loiter at the position where the last GCS
          heartbeat was received rather than at its current position.
          Only applies to Hold mode during failsafe actions.
      type: boolean
      default: 0