Minimum Airspeed

Comment: If the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively.

Module: src/modules/fw_pos_control_l1

Maximum Airspeed

Comment: If the airspeed is above this value, the TECS controller will try to decrease airspeed more aggressively.

Module: src/modules/fw_pos_control_l1

Maximum climb rate

Comment: This is the best climb rate that the aircraft can achieve with the throttle set to THR_MAX and the airspeed set to the default value. For electric aircraft make sure this number can be achieved towards the end of flight when the battery voltage has reduced. The setting of this parameter can be checked by commanding a positive altitude change of 100m in loiter, RTL or guided mode. If the throttle required to climb is close to THR_MAX and the aircraft is maintaining airspeed, then this parameter is set correctly. If the airspeed starts to reduce, then the parameter is set to high, and if the throttle demand required to climb and maintain speed is noticeably less than FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or FW_THR_MAX reduced.

Module: src/modules/fw_pos_control_l1

Minimum descent rate

Comment: This is the sink rate of the aircraft with the throttle set to THR_MIN and flown at the same airspeed as used to measure FW_T_CLMB_MAX.

Module: src/modules/fw_pos_control_l1

Maximum descent rate

Comment: This sets the maximum descent rate that the controller will use. If this value is too large, the aircraft can over-speed on descent. This should be set to a value that can be achieved without exceeding the lower pitch angle limit and without over-speeding the aircraft.

Module: src/modules/fw_pos_control_l1

TECS time constant

Comment: This is the time constant of the TECS control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.

Module: src/modules/fw_pos_control_l1

TECS Throttle time constant

Comment: This is the time constant of the TECS throttle control algorithm (in seconds). Smaller values make it faster to respond, larger values make it slower to respond.

Module: src/modules/fw_pos_control_l1

Throttle damping factor

Comment: This is the damping gain for the throttle demand loop. Increase to add damping to correct for oscillations in speed and height.

Module: src/modules/fw_pos_control_l1

Integrator gain

Comment: This is the integrator gain on the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot.

Module: src/modules/fw_pos_control_l1

Maximum vertical acceleration

Comment: This is the maximum vertical acceleration (in m/s/s) either up or down that the controller will use to correct speed or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) allows for reasonably aggressive pitch changes if required to recover from under-speed conditions.

Module: src/modules/fw_pos_control_l1

Complementary filter "omega" parameter for height

Comment: This is the cross-over frequency (in radians/second) of the complementary filter used to fuse vertical acceleration and barometric height to obtain an estimate of height rate and height. Increasing this frequency weights the solution more towards use of the barometer, whilst reducing it weights the solution more towards use of the accelerometer data.

Module: src/modules/fw_pos_control_l1

Complementary filter "omega" parameter for speed

Comment: This is the cross-over frequency (in radians/second) of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain an improved airspeed estimate. Increasing this frequency weights the solution more towards use of the airspeed sensor, whilst reducing it weights the solution more towards use of the accelerometer data.

Module: src/modules/fw_pos_control_l1

Roll -> Throttle feedforward

Comment: Increasing this gain turn increases the amount of throttle that will be used to compensate for the additional drag created by turning. Ideally this should be set to approximately 10 x the extra sink rate in m/s created by a 45 degree bank turn. Increase this gain if the aircraft initially loses energy in turns and reduce if the aircraft initially gains energy in turns. Efficient high aspect-ratio aircraft (eg powered sailplanes) can use a lower value, whereas inefficient low aspect-ratio models (eg delta wings) can use a higher value.

Module: src/modules/fw_pos_control_l1

Speed <--> Altitude priority

Comment: This parameter adjusts the amount of weighting that the pitch control applies to speed vs height errors. Setting it to 0.0 will cause the pitch control to control height and ignore speed errors. This will normally improve height accuracy but give larger airspeed errors. Setting it to 2.0 will cause the pitch control loop to control speed and ignore height errors. This will normally reduce airspeed errors, but give larger height errors. The default value of 1.0 allows the pitch control to simultaneously control height and speed. Note to Glider Pilots - set this parameter to 2.0 (The glider will adjust its pitch angle to maintain airspeed, ignoring changes in height).

Module: src/modules/fw_pos_control_l1

Pitch damping factor

Comment: This is the damping gain for the pitch demand loop. Increase to add damping to correct for oscillations in height. The default value of 0.0 will work well provided the pitch to servo controller has been tuned properly.

Module: src/modules/fw_pos_control_l1

Height rate proportional factor

Module: src/modules/fw_pos_control_l1

Height rate feed forward

Module: src/modules/fw_pos_control_l1

Speed rate P factor

Module: src/modules/fw_pos_control_l1

Cruise Airspeed

Comment: The fixed wing controller tries to fly at this airspeed.

Module: src/modules/navigator

Minimum follow target altitude

Comment: The minimum height in meters relative to home for following a target

Distance to follow target from

Comment: The distance in meters to follow the target at

Side to follow target from

Comment: The side to follow the target from (front right = 0, behind = 1, front = 2, front left = 3)

Dynamic filtering algorithm responsiveness to target movement lower numbers increase the responsiveness to changing long lat but also ignore less noise

Dump GPS communication to a file

Comment: If this is set to 1, all GPS communication data will be published via uORB, and written to the log file as gps_dump message.

• 0: Disable
• 1: Enable

Loiter time

Comment: The amount of time in seconds the system should do open loop loiter and wait for gps recovery before it goes into flight termination.

Open loop loiter roll

Comment: Roll in degrees during the open loop loiter

Open loop loiter pitch

Comment: Pitch in degrees during the open loop loiter

Open loop loiter thrust

Comment: Thrust value which is set during the open loop loiter

Geofence violation action

Comment: Note: Setting this value to 4 enables flight termination, which will kill the vehicle on violation of the fence. Due to the inherent danger of this, this function is disabled using a software circuit breaker, which needs to be reset to 0 to really shut down the system.

• 0: None
• 1: Warning
• 2: Loiter
• 3: Return to Land
• 4: Flight terminate

Geofence altitude mode

Comment: Select which altitude reference should be used 0 = WGS84, 1 = AMSL

• 0: WGS84
• 1: AMSL

Geofence source

Comment: Select which position source should be used. Selecting GPS instead of global position makes sure that there is no dependence on the position estimator 0 = global position, 1 = GPS

• 0: GPOS
• 1: GPS

Geofence counter limit

Comment: Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered

Max horizontal distance in meters

Comment: Maximum horizontal distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.

Max vertical distance in meters

Comment: Maximum vertical distance in meters the vehicle can be from home before triggering a geofence action. Disabled if 0.

Satellite radio read interval

Multicopter max climb rate

Comment: Maximum vertical velocity allowed in the landed state (m/s up and down)

Multicopter max horizontal velocity

Comment: Maximum horizontal velocity allowed in the landed state (m/s)

Multicopter max rotation

Comment: Maximum allowed angular velocity around each axis allowed in the landed state.

Multicopter specific force threshold

Comment: Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection

Multicopter sub-hover throttle scaling

Comment: The range between throttle_min and throttle_hover is scaled by this parameter to define how close to minimum throttle the current throttle value needs to be in order to get accepted as landed.

Multicopter free-fall trigger time

Comment: Seconds (decimal) that freefall conditions have to met before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h

Manual flight stick down threshold for landing

Comment: When controlling manually the throttle stick value (0 to 1) has to be bellow this threshold in order to pass the check for landing. So if set to 1 it's allowed to land with any stick position.

Manual position flight stick up threshold for taking off

Comment: When controlling manually in position mode the throttle stick value (0 to 1) has to get above this threshold after arming in order to take off.

Fixedwing max horizontal velocity

Comment: Maximum horizontal velocity allowed in the landed state (m/s)

Fixedwing max climb rate

Comment: Maximum vertical velocity allowed in the landed state (m/s up and down)

Fixedwing max short-term velocity

Comment: Maximum velocity integral in flight direction allowed in the landed state (m/s)

Airspeed max

Comment: Maximum airspeed allowed in the landed state (m/s)

Total flight time in microseconds

Comment: Total flight time of this autopilot. Higher 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.

Total flight time in microseconds

Comment: Total flight time of this autopilot. Lower 32 bits of the value. Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.

Maximum altitude that can be reached prior to subconditions

Launch detection

Catapult accelerometer threshold

Comment: LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.

Catapult time threshold

Comment: LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.

Motor delay

Comment: Delay between starting attitude control and powering up the throttle (giving throttle control to the controller) Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate

Maximum pitch before the throttle is powered up (during motor delay phase)

Comment: This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on. This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).

Optical flow z offset from center

Optical flow scale

Optical flow rotation (roll/pitch) noise gain

Optical flow angular velocity noise gain

Optical flow minimum quality threshold

Sonar z standard deviation

Sonar z offset from center of vehicle +down

Lidar z standard deviation

Lidar z offset from center of vehicle +down

Accelerometer xy noise density

Comment: Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.

Accelerometer z noise density

Comment: Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)

Barometric presssure altitude z standard deviation

GPS delay compensaton

Minimum GPS xy standard deviation, uses reported EPH if greater

Minimum GPS z standard deviation, uses reported EPV if greater

GPS xy velocity standard deviation. EPV used if greater than this value

GPS z velocity standard deviation

Max EPH allowed for GPS initialization

Max EPV allowed for GPS initialization

Vision delay compensaton

Comment: Set to zero to enable automatic compensation from measurement timestamps

Vision xy standard deviation

Vision z standard deviation

Vicon position standard deviation

Position propagation noise density

Comment: Increase to trust measurements more. Decrease to trust model more.

Velocity propagation noise density

Comment: Increase to trust measurements more. Decrease to trust model more.

Accel bias propagation noise density

Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)

Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg) Used to calculate increased terrain random walk nosie due to movement

Flow gyro high pass filter cut off frequency

Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow) by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable

Local origin latitude for nav w/o GPS

Local origin longitude for nav w/o GPS

Cut frequency for state publication

Required velocity xy standard deviation to publish position

Required z standard deviation to publish altitude/ terrain

Land detector z standard deviation

Land detector xy velocity standard deviation

Integer bitmask controlling data fusion

Comment: Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to fuse vision yaw 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion default (145 - GPS only)

• 0: fuse GPS, requires GPS for alt. init
• 1: fuse optical flow
• 2: fuse vision position
• 3: fuse vision yaw
• 4: fuse land detector
• 5: pub agl as lpos down
• 6: flow gyro compensation
• 7: fuse baro

MAVLink system ID

MAVLink component ID

MAVLink protocol version

• 0: Default to 1, switch to 2 if GCS sends version 2
• 1: Always use version 1
• 2: Always use version 2

MAVLink Radio ID

Comment: 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.

MAVLink airframe type

Use/Accept HIL GPS message even if not in HIL mode

Comment: If set to 1 incoming HIL GPS messages are parsed.

Forward external setpoint messages

Comment: If set to 1 incoming external setpoint messages will be directly forwarded to the controllers if in offboard control mode

Broadcast heartbeats on local network

Comment: This allows a ground control station to automatically find the drone on the local network.

• 0: Never broadcast
• 1: Always broadcast

Test parameter

Comment: This parameter is not actively used by the system. Its purpose is to allow testing the parameter interface on the communication level.

Test mode (Identify) of MKBLCTRL Driver