| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| TRIG_ACT_TIME (FLOAT)
| Camera trigger activation time
Comment: This parameter sets the time the trigger needs to pulled high or low.
| 0. 1 > 3000
| 40. 0
| ms
|
| TRIG_DISTANCE (FLOAT)
| Camera trigger distance
Comment: Sets the distance at which to trigger the camera.
| 0 > ? (1)
| 25. 0
| m
|
| TRIG_INTERFACE (INT32)
| Camera trigger Interface
Comment: Selects the trigger interface
Values:
- 1: GPIO
- 2: Seagull MAP2 (over PWM)
- 3: MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)
- 4: Generic PWM (IR trigger, servo)
Reboot required: true
|
|
|
|
| TRIG_INTERVAL (FLOAT)
| Camera trigger interval
Comment: This parameter sets the time between two consecutive trigger events
| 4. 0 > 10000. 0
| 40. 0
| ms
|
| TRIG_MODE (INT32)
| Camera trigger mode
Values:
- 0: Disable
- 1: Time based, on command
- 2: Time based, always on
- 3: Distance based, always on
- 4: Distance based, on command (Survey mode)
Reboot required: true
| 0 > 4
|
|
|
| TRIG_PINS (INT32)
| Camera trigger pin
Comment: Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4_fmu-v2 and the rail pins on px4_fmu-v4). The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I. E. 16 or 61. In GPIO mode the delay pin to pin is < . 2 uS.
Reboot required: true
| 1 > 123456
|
|
|
| TRIG_POLARITY (INT32)
| Camera trigger polarity
Comment: This parameter sets the polarity of the trigger (0 = active low, 1 = active high )
Values:
- 0: Active low
- 1: Active high
| 0 > 1
|
|
|
| TRIG_PWM_NEUTRAL (INT32)
| PWM neutral output on trigger pin
Reboot required: true
| 1000 > 2000
|
| us
|
| TRIG_PWM_SHOOT (INT32)
| PWM output to trigger shot
Reboot required: true
| 1000 > 2000
|
| us
|
| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| CBRK_AIRSPD_CHK (INT32)
| Circuit breaker for airspeed sensor
Comment: Setting this parameter to 162128 will disable the check for an airspeed sensor. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| 0 > 162128
|
|
|
| CBRK_BUZZER (INT32)
| Circuit breaker for disabling buzzer
Comment: Setting this parameter to 782097 will disable the buzzer audio notification. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| 0 > 782097
|
|
|
| CBRK_ENGINEFAIL (INT32)
| Circuit breaker for engine failure detection
Comment: Setting this parameter to 284953 will disable the engine failure detection. If the aircraft is in engine failure mode the engine failure flag will be set to healthy WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| 0 > 284953
|
|
|
| CBRK_FLIGHTTERM (INT32)
| Circuit breaker for flight termination
Comment: Setting this parameter to 121212 will disable the flight termination action. --> The IO driver will not do flight termination if requested by the FMU WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| 0 > 121212
|
|
|
| CBRK_GPSFAIL (INT32)
| Circuit breaker for GPS failure detection
Comment: Setting this parameter to 240024 will disable the GPS failure detection. If this check is enabled, then the sensor check will fail if the GPS module is missing. It will also check for excessive signal noise on the GPS receiver and warn the user if detected. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| 0 > 240024
|
|
|
| CBRK_IO_SAFETY (INT32)
| Circuit breaker for IO safety
Comment: Setting this parameter to 22027 will disable IO safety. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| 0 > 22027
|
|
|
| CBRK_RATE_CTRL (INT32)
| Circuit breaker for rate controller output
Comment: Setting this parameter to 140253 will disable the rate controller uORB publication. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| 0 > 140253
|
|
|
| CBRK_SUPPLY_CHK (INT32)
| Circuit breaker for power supply check
Comment: Setting this parameter to 894281 will disable the power valid checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| 0 > 894281
|
|
|
| CBRK_USB_CHK (INT32)
| Circuit breaker for USB link check
Comment: Setting this parameter to 197848 will disable the USB connected checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| 0 > 197848
|
|
|
| CBRK_VELPOSERR (INT32)
| Circuit breaker for position error check
Comment: Setting this parameter to 201607 will disable the position and velocity accuracy checks in the commander. WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
Reboot required: true
| 0 > 201607
|
|
|
| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| COM_ARM_AUTH (INT32)
| 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
Comment: Default value: (10 < < 0 | 1000 < < 8 | 0 < < 24) = 256010 - authorizer system id = 10 - authentication method parameter = 10000msec of timeout - authentication method = during arm
|
|
|
|
| COM_ARM_EKF_AB (FLOAT)
| 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
| 0. 001 > 0. 01 (0. 0001)
| 1. 73e-3
| m/s
|
| COM_ARM_EKF_GB (FLOAT)
| Maximum value of EKF gyro delta angle bias estimate that will allow arming
| 0. 0001 > 0. 0017 (0. 0001)
| 8. 7e-4
| rad
|
| COM_ARM_EKF_HGT (FLOAT)
| Maximum EKF height innovation test ratio that will allow arming
| 0. 1 > 1. 0 (0. 05)
| 1. 0
| m
|
| COM_ARM_EKF_POS (FLOAT)
| Maximum EKF position innovation test ratio that will allow arming
| 0. 1 > 1. 0 (0. 05)
| 0. 5
| m
|
| COM_ARM_EKF_VEL (FLOAT)
| Maximum EKF velocity innovation test ratio that will allow arming
| 0. 1 > 1. 0 (0. 05)
| 0. 5
| m/s
|
| COM_ARM_EKF_YAW (FLOAT)
| Maximum EKF yaw innovation test ratio that will allow arming
| 0. 1 > 1. 0 (0. 05)
| 0. 5
| rad
|
| COM_ARM_IMU_ACC (FLOAT)
| Maximum accelerometer inconsistency between IMU units that will allow arming
| 0. 1 > 1. 0 (0. 05)
| 0. 7
| m/s/s
|
| COM_ARM_IMU_GYR (FLOAT)
| Maximum rate gyro inconsistency between IMU units that will allow arming
| 0. 02 > 0. 3 (0. 01)
| 0. 25
| rad/s
|
| COM_ARM_MAG (FLOAT)
| Maximum magnetic field inconsistency between units that will allow arming
| 0. 05 > 0. 5 (0. 05)
| 0. 15
| Gauss
|
| COM_ARM_MIS_REQ (INT32)
| Require valid mission to arm
Comment: The default allows to arm the vehicle without a valid mission.
|
|
|
|
| COM_ARM_SWISBTN (INT32)
| Arm switch is only a button
Comment: The default uses the arm switch as real switch. If parameter set button gets handled like stick arming.
Values:
- 0: Arm switch is a switch that stays on when armed
- 1: Arm switch is a button that only triggers arming and disarming
| 0 > 1
|
|
|
| COM_ARM_WO_GPS (INT32)
| Allow arming without GPS
Comment: The default allows to arm the vehicle without GPS signal.
|
|
|
|
| COM_DISARM_LAND (FLOAT)
| Time-out for auto disarm after landing
Comment: A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will always be 10 seconds such that the pilot has enough time to take off. A negative value means that automatic disarming triggered by landing detection is disabled.
| -1 > 20
| -1. 0
| s
|
| COM_DL_LOSS_T (INT32)
| Datalink loss time threshold
Comment: After this amount of seconds without datalink the data link lost mode triggers
| 5 > 300 (0. 5)
|
| s
|
| COM_DL_REG_T (INT32)
| Datalink regain time threshold
Comment: After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false
| 0 > 3 (0. 5)
|
| s
|
| COM_EF_C2T (FLOAT)
| Engine Failure Current/Throttle Threshold
Comment: Engine failure triggers only below this current value
| 0. 0 > 50. 0 (1)
| 5. 0
| A/%
|
| COM_EF_THROT (FLOAT)
| Engine Failure Throttle Threshold
Comment: Engine failure triggers only above this throttle value
| 0. 0 > 1. 0 (0. 01)
| 0. 5
| norm
|
| COM_EF_TIME (FLOAT)
| Engine Failure Time Threshold
Comment: Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time
| 0. 0 > 60. 0 (1)
| 10. 0
| s
|
| COM_FLIGHT_UUID (INT32)
| Next flight UUID
Comment: This number is incremented automatically after every flight on disarming in order to remember the next flight UUID. The first flight is 0.
| 0 > ?
|
|
|
| COM_FLTMODE1 (INT32)
| First flightmode slot (1000-1160)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
- -1: Unassigned
- 0: Manual
- 1: Altitude
- 2: Position
- 3: Mission
- 4: Hold
- 5: Return
- 6: Acro
- 7: Offboard
- 8: Stabilized
- 9: Rattitude
- 10: Takeoff
- 11: Land
- 12: Follow Me
|
| -1
|
|
| COM_FLTMODE2 (INT32)
| Second flightmode slot (1160-1320)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
- -1: Unassigned
- 0: Manual
- 1: Altitude
- 2: Position
- 3: Mission
- 4: Hold
- 5: Return
- 6: Acro
- 7: Offboard
- 8: Stabilized
- 9: Rattitude
- 10: Takeoff
- 11: Land
- 12: Follow Me
|
| -1
|
|
| COM_FLTMODE3 (INT32)
| Third flightmode slot (1320-1480)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
- -1: Unassigned
- 0: Manual
- 1: Altitude
- 2: Position
- 3: Mission
- 4: Hold
- 5: Return
- 6: Acro
- 7: Offboard
- 8: Stabilized
- 9: Rattitude
- 10: Takeoff
- 11: Land
- 12: Follow Me
|
| -1
|
|
| COM_FLTMODE4 (INT32)
| Fourth flightmode slot (1480-1640)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
- -1: Unassigned
- 0: Manual
- 1: Altitude
- 2: Position
- 3: Mission
- 4: Hold
- 5: Return
- 6: Acro
- 7: Offboard
- 8: Stabilized
- 9: Rattitude
- 10: Takeoff
- 11: Land
- 12: Follow Me
|
| -1
|
|
| COM_FLTMODE5 (INT32)
| Fifth flightmode slot (1640-1800)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
- -1: Unassigned
- 0: Manual
- 1: Altitude
- 2: Position
- 3: Mission
- 4: Hold
- 5: Return
- 6: Acro
- 7: Offboard
- 8: Stabilized
- 9: Rattitude
- 10: Takeoff
- 11: Land
- 12: Follow Me
|
| -1
|
|
| COM_FLTMODE6 (INT32)
| Sixth flightmode slot (1800-2000)
Comment: If the main switch channel is in this range the selected flight mode will be applied.
Values:
- -1: Unassigned
- 0: Manual
- 1: Altitude
- 2: Position
- 3: Mission
- 4: Hold
- 5: Return
- 6: Acro
- 7: Offboard
- 8: Stabilized
- 9: Rattitude
- 10: Takeoff
- 11: Land
- 12: Follow Me
|
| -1
|
|
| COM_HLDL_LOSS_T (INT32)
| High Latency Datalink loss time threshold
Comment: After this amount of seconds without datalink the data link lost mode triggers
| 60 > 3600
|
| s
|
| COM_HLDL_REG_T (INT32)
| High Latency Datalink regain time threshold
Comment: After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false
| 0 > 60
|
| s
|
| COM_HOME_H_T (FLOAT)
| Home set horizontal threshold
Comment: The home position will be set if the estimated positioning accuracy is below the threshold.
| 2 > 15 (0. 5)
| 5. 0
| m
|
| COM_HOME_V_T (FLOAT)
| Home set vertical threshold
Comment: The home position will be set if the estimated positioning accuracy is below the threshold.
| 5 > 25 (0. 5)
| 10. 0
| m
|
| COM_LOW_BAT_ACT (INT32)
| Battery failsafe mode
Comment: Action the system takes on low battery. Defaults to off
Values:
- 0: Warning
- 1: Return mode
- 2: Land mode
- 3: Return mode at critically low level, Land mode at current position if reaching dangerously low levels
| (1)
|
|
|
| COM_OF_LOSS_T (FLOAT)
| Time-out to wait when offboard connection is lost before triggering offboard lost action. See COM_OBL_ACT and COM_OBL_RC_ACT to configure action
| 0 > 60 (1)
| 0. 0
| s
|
| COM_POS_FS_DELAY (INT32)
| Loss of position failsafe activation delay
Comment: 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.
Reboot required: true
| 1 > 100
|
| sec
|
| COM_POS_FS_EPH (FLOAT)
| Horizontal position error threshold
Comment: This is the horizontal position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
|
|
| m
|
| COM_POS_FS_EPV (FLOAT)
| Vertical position error threshold
Comment: 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.
|
|
| m
|
| COM_POS_FS_GAIN (INT32)
| Loss of position probation gain factor
Comment: 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
|
|
|
|
| COM_POS_FS_PROB (INT32)
| Loss of position probation delay at takeoff
Comment: 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.
Reboot required: true
| 1 > 100
|
| sec
|
| COM_RC_ARM_HYST (INT32)
| RC input arm/disarm command duration
Comment: The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
| 100 > 1500
|
|
|
| COM_RC_IN_MODE (INT32)
| RC control input mode
Comment: The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.
Values:
- 0: RC Transmitter
- 1: Joystick/No RC Checks
- 2: Virtual RC by Joystick
| 0 > 2
|
|
|
| COM_RC_LOSS_T (FLOAT)
| RC loss time threshold
Comment: After this amount of seconds without RC connection the rc lost flag is set to true
| 0 > 35 (0. 1)
| 0. 5
| s
|
| COM_RC_OVERRIDE (INT32)
| Enable RC stick override of auto modes
|
|
|
|
| COM_RC_STICK_OV (FLOAT)
| RC stick override threshold
Comment: If an RC stick is moved more than by this amount the system will interpret this as override request by the pilot.
| 5 > 40 (0. 05)
| 12. 0
| %
|
| COM_VEL_FS_EVH (FLOAT)
| Horizontal velocity error threshold
Comment: 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.
|
|
| m/s
|
