| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| GPS_1_CONFIG (INT32)
| Serial Configuration for Main GPS
Comment: Configure on which serial port to run Main GPS.
Values:
- 0: Disabled
- 6: UART 6
- 101: TELEM 1
- 102: TELEM 2
- 103: TELEM 3
- 104: TELEM/SERIAL 4
- 201: GPS 1
- 202: GPS 2
Reboot required: true
|
|
|
|
| GPS_2_CONFIG (INT32)
| Serial Configuration for Secondary GPS
Comment: Configure on which serial port to run Secondary GPS.
Values:
- 0: Disabled
- 6: UART 6
- 101: TELEM 1
- 102: TELEM 2
- 103: TELEM 3
- 104: TELEM/SERIAL 4
- 201: GPS 1
- 202: GPS 2
Reboot required: true
|
|
|
|
| GPS_DUMP_COMM (INT32)
| 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.
Values:
| 0 > 1
|
|
|
| GPS_UBX_DYNMODEL (INT32)
| u-blox GPS dynamic platform model
Comment: u-blox receivers support different dynamic platform models to adjust the navigation engine to the expected application environment.
Values:
- 2: stationary
- 4: automotive
- 6: airborne with < 1g acceleration< =" " li=" " >
- 7: airborne with < 2g acceleration< =" " li=" " >
- 8: airborne with < 4g acceleration< =" " li=" " >
Reboot required: true
| 0 > 9
|
|
|
| GPS_YAW_OFFSET (FLOAT)
| Heading/Yaw offset for dual antenna GPS
Comment: Heading offset angle for dual antenna GPS setups that support heading estimation. (currently only for the Trimble MB-Two). Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the first antenna is in front. The offset angle increases counterclockwise. Set this to 90 if the first antenna is placed on the right side and the second on the left side of the vehicle.
Reboot required: true
| 0 > 360
| 0.
| deg
|
| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| GF_ACTION (INT32)
| 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.
Values:
- 0: None
- 1: Warning
- 2: Hold mode
- 3: Return mode
- 4: Terminate
| 0 > 4
|
|
|
| GF_ALTMODE (INT32)
| Geofence altitude mode
Comment: Select which altitude reference should be used 0 = WGS84, 1 = AMSL
Values:
| 0 > 1
|
|
|
| GF_COUNT (INT32)
| Geofence counter limit
Comment: Set how many subsequent position measurements outside of the fence are needed before geofence violation is triggered
| -1 > 10 (1)
| -1
|
|
| GF_MAX_HOR_DIST (FLOAT)
| 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.
| 0 > 10000 (1)
|
| m
|
| GF_MAX_VER_DIST (FLOAT)
| 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.
| 0 > 10000 (1)
|
| m
|
| GF_SOURCE (INT32)
| 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
Values:
| 0 > 1
|
|
|
| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| LNDFW_AIRSPD_MAX (FLOAT)
| Airspeed max
Comment: Maximum airspeed allowed in the landed state (m/s)
| 4 > 20
| 8. 00
| m/s
|
| LNDFW_VEL_XY_MAX (FLOAT)
| Fixedwing max horizontal velocity
Comment: Maximum horizontal velocity allowed in the landed state (m/s)
| 0. 5 > 10
| 5. 0
| m/s
|
| LNDFW_VEL_Z_MAX (FLOAT)
| Fixedwing max climb rate
Comment: Maximum vertical velocity allowed in the landed state (m/s up and down)
| 0. 1 > 20
| 3. 0
| m/s
|
| LNDFW_XYACC_MAX (FLOAT)
| Fixedwing max horizontal acceleration
Comment: Maximum horizontal (x, y body axes) acceleration allowed in the landed state (m/s^2)
| 2 > 15
| 8. 0
| m/s^2
|
| LNDMC_ALT_MAX (FLOAT)
| Maximum altitude for multicopters
Comment: The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation.
| -1 > 10000
| -1. 0
| m
|
| LNDMC_FFALL_THR (FLOAT)
| Multicopter specific force threshold
Comment: Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
| 0. 1 > 10
| 2. 0
| m/s^2
|
| LNDMC_FFALL_TTRI (FLOAT)
| 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
| 0. 02 > 5
| 0. 3
| s
|
| LNDMC_ROT_MAX (FLOAT)
| Multicopter max rotation
Comment: Maximum allowed angular velocity around each axis allowed in the landed state.
|
| 20. 0
| deg/s
|
| LNDMC_XY_VEL_MAX (FLOAT)
| Multicopter max horizontal velocity
Comment: Maximum horizontal velocity allowed in the landed state (m/s)
|
| 1. 5
| m/s
|
| LNDMC_Z_VEL_MAX (FLOAT)
| Multicopter max climb rate
Comment: Maximum vertical velocity allowed in the landed state (m/s up and down)
|
| 0. 50
| m/s
|
| LND_FLIGHT_T_HI (INT32)
| 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.
| 0 > ?
|
|
|
| LND_FLIGHT_T_LO (INT32)
| 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.
| 0 > ?
|
|
|
