| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| COM_OBL_ACT (INT32)
| Set offboard loss failsafe mode
Comment: The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.
Values:
- 0: Land mode
- 1: Hold mode
- 2: Return mode
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| COM_OBL_RC_ACT (INT32)
| Set offboard loss failsafe mode when RC is available
Comment: The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.
Values:
- 0: Position mode
- 1: Altitude mode
- 2: Manual
- 3: Return mode
- 4: Land mode
- 5: Hold mode
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| COM_POSCTL_NAVL (INT32)
| Position control navigation loss response
Comment: This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.
Values:
- 0: Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
- 1: Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
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| COM_TAKEOFF_ACT (INT32)
| Action after TAKEOFF has been accepted
Comment: The mode transition after TAKEOFF has completed successfully.
Values:
- 0: Hold
- 1: Mission (if valid)
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| MIS_ALTMODE (INT32)
| Altitude setpoint mode
Comment: 0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode
Values:
- 0: Zero Order Hold
- 1: First Order Hold
| 0 > 1
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| MIS_DIST_1WP (FLOAT)
| Maximal horizontal distance from home to first waypoint
Comment: Failsafe check to prevent running mission stored from previous flight at a new takeoff location. Set a value of zero or less to disable. The mission will not be started if the current waypoint is more distant than MIS_DIS_1WP from the home position.
| 0 > 10000 (100)
|
| m
|
| MIS_DIST_WPS (FLOAT)
| Maximal horizontal distance between waypoint
Comment: Failsafe check to prevent running missions which are way too big. Set a value of zero or less to disable. The mission will not be started if any distance between two subsequent waypoints is greater than MIS_DIST_WPS.
| 0 > 10000 (100)
|
| m
|
| MIS_LTRMIN_ALT (FLOAT)
| Minimum Loiter altitude
Comment: This is the minimum altitude the system will always obey. The intent is to stay out of ground effect. set to -1, if there shouldn't be a minimum loiter altitude
| -1 > 80 (0. 5)
| -1. 0
| m
|
| MIS_MNT_YAW_CTL (INT32)
| Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
Comment: If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading towards the flight direction. If disabled, the vehicle will yaw towards the ROI.
Values:
| 0 > 1
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| MIS_TAKEOFF_ALT (FLOAT)
| Take-off altitude
Comment: This is the minimum altitude the system will take off to.
| 0 > 80 (0. 5)
| 2. 5
| m
|
| MIS_YAW_ERR (FLOAT)
| Max yaw error in degrees needed for waypoint heading acceptance
| 0 > 90 (1)
| 12. 0
| deg
|
| MIS_YAW_TMT (FLOAT)
| Time in seconds we wait on reaching target heading at a waypoint if it is forced
Comment: If set > 0 it will ignore the target heading for normal waypoint acceptance. If the waypoint forces the heading the timeout will matter. For example on VTOL forwards transition. Mainly useful for VTOLs that have less yaw authority and might not reach target yaw in wind. Disabled by default.
| -1 > 20 (1)
| -1. 0
| s
|
| MPC_YAW_MODE (INT32)
| Yaw mode
Comment: Specifies the heading in Auto.
Values:
- 0: towards waypoint
- 1: towards home
- 2: away from home
- 3: along trajectory
| 0 > 3
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| NAV_ACC_RAD (FLOAT)
| Acceptance Radius
Comment: Default acceptance radius, overridden by acceptance radius of waypoint if set. For fixed wing the L1 turning distance is used for horizontal acceptance.
| 0. 05 > 200. 0 (0. 5)
| 10. 0
| m
|
| NAV_DLL_ACT (INT32)
| Set data link loss failsafe mode
Comment: The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.
Values:
- 0: Disabled
- 1: Hold mode
- 2: Return mode
- 3: Land mode
- 4: Data Link Auto Recovery (CASA Outback Challenge rules)
- 5: Terminate
- 6: Lockdown
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| NAV_FORCE_VT (INT32)
| Force VTOL mode takeoff and land
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| NAV_FW_ALTL_RAD (FLOAT)
| FW Altitude Acceptance Radius before a landing
Comment: 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.
| 0. 05 > 200. 0
| 5. 0
| m
|
| NAV_FW_ALT_RAD (FLOAT)
| FW Altitude Acceptance Radius
Comment: Acceptance radius for fixedwing altitude.
| 0. 05 > 200. 0 (0. 5)
| 10. 0
| m
|
| NAV_LOITER_RAD (FLOAT)
| Loiter radius (FW only)
Comment: Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only).
| 25 > 1000 (0. 5)
| 50. 0
| m
|
| NAV_MC_ALT_RAD (FLOAT)
| MC Altitude Acceptance Radius
Comment: Acceptance radius for multicopter altitude.
| 0. 05 > 200. 0 (0. 5)
| 0. 8
| m
|
| NAV_RCL_ACT (INT32)
| Set RC loss failsafe mode
Comment: The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.
Values:
- 0: Disabled
- 1: Hold mode
- 2: Return mode
- 3: Land mode
- 4: RC Auto Recovery (CASA Outback Challenge rules)
- 5: Terminate
- 6: Lockdown
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| NAV_RCL_LT (FLOAT)
| RC Loss Loiter Time (CASA Outback Challenge rules)
Comment: The amount of time in seconds the system should loiter at current position before termination. Only applies if NAV_RCL_ACT is set to 2 (CASA Outback Challenge rules). Set to -1 to make the system skip loitering.
| -1. 0 > ? (0. 1)
| 120. 0
| s
|
| NAV_TRAFF_AVOID (INT32)
| Set traffic avoidance mode
Comment: Enabling this will allow the system to respond to transponder data from e. g. ADSB transponders
Values:
- 0: Disabled
- 1: Warn only
- 2: Return mode
- 3: Land mode
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