| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| MPC_ACC_DOWN_MAX (FLOAT)
| Maximum vertical acceleration in velocity controlled modes down
| 2. 0 > 15. 0 (1)
| 10. 0
| m/s/s
|
| MPC_ACC_HOR (FLOAT)
| Acceleration for auto and for manual
| 2. 0 > 15. 0 (1)
| 5. 0
| m/s/s
|
| MPC_ACC_HOR_ESTM (FLOAT)
| Horizontal acceleration in manual modes when te estimator speed limit is removed. If full stick is being applied and the estimator stops demanding a speed limit, which it had been before (e. g if GPS is gained while flying on optical flow/vision only), the vehicle will accelerate at this rate until the normal position control speed is achieved
| 0. 2 > 2. 0 (0. 1)
| 0. 5
| m/s/s
|
| MPC_ACC_HOR_MAX (FLOAT)
| Maximum horizontal acceleration for auto mode and maximum deceleration for manual mode
| 2. 0 > 15. 0 (1)
| 10. 0
| m/s/s
|
| MPC_ACC_UP_MAX (FLOAT)
| Maximum vertical acceleration in velocity controlled modes upward
| 2. 0 > 15. 0 (1)
| 10. 0
| m/s/s
|
| MPC_ALT_MODE (INT32)
| Altitude control mode
Comment: Set to 0 to control height relative to the earth frame origin. This origin may move up and down in flight due to sensor drift. Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down with terrain height variation. Requires a distance to ground sensor. The height controller will revert to using height above origin if the distance to ground estimate becomes invalid as indicated by the local_position. distance_bottom_valid message being false. Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative to earth frame origin when moving horizontally. The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.
Values:
- 0: Altitude following
- 1: Terrain following
- 2: Terrain hold
| 0 > 2
|
|
|
| MPC_AUTO_MODE (INT32)
| Auto sub-mode
Values:
- 0: Default line tracking
- 1: Jerk-limited trajectory
|
|
|
|
| MPC_COL_PREV_D (FLOAT)
| Minimum distance the vehicle should keep to all obstacles
Comment: Only used in Position mode. Collision avoidace is disabled by setting this parameter to a negative value
| -1 > 15
| -1. 0
| meters
|
| MPC_CRUISE_90 (FLOAT)
| Cruise speed when angle prev-current/current-next setpoint is 90 degrees. It should be lower than MPC_XY_CRUISE
Comment: Applies only in AUTO modes (includes also RTL / hold / etc. )
| 1. 0 > 20. 0 (1)
| 3. 0
| m/s
|
| MPC_DEC_HOR_SLOW (FLOAT)
| Slow horizontal manual deceleration for manual mode
| 0. 5 > 10. 0 (1)
| 5. 0
| m/s/s
|
| MPC_HOLD_DZ (FLOAT)
| Deadzone of sticks where position hold is enabled
| 0. 0 > 1. 0
| 0. 1
|
|
| MPC_HOLD_MAX_XY (FLOAT)
| Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
| 0. 0 > 3. 0
| 0. 8
| m/s
|
| MPC_HOLD_MAX_Z (FLOAT)
| Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
| 0. 0 > 3. 0
| 0. 6
| m/s
|
| MPC_JERK_MAX (FLOAT)
| Maximum jerk limit
Comment: Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: this is only used when MPC_POS_MODE is set to a smoothing mode.
| 0. 5 > 500. 0 (1)
| 20. 0
| m/s/s/s
|
| MPC_JERK_MIN (FLOAT)
| Velocity-based jerk limit
Comment: If this is not zero, a velocity-based maximum jerk limit is used: the applied jerk limit linearly increases with the vehicle's velocity between MPC_JERK_MIN (zero velocity) and MPC_JERK_MAX (maximum velocity). This means that the vehicle's motions are smooth for low velocities, but still allows fast direction changes or breaking at higher velocities. Set this to zero to use a fixed maximum jerk limit (MPC_JERK_MAX). Note: this is only used when MPC_POS_MODE is set to a smoothing mode.
| 0 > 30. 0 (1)
| 8. 0
| m/s/s/s
|
| MPC_LAND_ALT1 (FLOAT)
| Altitude for 1. step of slow landing (descend)
Comment: Below this altitude descending velocity gets limited to a value between " MPC_Z_VEL_MAX" and " MPC_LAND_SPEED" to enable a smooth descent experience Value needs to be higher than " MPC_LAND_ALT2"
| 0 > 122
| 10. 0
| m
|
| MPC_LAND_ALT2 (FLOAT)
| Altitude for 2. step of slow landing (landing)
Comment: Below this altitude descending velocity gets limited to " MPC_LAND_SPEED" Value needs to be lower than " MPC_LAND_ALT1"
| 0 > 122
| 5. 0
| m
|
| MPC_LAND_SPEED (FLOAT)
| Landing descend rate
| 0. 6 > ?
| 0. 7
| m/s
|
| MPC_MANTHR_MIN (FLOAT)
| Minimum manual thrust
Comment: Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. With MC_AIRMODE set to 1, this can safely be set to 0.
| 0. 0 > 1. 0 (0. 01)
| 0. 08
| norm
|
| MPC_MAN_TILT_MAX (FLOAT)
| Maximal tilt angle in manual or altitude mode
| 0. 0 > 90. 0
| 35. 0
| deg
|
| MPC_MAN_Y_MAX (FLOAT)
| Max manual yaw rate
| 0. 0 > 400
| 200. 0
| deg/s
|
| MPC_OBS_AVOID (INT32)
| Flag to enable obstacle avoidance Temporary Parameter to enable interface testing
|
|
|
|
| MPC_POS_MODE (INT32)
| Manual-Position control sub-mode
Comment: The supported sub-modes are: 0 Default position control where sticks map to position/velocity directly. Maximum speeds is MPC_VEL_MANUAL. 1 Smooth position control where setpoints are adjusted based on acceleration limits and jerk limits. 2 Sport mode that is the same Default position control but with velocity limits set to the maximum allowed speeds (MPC_XY_VEL_MAX) 3 Smooth position control with maximum acceleration and jerk limits (different algorithm than 1).
Values:
- 0: Default position control
- 1: Smooth position control
- 2: Sport position control
- 3: Smooth position control (Velocity)
|
|
|
|
| MPC_SPOOLUP_TIME (FLOAT)
| Enforced delay between arming and takeoff
Comment: For altitude controlled modes the time from arming the motors until a takeoff is possible gets forced to be at least MPC_SPOOLUP_TIME seconds to ensure the motors and propellers can sppol up and reach idle speed before getting commanded to spin faster. This delay is particularly useful for vehicles with slow motor spin-up e. g. because of large propellers.
| 0 > 10
| 0. 0
| s
|
| MPC_THR_CURVE (INT32)
| Thrust curve in Manual Mode
Comment: This parameter defines how the throttle stick input is mapped to commanded thrust in Manual/Stabilized flight mode. In case the default is used ('Rescale to hover thrust'), the stick input is linearly rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER). Select 'No Rescale' to directly map the stick 1: 1 to the output. This can be useful in case the hover thrust is very low and the default would lead to too much distortion (e. g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the upper half of the stick range). Note: in case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
Values:
- 0: Rescale to hover thrust
- 1: No Rescale
|
|
|
|
| MPC_THR_HOVER (FLOAT)
| Hover thrust
Comment: Vertical thrust required to hover. This value is mapped to center stick for manual throttle control. With this value set to the thrust required to hover, transition from manual to Altitude or Position mode while hovering will occur with the throttle stick near center, which is then interpreted as (near) zero demand for vertical speed. This parameter is also important for the landing detection to work correctly.
| 0. 1 > 0. 8 (0. 01)
| 0. 5
| norm
|
| MPC_THR_MAX (FLOAT)
| Maximum thrust in auto thrust control
Comment: Limit max allowed thrust
| 0. 0 > 1. 0 (0. 01)
| 1. 0
| norm
|
| MPC_THR_MIN (FLOAT)
| Minimum thrust in auto thrust control
Comment: It's recommended to set it > 0 to avoid free fall with zero thrust.
| 0. 05 > 1. 0 (0. 01)
| 0. 12
| norm
|
| MPC_TILTMAX_AIR (FLOAT)
| Maximum tilt angle in air
Comment: Limits maximum tilt in AUTO and POSCTRL modes during flight.
| 0. 0 > 90. 0
| 45. 0
| deg
|
| MPC_TILTMAX_LND (FLOAT)
| Maximum tilt during landing
Comment: Limits maximum tilt angle on landing.
| 0. 0 > 180. 0
| 12. 0
| deg
|
| MPC_TKO_RAMP_T (FLOAT)
| Position control smooth takeoff ramp time constant
Comment: Increasing this value will make automatic and manual takeoff slower. If it's too slow the drone might scratch the ground and tip over.
| 0. 1 > 1
| 0. 4
|
|
| MPC_TKO_SPEED (FLOAT)
| Takeoff climb rate
| 1 > 5
| 1. 5
| m/s
|
| MPC_VELD_LP (FLOAT)
| Low pass filter cut freq. for numerical velocity derivative
| 0. 0 > 10
| 5. 0
| Hz
|
| MPC_VEL_MANUAL (FLOAT)
| Maximum horizontal velocity setpoint for manual controlled mode If velocity setpoint larger than MPC_XY_VEL_MAX is set, then the setpoint will be capped to MPC_XY_VEL_MAX
| 3. 0 > 20. 0 (1)
| 10. 0
| m/s
|
| MPC_XY_CRUISE (FLOAT)
| Maximum horizontal velocity in mission
Comment: Normal horizontal velocity in AUTO modes (includes also RTL / hold / etc. ) and endpoint for position stabilized mode (POSCTRL).
| 3. 0 > 20. 0 (1)
| 5. 0
| m/s
|
| MPC_XY_MAN_EXPO (FLOAT)
| Manual position control stick exponential curve sensitivity
Comment: The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve
| 0 > 1
| 0. 0
|
|
| MPC_XY_P (FLOAT)
| Proportional gain for horizontal position error
| 0. 0 > 2. 0
| 0. 95
|
|
| MPC_XY_TRAJ_P (FLOAT)
| Proportional gain for horizontal trajectory position error
| 0. 1 > 5. 0
| 0. 3
|
|
| MPC_XY_VEL_D (FLOAT)
| Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again
| 0. 005 > 0. 1
| 0. 01
|
|
| MPC_XY_VEL_I (FLOAT)
| Integral gain for horizontal velocity error
Comment: Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.
| 0. 0 > 3. 0
| 0. 02
|
|
| MPC_XY_VEL_MAX (FLOAT)
| Maximum horizontal velocity
Comment: Maximum horizontal velocity in AUTO mode. If higher speeds are commanded in a mission they will be capped to this velocity.
| 0. 0 > 20. 0 (1)
| 12. 0
| m/s
|
| MPC_XY_VEL_P (FLOAT)
| Proportional gain for horizontal velocity error
| 0. 06 > 0. 15
| 0. 09
|
|
| MPC_YAW_EXPO (FLOAT)
| Manual control stick yaw rotation exponential curve
Comment: The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve
| 0 > 1
| 0. 0
|
|
| MPC_Z_MAN_EXPO (FLOAT)
| Manual control stick vertical exponential curve
Comment: The higher the value the less sensitivity the stick has around zero while still reaching the maximum value with full stick deflection. 0 Purely linear input curve (default) 1 Purely cubic input curve
| 0 > 1
| 0. 0
|
|
| MPC_Z_P (FLOAT)
| Proportional gain for vertical position error
| 0. 0 > 1. 5
| 1. 0
|
|
| MPC_Z_TRAJ_P (FLOAT)
| Proportional gain for vertical trajectory position error
| 0. 1 > 5. 0
| 0. 3
|
|
| MPC_Z_VEL_D (FLOAT)
| Differential gain for vertical velocity error
| 0. 0 > 0. 1
| 0. 0
|
|
| MPC_Z_VEL_I (FLOAT)
| Integral gain for vertical velocity error
Comment: Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
| 0. 01 > 0. 1
| 0. 02
|
|
| MPC_Z_VEL_MAX_DN (FLOAT)
| Maximum vertical descent velocity
Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
| 0. 5 > 4. 0
| 1. 0
| m/s
|
| MPC_Z_VEL_MAX_UP (FLOAT)
| Maximum vertical ascent velocity
Comment: Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
| 0. 5 > 8. 0
| 3. 0
| m/s
|
| MPC_Z_VEL_P (FLOAT)
| Proportional gain for vertical velocity error
| 0. 1 > 0. 4
| 0. 2
|
|
| WV_EN (INT32)
| Enable weathervane
|
|
|
|
| WV_ROLL_MIN (FLOAT)
| Minimum roll angle setpoint for weathervane controller to demand a yaw-rate
| 0 > 5
| 1. 0
| deg
|
| WV_YRATE_MAX (FLOAT)
| Maximum yawrate the weathervane controller is allowed to demand
| 0 > 120
| 90. 0
| deg/s
|
