| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| BD_GPROPERTIES (FLOAT)
| Ground drag property
Comment: This parameter encodes the ground drag coefficient and the corresponding decrease in wind speed from the plane altitude to ground altitude.
| 0. 001 > 0. 1
| 0. 03
|
|
| BD_OBJ_CD (FLOAT)
| Payload drag coefficient of the dropped object
Comment: The drag coefficient (cd) is the typical drag constant for air. It is in general object specific, but the closest primitive shape to the actual object should give good results: http: //en. wikipedia. org/wiki/Drag_coefficient
| 0. 08 > 1. 5
| 0. 1
|
|
| BD_OBJ_MASS (FLOAT)
| Payload mass
Comment: A typical small toy ball: 0. 025 kg OBC water bottle: 0. 6 kg
| 0. 001 > 5. 0
| 0. 6
| kg
|
| BD_OBJ_SURFACE (FLOAT)
| Payload front surface area
Comment: A typical small toy ball: (0. 045 * 0. 045) / 4. 0 * pi = 0. 001590 m^2 OBC water bottle: (0. 063 * 0. 063) / 4. 0 * pi = 0. 003117 m^2
| 0. 001 > 0. 5
| 0. 00311724531
| m^2
|
| BD_PRECISION (FLOAT)
| Drop precision
Comment: If the system is closer than this distance on passing over the drop position, it will release the payload. This is a safeguard to prevent a drop out of the required accuracy.
| 1. 0 > 80. 0
| 30. 0
| m
|
| BD_TURNRADIUS (FLOAT)
| Plane turn radius
Comment: The planes known minimal turn radius - use a higher value to make the plane maneuver more distant from the actual drop position. This is to ensure the wings are level during the drop.
| 30. 0 > 500. 0
| 120. 0
| m
|
| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| CBRK_NO_VISION (INT32)
| Disable vision input
Comment: Set to the appropriate key (328754) to disable vision input.
Reboot required: true
| 0 > 328754
|
|
|
| INAV_DELAY_GPS (FLOAT)
| GPS delay
Comment: GPS delay compensation
| 0. 0 > 1. 0
| 0. 2
| s
|
| INAV_DISAB_MOCAP (FLOAT)
| Mo-cap
Comment: Set to 0 if using fake GPS
Values:
- 0: Mo-cap enabled
- 1: Mo-cap disabled
|
|
|
|
| INAV_FLOW_DIST_X (FLOAT)
| Flow module offset (center of rotation) in X direction
Comment: Yaw X flow compensation
| -1. 0 > 1. 0
| 0. 0
| m
|
| INAV_FLOW_DIST_Y (FLOAT)
| Flow module offset (center of rotation) in Y direction
Comment: Yaw Y flow compensation
| -1. 0 > 1. 0
| 0. 0
| m
|
| INAV_FLOW_K (FLOAT)
| Optical flow scale factor
Comment: Factor to scale optical flow
| 0. 0 > 10. 0
| 1. 35
|
|
| INAV_FLOW_Q_MIN (FLOAT)
| Minimal acceptable optical flow quality
Comment: 0 - lowest quality, 1 - best quality.
| 0. 0 > 1. 0
| 0. 3
|
|
| INAV_LAND_DISP (FLOAT)
| Land detector altitude dispersion threshold
Comment: Dispersion threshold for triggering land detector.
| 0. 0 > 10. 0
| 0. 7
| m
|
| INAV_LAND_T (FLOAT)
| Land detector time
Comment: Vehicle assumed landed if no altitude changes happened during this time on low throttle.
| 0. 0 > 10. 0
| 3. 0
| s
|
| INAV_LAND_THR (FLOAT)
| Land detector throttle threshold
Comment: Value should be lower than minimal hovering thrust. Half of it is good choice.
| 0. 0 > 1. 0
| 0. 2
|
|
| INAV_LIDAR_ERR (FLOAT)
| Sonar maximal error for new surface
Comment: If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).
| 0. 0 > 1. 0
| 0. 2
| m
|
| INAV_LIDAR_EST (FLOAT)
| LIDAR for altitude estimation
|
|
|
|
| INAV_LIDAR_OFF (FLOAT)
| LIDAR calibration offset
Comment: LIDAR calibration offset. Value will be added to the measured distance
| -20 > 20
| 0. 0
| m
|
| INAV_W_ACC_BIAS (FLOAT)
| Accelerometer bias estimation weight
Comment: Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
| 0. 0 > 0. 1
| 0. 05
|
|
| INAV_W_GPS_FLOW (FLOAT)
| XY axis weight factor for GPS when optical flow available
Comment: When optical flow data available, multiply GPS weights (for position and velocity) by this factor.
| 0. 0 > 1. 0
| 0. 1
|
|
| INAV_W_MOC_P (FLOAT)
| Weight for mocap system
Comment: Weight (cutoff frequency) for mocap position measurements.
| 0. 0 > 10. 0
| 10. 0
|
|
| INAV_W_XY_FLOW (FLOAT)
| XY axis weight for optical flow
Comment: Weight (cutoff frequency) for optical flow (velocity) measurements.
| 0. 0 > 10. 0
| 0. 8
|
|
| INAV_W_XY_GPS_P (FLOAT)
| XY axis weight for GPS position
Comment: Weight (cutoff frequency) for GPS position measurements.
| 0. 0 > 10. 0
| 1. 0
|
|
| INAV_W_XY_GPS_V (FLOAT)
| XY axis weight for GPS velocity
Comment: Weight (cutoff frequency) for GPS velocity measurements.
| 0. 0 > 10. 0
| 2. 0
|
|
| INAV_W_XY_RES_V (FLOAT)
| XY axis weight for resetting velocity
Comment: When velocity sources lost slowly decrease estimated horizontal velocity with this weight.
| 0. 0 > 10. 0
| 0. 5
|
|
| INAV_W_XY_VIS_P (FLOAT)
| XY axis weight for vision position
Comment: Weight (cutoff frequency) for vision position measurements.
| 0. 0 > 10. 0
| 7. 0
|
|
| INAV_W_XY_VIS_V (FLOAT)
| XY axis weight for vision velocity
Comment: Weight (cutoff frequency) for vision velocity measurements.
| 0. 0 > 10. 0
| 0. 0
|
|
| INAV_W_Z_BARO (FLOAT)
| Z axis weight for barometer
Comment: Weight (cutoff frequency) for barometer altitude measurements.
| 0. 0 > 10. 0
| 0. 5
|
|
| INAV_W_Z_GPS_P (FLOAT)
| Z axis weight for GPS
Comment: Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.
| 0. 0 > 10. 0
| 0. 005
|
|
| INAV_W_Z_GPS_V (FLOAT)
| Z velocity weight for GPS
Comment: Weight (cutoff frequency) for GPS altitude velocity measurements.
| 0. 0 > 10. 0
| 0. 0
|
|
| INAV_W_Z_LIDAR (FLOAT)
| Z axis weight for lidar
Comment: Weight (cutoff frequency) for lidar measurements.
| 0. 0 > 10. 0
| 3. 0
|
|
| INAV_W_Z_VIS_P (FLOAT)
| Z axis weight for vision
Comment: Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.
| 0. 0 > 10. 0
| 5. 0
|
|
