| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| CAL_ACC0_EN (INT32)
| Accelerometer 0 enabled
|
|
|
|
| CAL_ACC0_ID (INT32)
| ID of the Accelerometer that the calibration is for
|
|
|
|
| CAL_ACC0_XOFF (FLOAT)
| Accelerometer X-axis offset
|
| 0. 0
|
|
| CAL_ACC0_XSCALE (FLOAT)
| Accelerometer X-axis scaling factor
|
| 1. 0
|
|
| CAL_ACC0_YOFF (FLOAT)
| Accelerometer Y-axis offset
|
| 0. 0
|
|
| CAL_ACC0_YSCALE (FLOAT)
| Accelerometer Y-axis scaling factor
|
| 1. 0
|
|
| CAL_ACC0_ZOFF (FLOAT)
| Accelerometer Z-axis offset
|
| 0. 0
|
|
| CAL_ACC0_ZSCALE (FLOAT)
| Accelerometer Z-axis scaling factor
|
| 1. 0
|
|
| CAL_ACC1_EN (INT32)
| Accelerometer 1 enabled
|
|
|
|
| CAL_ACC1_ID (INT32)
| ID of the Accelerometer that the calibration is for
|
|
|
|
| CAL_ACC1_XOFF (FLOAT)
| Accelerometer X-axis offset
|
| 0. 0
|
|
| CAL_ACC1_XSCALE (FLOAT)
| Accelerometer X-axis scaling factor
|
| 1. 0
|
|
| CAL_ACC1_YOFF (FLOAT)
| Accelerometer Y-axis offset
|
| 0. 0
|
|
| CAL_ACC1_YSCALE (FLOAT)
| Accelerometer Y-axis scaling factor
|
| 1. 0
|
|
| CAL_ACC1_ZOFF (FLOAT)
| Accelerometer Z-axis offset
|
| 0. 0
|
|
| CAL_ACC1_ZSCALE (FLOAT)
| Accelerometer Z-axis scaling factor
|
| 1. 0
|
|
| CAL_ACC2_EN (INT32)
| Accelerometer 2 enabled
|
|
|
|
| CAL_ACC2_ID (INT32)
| ID of the Accelerometer that the calibration is for
|
|
|
|
| CAL_ACC2_XOFF (FLOAT)
| Accelerometer X-axis offset
|
| 0. 0
|
|
| CAL_ACC2_XSCALE (FLOAT)
| Accelerometer X-axis scaling factor
|
| 1. 0
|
|
| CAL_ACC2_YOFF (FLOAT)
| Accelerometer Y-axis offset
|
| 0. 0
|
|
| CAL_ACC2_YSCALE (FLOAT)
| Accelerometer Y-axis scaling factor
|
| 1. 0
|
|
| CAL_ACC2_ZOFF (FLOAT)
| Accelerometer Z-axis offset
|
| 0. 0
|
|
| CAL_ACC2_ZSCALE (FLOAT)
| Accelerometer Z-axis scaling factor
|
| 1. 0
|
|
| CAL_ACC_PRIME (INT32)
| Primary accel ID
|
|
|
|
| CAL_BARO_PRIME (INT32)
| Primary baro ID
|
|
|
|
| CAL_GYRO0_EN (INT32)
| Gyro 0 enabled
|
|
|
|
| CAL_GYRO0_ID (INT32)
| ID of the Gyro that the calibration is for
|
|
|
|
| CAL_GYRO0_XOFF (FLOAT)
| Gyro X-axis offset
|
| 0. 0
|
|
| CAL_GYRO0_XSCALE (FLOAT)
| Gyro X-axis scaling factor
|
| 1. 0
|
|
| CAL_GYRO0_YOFF (FLOAT)
| Gyro Y-axis offset
|
| 0. 0
|
|
| CAL_GYRO0_YSCALE (FLOAT)
| Gyro Y-axis scaling factor
|
| 1. 0
|
|
| CAL_GYRO0_ZOFF (FLOAT)
| Gyro Z-axis offset
|
| 0. 0
|
|
| CAL_GYRO0_ZSCALE (FLOAT)
| Gyro Z-axis scaling factor
|
| 1. 0
|
|
| CAL_GYRO1_EN (INT32)
| Gyro 1 enabled
|
|
|
|
| CAL_GYRO1_ID (INT32)
| ID of the Gyro that the calibration is for
|
|
|
|
| CAL_GYRO1_XOFF (FLOAT)
| Gyro X-axis offset
|
| 0. 0
|
|
| CAL_GYRO1_XSCALE (FLOAT)
| Gyro X-axis scaling factor
|
| 1. 0
|
|
| CAL_GYRO1_YOFF (FLOAT)
| Gyro Y-axis offset
|
| 0. 0
|
|
| CAL_GYRO1_YSCALE (FLOAT)
| Gyro Y-axis scaling factor
|
| 1. 0
|
|
| CAL_GYRO1_ZOFF (FLOAT)
| Gyro Z-axis offset
|
| 0. 0
|
|
| CAL_GYRO1_ZSCALE (FLOAT)
| Gyro Z-axis scaling factor
|
| 1. 0
|
|
| CAL_GYRO2_EN (INT32)
| Gyro 2 enabled
|
|
|
|
| CAL_GYRO2_ID (INT32)
| ID of the Gyro that the calibration is for
|
|
|
|
| CAL_GYRO2_XOFF (FLOAT)
| Gyro X-axis offset
|
| 0. 0
|
|
| CAL_GYRO2_XSCALE (FLOAT)
| Gyro X-axis scaling factor
|
| 1. 0
|
|
| CAL_GYRO2_YOFF (FLOAT)
| Gyro Y-axis offset
|
| 0. 0
|
|
| CAL_GYRO2_YSCALE (FLOAT)
| Gyro Y-axis scaling factor
|
| 1. 0
|
|
| CAL_GYRO2_ZOFF (FLOAT)
| Gyro Z-axis offset
|
| 0. 0
|
|
| CAL_GYRO2_ZSCALE (FLOAT)
| Gyro Z-axis scaling factor
|
| 1. 0
|
|
| CAL_GYRO_PRIME (INT32)
| Primary gyro ID
|
|
|
|
| CAL_MAG0_EN (INT32)
| Mag 0 enabled
|
|
|
|
| CAL_MAG0_ID (INT32)
| ID of Magnetometer the calibration is for
|
|
|
|
| CAL_MAG0_ROT (INT32)
| Rotation of magnetometer 0 relative to airframe
Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
Values:
- -1: Internal mag
- 0: No rotation
- 1: Yaw 45°
- 2: Yaw 90°
- 3: Yaw 135°
- 4: Yaw 180°
- 5: Yaw 225°
- 6: Yaw 270°
- 7: Yaw 315°
- 8: Roll 180°
- 9: Roll 180°, Yaw 45°
- 10: Roll 180°, Yaw 90°
- 11: Roll 180°, Yaw 135°
- 12: Pitch 180°
- 13: Roll 180°, Yaw 225°
- 14: Roll 180°, Yaw 270°
- 15: Roll 180°, Yaw 315°
- 16: Roll 90°
- 17: Roll 90°, Yaw 45°
- 18: Roll 90°, Yaw 90°
- 19: Roll 90°, Yaw 135°
- 20: Roll 270°
- 21: Roll 270°, Yaw 45°
- 22: Roll 270°, Yaw 90°
- 23: Roll 270°, Yaw 135°
- 24: Pitch 90°
- 25: Pitch 270°
Reboot required: true
| -1 > 30
| -1
|
|
| CAL_MAG0_XOFF (FLOAT)
| Magnetometer X-axis offset
|
| 0. 0
|
|
| CAL_MAG0_XSCALE (FLOAT)
| Magnetometer X-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG0_YOFF (FLOAT)
| Magnetometer Y-axis offset
|
| 0. 0
|
|
| CAL_MAG0_YSCALE (FLOAT)
| Magnetometer Y-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG0_ZOFF (FLOAT)
| Magnetometer Z-axis offset
|
| 0. 0
|
|
| CAL_MAG0_ZSCALE (FLOAT)
| Magnetometer Z-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG1_EN (INT32)
| Mag 1 enabled
|
|
|
|
| CAL_MAG1_ID (INT32)
| ID of Magnetometer the calibration is for
|
|
|
|
| CAL_MAG1_ROT (INT32)
| Rotation of magnetometer 1 relative to airframe
Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
Values:
- -1: Internal mag
- 0: No rotation
- 1: Yaw 45°
- 2: Yaw 90°
- 3: Yaw 135°
- 4: Yaw 180°
- 5: Yaw 225°
- 6: Yaw 270°
- 7: Yaw 315°
- 8: Roll 180°
- 9: Roll 180°, Yaw 45°
- 10: Roll 180°, Yaw 90°
- 11: Roll 180°, Yaw 135°
- 12: Pitch 180°
- 13: Roll 180°, Yaw 225°
- 14: Roll 180°, Yaw 270°
- 15: Roll 180°, Yaw 315°
- 16: Roll 90°
- 17: Roll 90°, Yaw 45°
- 18: Roll 90°, Yaw 90°
- 19: Roll 90°, Yaw 135°
- 20: Roll 270°
- 21: Roll 270°, Yaw 45°
- 22: Roll 270°, Yaw 90°
- 23: Roll 270°, Yaw 135°
- 24: Pitch 90°
- 25: Pitch 270°
Reboot required: true
| -1 > 30
| -1
|
|
| CAL_MAG1_XOFF (FLOAT)
| Magnetometer X-axis offset
|
| 0. 0
|
|
| CAL_MAG1_XSCALE (FLOAT)
| Magnetometer X-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG1_YOFF (FLOAT)
| Magnetometer Y-axis offset
|
| 0. 0
|
|
| CAL_MAG1_YSCALE (FLOAT)
| Magnetometer Y-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG1_ZOFF (FLOAT)
| Magnetometer Z-axis offset
|
| 0. 0
|
|
| CAL_MAG1_ZSCALE (FLOAT)
| Magnetometer Z-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG2_EN (INT32)
| Mag 2 enabled
|
|
|
|
| CAL_MAG2_ID (INT32)
| ID of Magnetometer the calibration is for
|
|
|
|
| CAL_MAG2_ROT (INT32)
| Rotation of magnetometer 2 relative to airframe
Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
Values:
- -1: Internal mag
- 0: No rotation
- 1: Yaw 45°
- 2: Yaw 90°
- 3: Yaw 135°
- 4: Yaw 180°
- 5: Yaw 225°
- 6: Yaw 270°
- 7: Yaw 315°
- 8: Roll 180°
- 9: Roll 180°, Yaw 45°
- 10: Roll 180°, Yaw 90°
- 11: Roll 180°, Yaw 135°
- 12: Pitch 180°
- 13: Roll 180°, Yaw 225°
- 14: Roll 180°, Yaw 270°
- 15: Roll 180°, Yaw 315°
- 16: Roll 90°
- 17: Roll 90°, Yaw 45°
- 18: Roll 90°, Yaw 90°
- 19: Roll 90°, Yaw 135°
- 20: Roll 270°
- 21: Roll 270°, Yaw 45°
- 22: Roll 270°, Yaw 90°
- 23: Roll 270°, Yaw 135°
- 24: Pitch 90°
- 25: Pitch 270°
Reboot required: true
| -1 > 30
| -1
|
|
| CAL_MAG2_XOFF (FLOAT)
| Magnetometer X-axis offset
|
| 0. 0
|
|
| CAL_MAG2_XSCALE (FLOAT)
| Magnetometer X-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG2_YOFF (FLOAT)
| Magnetometer Y-axis offset
|
| 0. 0
|
|
| CAL_MAG2_YSCALE (FLOAT)
| Magnetometer Y-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG2_ZOFF (FLOAT)
| Magnetometer Z-axis offset
|
| 0. 0
|
|
| CAL_MAG2_ZSCALE (FLOAT)
| Magnetometer Z-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG3_EN (INT32)
| Mag 3 enabled
|
|
|
|
| CAL_MAG3_ID (INT32)
| ID of Magnetometer the calibration is for
|
|
|
|
| CAL_MAG3_ROT (INT32)
| Rotation of magnetometer 2 relative to airframe
Comment: An internal magnetometer will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
Values:
- -1: Internal mag
- 0: No rotation
- 1: Yaw 45°
- 2: Yaw 90°
- 3: Yaw 135°
- 4: Yaw 180°
- 5: Yaw 225°
- 6: Yaw 270°
- 7: Yaw 315°
- 8: Roll 180°
- 9: Roll 180°, Yaw 45°
- 10: Roll 180°, Yaw 90°
- 11: Roll 180°, Yaw 135°
- 12: Pitch 180°
- 13: Roll 180°, Yaw 225°
- 14: Roll 180°, Yaw 270°
- 15: Roll 180°, Yaw 315°
- 16: Roll 90°
- 17: Roll 90°, Yaw 45°
- 18: Roll 90°, Yaw 90°
- 19: Roll 90°, Yaw 135°
- 20: Roll 270°
- 21: Roll 270°, Yaw 45°
- 22: Roll 270°, Yaw 90°
- 23: Roll 270°, Yaw 135°
- 24: Pitch 90°
- 25: Pitch 270°
Reboot required: true
| -1 > 30
| -1
|
|
| CAL_MAG3_XOFF (FLOAT)
| Magnetometer X-axis offset
|
| 0. 0
|
|
| CAL_MAG3_XSCALE (FLOAT)
| Magnetometer X-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG3_YOFF (FLOAT)
| Magnetometer Y-axis offset
|
| 0. 0
|
|
| CAL_MAG3_YSCALE (FLOAT)
| Magnetometer Y-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG3_ZOFF (FLOAT)
| Magnetometer Z-axis offset
|
| 0. 0
|
|
| CAL_MAG3_ZSCALE (FLOAT)
| Magnetometer Z-axis scaling factor
|
| 1. 0
|
|
| CAL_MAG_PRIME (INT32)
| Primary mag ID
|
|
|
|
| SENS_DPRES_ANSC (FLOAT)
| Differential pressure sensor analog scaling
Comment: Pick the appropriate scaling from the datasheet. this number defines the (linear) conversion from voltage to Pascal (pa). For the MPXV7002DP this is 1000. NOTE: If the sensor always registers zero, try switching the static and dynamic tubes.
|
|
|
|
| SENS_DPRES_OFF (FLOAT)
| Differential pressure sensor offset
Comment: The offset (zero-reading) in Pascal
|
| 0. 0
|
|
| SENS_FLOW_MAXHGT (FLOAT)
| Maximum height above ground when reliant on optical flow
Comment: This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably. The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data and the height above ground estimate is valid. The sensor may be usable above this height, but accuracy will progressively degrade.
| 1. 0 > 25. 0 (0. 1)
| 3. 0
| m
|
| SENS_FLOW_MAXR (FLOAT)
| Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor. Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground is less than 50% of this value
| 1. 0 > ?
| 2. 5
| rad/s
|
| SENS_FLOW_MINHGT (FLOAT)
| Minimum height above ground when reliant on optical flow
Comment: This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably. The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.
| 0. 0 > 1. 0 (0. 1)
| 0. 7
| m
|
