| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| CAL_AIR_CMODEL (INT32)
| Airspeed sensor compensation model for the SDP3x
Comment: Model with Pitot CAL_AIR_TUBED_MM: Not used, 1. 5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Model without Pitot (1. 5 mm tubes) CAL_AIR_TUBED_MM: Not used, 1. 5 mm tubes assumed. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor. Tube Pressure Drop CAL_AIR_TUBED_MM: Diameter in mm of the pitot and tubes, must have the same diameter. CAL_AIR_TUBELEN: Length of the tubes connecting the pitot to the sensor and the static + dynamic port length of the pitot.
Values:
- 0: Model with Pitot
- 1: Model without Pitot (1. 5 mm tubes)
- 2: Tube Pressure Drop
|
|
|
|
| CAL_AIR_TUBED_MM (FLOAT)
| Airspeed sensor tube diameter. Only used for the Tube Pressure Drop Compensation
| 0. 1 > 100
| 1. 5
| millimeter
|
| CAL_AIR_TUBELEN (FLOAT)
| Airspeed sensor tube length
Comment: See the CAL_AIR_CMODEL explanation on how this parameter should be set.
| 0. 01 > 2. 00
| 0. 2
| meter
|
| CAL_MAG_SIDES (INT32)
| Bitfield selecting mag sides for calibration
Comment: DETECT_ORIENTATION_TAIL_DOWN = 1 DETECT_ORIENTATION_NOSE_DOWN = 2 DETECT_ORIENTATION_LEFT = 4 DETECT_ORIENTATION_RIGHT = 8 DETECT_ORIENTATION_UPSIDE_DOWN = 16 DETECT_ORIENTATION_RIGHTSIDE_UP = 32
Values:
- 34: Two side calibration
- 38: Three side calibration
- 63: Six side calibration
| 34 > 63
|
|
|
| IMU_ACCEL_CUTOFF (FLOAT)
| Driver level cutoff frequency for accel
Comment: The cutoff frequency for the 2nd order butterworth filter on the accel driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
Reboot required: true
| 0 > 1000
| 30. 0
| Hz
|
| IMU_GYRO_CUTOFF (FLOAT)
| Driver level cutoff frequency for gyro
Comment: The cutoff frequency for the 2nd order butterworth filter on the gyro driver. This features is currently supported by the mpu6000 and mpu9250. This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
Reboot required: true
| 0 > 1000
| 80. 0
| Hz
|
| SENS_BARO_QNH (FLOAT)
| QNH for barometer
| 500 > 1500
| 1013. 25
| hPa
|
| SENS_BOARD_ROT (INT32)
| Board rotation
Comment: This parameter defines the rotation of the FMU board relative to the platform.
Values:
- 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°
- 26: Roll 270°, Yaw 270°
- 27: Roll 180°, Pitch 270°
- 28: Pitch 90°, Yaw 180
- 29: Pitch 90°, Roll 90°
- 30: Yaw 293°, Pitch 68°, Roll 90° (Solo)
- 31: Pitch 90°, Roll 270°
- 32: Pitch 9°, Yaw 180°
- 33: Pitch 45°
- 34: Pitch 315°
Reboot required: true
|
|
|
|
| SENS_BOARD_X_OFF (FLOAT)
| Board rotation X (Roll) offset
Comment: This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user to fine tune the board offset in the event of misalignment.
|
| 0. 0
| deg
|
| SENS_BOARD_Y_OFF (FLOAT)
| Board rotation Y (Pitch) offset
Comment: This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user to fine tune the board offset in the event of misalignment.
|
| 0. 0
| deg
|
| SENS_BOARD_Z_OFF (FLOAT)
| Board rotation Z (YAW) offset
Comment: This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user to fine tune the board offset in the event of misalignment.
|
| 0. 0
| deg
|
| SENS_CM8JL65_CFG (INT32)
| Serial Configuration for Lanbao PSK-CM8JL65-CC5
Comment: Configure on which serial port to run Lanbao PSK-CM8JL65-CC5.
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
|
|
|
|
| SENS_EN_BATT (INT32)
| SMBUS Smart battery driver (BQ40Z50)
Reboot required: true
|
|
|
|
| SENS_EN_LL40LS (INT32)
| Lidar-Lite (LL40LS)
Values:
- 0: Disabled
- 1: PWM
- 2: I2C
Reboot required: true
| 0 > 2
|
|
|
| SENS_EN_MB12XX (INT32)
| Maxbotix Sonar (mb12xx)
Reboot required: true
|
|
|
|
| SENS_EN_PGA460 (INT32)
| PGA460 Ultrasonic driver (PGA460)
Reboot required: true
|
|
|
|
| SENS_EN_SF0X (INT32)
| Lightware Laser Rangefinder hardware model
Values:
- 1: SF02
- 2: SF10/a
- 3: SF10/b
- 4: SF10/c
- 5: SF11/c
Reboot required: true
|
|
|
|
| SENS_EN_SF1XX (INT32)
| Lightware SF1xx/SF20/LW20 laser rangefinder (i2c)
Values:
- 0: Disabled
- 1: SF10/a
- 2: SF10/b
- 3: SF10/c
- 4: SF11/c
- 5: SF/LW20
Reboot required: true
| 0 > 5
|
|
|
| SENS_EN_THERMAL (INT32)
| Thermal control of sensor temperature
Values:
- -1: Thermal control unavailable
- 0: Thermal control off
|
| -1
|
|
| SENS_EN_TRANGER (INT32)
| TeraRanger Rangefinder (i2c)
Values:
- 0: Disabled
- 1: Autodetect
- 2: TROne
- 3: TREvo60m
- 4: TREvo600Hz
Reboot required: true
| 0 > 3
|
|
|
| SENS_FLOW_ROT (INT32)
| PX4Flow board rotation
Comment: This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame. Zero rotation is defined as X on flow board pointing towards front of vehicle. The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).
Values:
- 0: No rotation
- 1: Yaw 45°
- 2: Yaw 90°
- 3: Yaw 135°
- 4: Yaw 180°
- 5: Yaw 225°
- 6: Yaw 270°
- 7: Yaw 315°
Reboot required: true
|
|
|
|
| SENS_IMU_TEMP (FLOAT)
| Target IMU temperature
| 0 > 85. 0
| 55. 0
| C
|
| SENS_IMU_TEMP_I (FLOAT)
| IMU heater controller integrator gain value
| 0 > 1. 0
| 0. 025
| microseconds/C
|
| SENS_IMU_TEMP_P (FLOAT)
| IMU heater controller proportional gain value
| 0 > 2. 0
| 1. 0
| microseconds/C
|
| SENS_LEDDAR1_CFG (INT32)
| Serial Configuration for LeddarOne Rangefinder
Comment: Configure on which serial port to run LeddarOne Rangefinder.
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
|
|
|
|
| SENS_SF0X_CFG (INT32)
| Serial Configuration for Lightware Laser Rangefinder
Comment: Configure on which serial port to run Lightware Laser Rangefinder.
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
|
|
|
|
| SENS_TEMP_ID (INT32)
| Target IMU device ID to regulate temperature
|
|
|
|
| SENS_TFMINI_CFG (INT32)
| Serial Configuration for Benewake TFmini Rangefinder
Comment: Configure on which serial port to run Benewake TFmini Rangefinder.
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
|
|
|
|
| SENS_ULAND_CFG (INT32)
| Serial Configuration for uLanding Radar
Comment: Configure on which serial port to run uLanding Radar.
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
|
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