| blob | 0cdac1ac93f2b8537f9649e2a902fefd1e52af20 |
1 tables:
2 - name: alignment
3 values: ["DEFAULT", "CW0", "CW90", "CW180", "CW270", "CW0FLIP", "CW90FLIP", "CW180FLIP", "CW270FLIP"]
4 - name: gyro_lpf
5 values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
6 - name: acc_hardware
7 values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX", "FAKE"]
8 enum: accelerationSensor_e
9 - name: rangefinder_hardware
10 values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE"]
11 enum: rangefinderType_e
12 - name: mag_hardware
13 values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
14 enum: magSensor_e
15 - name: opflow_hardware
16 values: ["NONE", "CXOF", "MSP", "FAKE"]
17 enum: opticalFlowSensor_e
18 - name: baro_hardware
19 values: ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "LPS25H", "SPL06", "BMP388", "DPS310", "B2SMPB", "MSP", "FAKE"]
20 enum: baroSensor_e
21 - name: pitot_hardware
22 values: ["NONE", "AUTO", "MS4525", "ADC", "VIRTUAL", "FAKE", "MSP", "DLVR-L10D"]
23 enum: pitotSensor_e
24 - name: receiver_type
25 values: ["NONE", "SERIAL", "MSP", "SIM (SITL)"]
26 enum: rxReceiverType_e
27 - name: serial_rx
28 values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST", "MAVLINK", "FBUS"]
29 - name: blackbox_device
30 values: ["SERIAL", "SPIFLASH", "SDCARD"]
31 - name: motor_pwm_protocol
32 values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600"]
33 - name: servo_protocol
34 values: ["PWM", "SBUS", "SBUS_PWM"]
35 - name: failsafe_procedure
36 values: ["LAND", "DROP", "RTH", "NONE"]
37 - name: current_sensor
38 values: ["NONE", "ADC", "VIRTUAL", "FAKE", "ESC"]
39 enum: currentSensor_e
40 - name: voltage_sensor
41 values: ["NONE", "ADC", "ESC", "FAKE"]
42 enum: voltageSensor_e
43 - name: imu_inertia_comp_method
44 values: ["VELNED", "TURNRATE","ADAPTIVE"]
45 enum: imu_inertia_comp_method_e
46 - name: gps_provider
47 values: ["UBLOX", "UBLOX7", "MSP", "FAKE"]
48 enum: gpsProvider_e
49 - name: gps_sbas_mode
50 values: ["AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN", "SPAN", "NONE"]
51 enum: sbasMode_e
52 - name: gps_dyn_model
53 values: ["PEDESTRIAN", "AIR_1G", "AIR_4G"]
54 enum: gpsDynModel_e
55 - name: reset_type
56 values: ["NEVER", "FIRST_ARM", "EACH_ARM"]
57 - name: direction
58 values: ["RIGHT", "LEFT", "YAW"]
59 - name: nav_user_control_mode
60 values: ["ATTI", "CRUISE"]
61 - name: nav_rth_alt_mode
62 values: ["CURRENT", "EXTRA", "FIXED", "MAX", "AT_LEAST"]
63 - name: nav_rth_climb_first_stage_modes
64 values: ["AT_LEAST", "EXTRA"]
65 - name: osd_unit
66 values: ["IMPERIAL", "METRIC", "METRIC_MPH", "UK", "GA"]
67 enum: osd_unit_e
68 - name: osd_stats_energy_unit
69 values: ["MAH", "WH"]
70 enum: osd_stats_energy_unit_e
71 - name: osd_stats_min_voltage_unit
72 values: ["BATTERY", "CELL"]
73 enum: osd_stats_min_voltage_unit_e
74 - name: osd_video_system
75 values: ["AUTO", "PAL", "NTSC", "HDZERO", "DJIWTF", "AVATAR", "BF43COMPAT", "BFHDCOMPAT"]
76 enum: videoSystem_e
77 - name: osd_telemetry
78 values: ["OFF", "ON","TEST"]
79 enum: osd_telemetry_e
80 - name: osd_alignment
81 values: ["LEFT", "RIGHT"]
82 enum: osd_alignment_e
83 - name: ltm_rates
84 values: ["NORMAL", "MEDIUM", "SLOW"]
85 - name: i2c_speed
86 values: ["400KHZ", "800KHZ", "100KHZ", "200KHZ"]
87 - name: debug_modes
88 values: ["NONE", "AGL", "FLOW_RAW", "FLOW", "ALWAYS", "SAG_COMP_VOLTAGE",
89 "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
90 "NAV_YAW", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "ALTITUDE",
91 "AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS", "LANDING", "POS_EST"]
92 - name: aux_operator
93 values: ["OR", "AND"]
94 enum: modeActivationOperator_e
95 - name: osd_crosshairs_style
96 values: ["DEFAULT", "AIRCRAFT", "TYPE3", "TYPE4", "TYPE5", "TYPE6", "TYPE7", "TYPE8"]
97 enum: osd_crosshairs_style_e
98 - name: osd_sidebar_scroll
99 values: ["NONE", "ALTITUDE", "SPEED", "HOME_DISTANCE"]
100 enum: osd_sidebar_scroll_e
101 - name: nav_rth_allow_landing
102 values: ["NEVER", "ALWAYS", "FS_ONLY"]
103 enum: navRTHAllowLanding_e
104 - name: bat_capacity_unit
105 values: ["MAH", "MWH"]
106 enum: batCapacityUnit_e
107 - name: bat_voltage_source
108 values: ["RAW", "SAG_COMP"]
109 enum: batVoltageSource_e
110 - name: smartport_fuel_unit
111 values: ["PERCENT", "MAH", "MWH"]
112 enum: smartportFuelUnit_e
113 - name: platform_type
114 values: ["MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT"]
115 - name: tz_automatic_dst
116 values: ["OFF", "EU", "USA"]
117 enum: tz_automatic_dst_e
118 - name: vtx_low_power_disarm
119 values: ["OFF", "ON", "UNTIL_FIRST_ARM"]
120 enum: vtxLowerPowerDisarm_e
121 - name: vtx_frequency_groups
122 values: ["FREQUENCYGROUP_5G8", "FREQUENCYGROUP_2G4", "FREQUENCYGROUP_1G3"]
123 enum: vtxFrequencyGroups_e
124 - name: filter_type
125 values: ["PT1", "BIQUAD"]
126 - name: filter_type_full
127 values: ["PT1", "BIQUAD", "PT2", "PT3"]
128 - name: log_level
129 values: ["ERROR", "WARNING", "INFO", "VERBOSE", "DEBUG"]
130 - name: iterm_relax
131 values: ["OFF", "RP", "RPY"]
132 enum: itermRelax_e
133 - name: airmodeHandlingType
134 values: ["STICK_CENTER", "THROTTLE_THRESHOLD", "STICK_CENTER_ONCE"]
135 - name: nav_extra_arming_safety
136 values: ["ON", "ALLOW_BYPASS"]
137 enum: navExtraArmingSafety_e
138 - name: rssi_source
139 values: ["NONE", "AUTO", "ADC", "CHANNEL", "PROTOCOL", "MSP"]
140 enum: rssiSource_e
141 - name: pidTypeTable
142 values: ["NONE", "PID", "PIFF", "AUTO"]
143 enum: pidType_e
144 - name: osd_ahi_style
145 values: ["DEFAULT", "LINE"]
146 enum: osd_ahi_style_e
147 - name: tristate
148 enum: tristate_e
149 values: ["AUTO", "ON", "OFF"]
150 - name: osd_crsf_lq_format
151 enum: osd_crsf_lq_format_e
152 values: ["TYPE1", "TYPE2", "TYPE3"]
153 - name: off_on
154 values: ["OFF", "ON"]
155 - name: djiOsdTempSource
156 values: ["ESC", "IMU", "BARO"]
157 enum: djiOsdTempSource_e
158 - name: osdSpeedSource
159 values: ["GROUND", "3D", "AIR"]
160 enum: osdSpeedSource_e
161 - name: nav_overrides_motor_stop
162 enum: navOverridesMotorStop_e
163 values: ["OFF_ALWAYS", "OFF", "AUTO_ONLY", "ALL_NAV"]
164 - name: osd_plus_code_short
165 values: ["0", "2", "4", "6"]
166 - name: autotune_rate_adjustment
167 enum: autotune_rate_adjustment_e
168 values: ["FIXED", "LIMIT", "AUTO"]
169 - name: safehome_usage_mode
170 values: ["OFF", "RTH", "RTH_FS"]
171 enum: safehomeUsageMode_e
172 - name: nav_rth_climb_first
173 enum: navRTHClimbFirst_e
174 values: ["OFF", "ON", "ON_FW_SPIRAL"]
175 - name: nav_wp_mission_restart
176 enum: navMissionRestart_e
177 values: ["START", "RESUME", "SWITCH"]
178 - name: djiRssiSource
179 values: ["RSSI", "CRSF_LQ"]
180 enum: djiRssiSource_e
181 - name: rth_trackback_mode
182 values: ["OFF", "ON", "FS"]
183 enum: rthTrackbackMode_e
184 - name: dynamic_gyro_notch_mode
185 values: ["2D", "3D_R", "3D_P", "3D_Y", "3D_RP", "3D_RY", "3D_PY", "3D"]
186 enum: dynamicGyroNotchMode_e
187 - name: nav_fw_wp_turn_smoothing
188 values: ["OFF", "ON", "ON-CUT"]
189 enum: wpFwTurnSmoothing_e
190 - name: gps_auto_baud_max
191 values: [ '115200', '57600', '38400', '19200', '9600', '230400', '460800', '921600']
192 enum: gpsBaudRate_e
193 - name: nav_mc_althold_throttle
194 values: ["STICK", "MID_STICK", "HOVER"]
195 enum: navMcAltHoldThrottle_e
196 - name: led_pin_pwm_mode
197 values: ["SHARED_LOW", "SHARED_HIGH", "LOW", "HIGH"]
198 enum: led_pin_pwm_mode_e
200 constants:
201 RPYL_PID_MIN: 0
202 RPYL_PID_MAX: 255
204 MANUAL_RATE_MIN: 0
205 MANUAL_RATE_MAX: 100
207 ROLL_PITCH_RATE_MIN: 4
208 ROLL_PITCH_RATE_MAX: 180
210 MAX_CONTROL_RATE_PROFILE_COUNT: 3
211 MAX_BATTERY_PROFILE_COUNT: 3
214 groups:
215 - name: PG_GYRO_CONFIG
216 type: gyroConfig_t
217 headers: ["sensors/gyro.h"]
218 members:
219 - name: looptime
220 description: "This is the main loop time (in us). Changing this affects PID effect with some PID controllers (see PID section for details). A very conservative value of 3500us/285Hz should work for everyone. Setting it to zero does not limit loop time, so it will go as fast as possible."
221 default_value: 1000
222 max: 9000
223 - name: gyro_hardware_lpf
224 description: "Hardware lowpass filter for gyro. This value should never be changed without a very strong reason! If you have to set gyro lpf below 256HZ, it means the frame is vibrating too much, and that should be fixed first."
225 default_value: "256HZ"
226 field: gyro_lpf
227 table: gyro_lpf
228 - name: gyro_anti_aliasing_lpf_hz
229 description: "Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz"
230 default_value: 250
231 field: gyro_anti_aliasing_lpf_hz
232 max: 1000
233 - name: gyro_anti_aliasing_lpf_type
234 description: "Specifies the type of the software LPF of the gyro signals."
235 default_value: "PT1"
236 field: gyro_anti_aliasing_lpf_type
237 table: filter_type
238 - name: gyro_main_lpf_hz
239 description: "Software based gyro main lowpass filter. Value is cutoff frequency (Hz)"
240 default_value: 60
241 field: gyro_main_lpf_hz
242 min: 0
243 max: 500
244 - name: gyro_main_lpf_type
245 description: "Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
246 default_value: BIQUAD
247 field: gyro_main_lpf_type
248 table: filter_type
249 - name: gyro_use_dyn_lpf
250 description: "Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position."
251 default_value: OFF
252 field: useDynamicLpf
253 type: bool
254 - name: gyro_dyn_lpf_min_hz
255 description: "Minimum frequency of the gyro Dynamic LPF"
256 default_value: 200
257 field: gyroDynamicLpfMinHz
258 min: 40
259 max: 400
260 - name: gyro_dyn_lpf_max_hz
261 description: "Maximum frequency of the gyro Dynamic LPF"
262 default_value: 500
263 field: gyroDynamicLpfMaxHz
264 min: 40
265 max: 1000
266 - name: gyro_dyn_lpf_curve_expo
267 description: "Expo value for the throttle-to-frequency mapping for Dynamic LPF"
268 default_value: 5
269 field: gyroDynamicLpfCurveExpo
270 min: 1
271 max: 10
272 - name: dynamic_gyro_notch_enabled
273 description: "Enable/disable dynamic gyro notch also known as Matrix Filter"
274 default_value: ON
275 field: dynamicGyroNotchEnabled
276 condition: USE_DYNAMIC_FILTERS
277 type: bool
278 - name: dynamic_gyro_notch_q
279 description: "Q factor for dynamic notches"
280 default_value: 120
281 field: dynamicGyroNotchQ
282 condition: USE_DYNAMIC_FILTERS
283 min: 1
284 max: 1000
285 - name: dynamic_gyro_notch_min_hz
286 description: "Minimum frequency for dynamic notches. Default value of `150` works best with 5\" multirotors. Should be lowered with increased size of propellers. Values around `100` work fine on 7\" drones. 10\" can go down to `60` - `70`"
287 default_value: 50
288 field: dynamicGyroNotchMinHz
289 condition: USE_DYNAMIC_FILTERS
290 min: 30
291 max: 250
292 - name: dynamic_gyro_notch_mode
293 description: "Gyro dynamic notch type"
294 default_value: "2D"
295 table: dynamic_gyro_notch_mode
296 field: dynamicGyroNotchMode
297 condition: USE_DYNAMIC_FILTERS
298 - name: dynamic_gyro_notch_3d_q
299 description: "Q factor for 3D dynamic notches"
300 default_value: 200
301 field: dynamicGyroNotch3dQ
302 condition: USE_DYNAMIC_FILTERS
303 min: 1
304 max: 1000
305 - name: gyro_to_use
306 condition: USE_DUAL_GYRO
307 min: 0
308 max: 2
309 default_value: 0
310 - name: setpoint_kalman_enabled
311 description: "Enable Kalman filter on the gyro data"
312 default_value: ON
313 condition: USE_GYRO_KALMAN
314 field: kalmanEnabled
315 type: bool
316 - name: setpoint_kalman_q
317 description: "Quality factor of the setpoint Kalman filter. Higher values means less filtering and lower phase delay. On 3-7 inch multirotors can be usually increased to 200-300 or even higher of clean builds"
318 default_value: 100
319 field: kalman_q
320 condition: USE_GYRO_KALMAN
321 min: 1
322 max: 1000
323 - name: init_gyro_cal
324 description: "If defined to 'OFF', it will ignore the gyroscope calibration done at each startup. Instead, the gyroscope last calibration from when you calibrated will be used. It also means you don't have to keep the UAV stationary during a startup."
325 default_value: ON
326 field: init_gyro_cal_enabled
327 type: bool
328 - name: gyro_zero_x
329 description: "Calculated gyro zero calibration of axis X"
330 default_value: 0
331 field: gyro_zero_cal[X]
332 min: INT16_MIN
333 max: INT16_MAX
334 - name: gyro_zero_y
335 description: "Calculated gyro zero calibration of axis Y"
336 default_value: 0
337 field: gyro_zero_cal[Y]
338 min: INT16_MIN
339 max: INT16_MAX
340 - name: gyro_zero_z
341 description: "Calculated gyro zero calibration of axis Z"
342 default_value: 0
343 field: gyro_zero_cal[Z]
344 min: INT16_MIN
345 max: INT16_MAX
346 - name: ins_gravity_cmss
347 description: "Calculated 1G of Acc axis Z to use in INS"
348 default_value: 0.0
349 field: gravity_cmss_cal
350 min: 0
351 max: 2000
353 - name: PG_ADC_CHANNEL_CONFIG
354 type: adcChannelConfig_t
355 headers: ["fc/config.h"]
356 condition: USE_ADC
357 members:
358 - name: vbat_adc_channel
359 description: "ADC channel to use for battery voltage sensor. Defaults to board VBAT input (if available). 0 = disabled"
360 default_value: :target
361 field: adcFunctionChannel[ADC_BATTERY]
362 min: ADC_CHN_NONE
363 max: ADC_CHN_MAX
364 - name: rssi_adc_channel
365 description: "ADC channel to use for analog RSSI input. Defaults to board RSSI input (if available). 0 = disabled"
366 default_value: :target
367 field: adcFunctionChannel[ADC_RSSI]
368 min: ADC_CHN_NONE
369 max: ADC_CHN_MAX
370 - name: current_adc_channel
371 description: "ADC channel to use for analog current sensor input. Defaults to board CURRENT sensor input (if available). 0 = disabled"
372 default_value: :target
373 field: adcFunctionChannel[ADC_CURRENT]
374 min: ADC_CHN_NONE
375 max: ADC_CHN_MAX
376 - name: airspeed_adc_channel
377 description: "ADC channel to use for analog pitot tube (airspeed) sensor. If board doesn't have a dedicated connector for analog airspeed sensor will default to 0"
378 default_value: :target
379 field: adcFunctionChannel[ADC_AIRSPEED]
380 min: ADC_CHN_NONE
381 max: ADC_CHN_MAX
383 - name: PG_ACCELEROMETER_CONFIG
384 type: accelerometerConfig_t
385 headers: ["sensors/acceleration.h"]
386 members:
387 - name: acc_notch_hz
388 min: 0
389 max: 255
390 default_value: 0
391 - name: acc_notch_cutoff
392 min: 1
393 max: 255
394 default_value: 1
395 - name: acc_hardware
396 description: "Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
397 default_value: "AUTO"
398 table: acc_hardware
399 - name: acc_lpf_hz
400 description: "Software-based filter to remove mechanical vibrations from the accelerometer measurements. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value."
401 default_value: 15
402 min: 0
403 max: 200
404 - name: acc_lpf_type
405 description: "Specifies the type of the software LPF of the acc signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds."
406 default_value: "BIQUAD"
407 field: acc_soft_lpf_type
408 table: filter_type
409 - name: acczero_x
410 description: "Calculated value after '6 position avanced calibration'. See Wiki page."
411 default_value: 0
412 field: accZero.raw[X]
413 min: INT16_MIN
414 max: INT16_MAX
415 - name: acczero_y
416 description: "Calculated value after '6 position avanced calibration'. See Wiki page."
417 default_value: 0
418 field: accZero.raw[Y]
419 min: INT16_MIN
420 max: INT16_MAX
421 - name: acczero_z
422 description: "Calculated value after '6 position avanced calibration'. See Wiki page."
423 default_value: 0
424 field: accZero.raw[Z]
425 min: INT16_MIN
426 max: INT16_MAX
427 - name: accgain_x
428 description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
429 default_value: 4096
430 field: accGain.raw[X]
431 min: 1
432 max: 8192
433 - name: accgain_y
434 description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
435 default_value: 4096
436 field: accGain.raw[Y]
437 min: 1
438 max: 8192
439 - name: accgain_z
440 description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
441 default_value: 4096
442 field: accGain.raw[Z]
443 min: 1
444 max: 8192
446 - name: PG_RANGEFINDER_CONFIG
447 type: rangefinderConfig_t
448 headers: ["sensors/rangefinder.h"]
449 condition: USE_RANGEFINDER
450 members:
451 - name: rangefinder_hardware
452 table: rangefinder_hardware
453 description: "Selection of rangefinder hardware."
454 default_value: "NONE"
455 - name: rangefinder_median_filter
456 description: "3-point median filtering for rangefinder readouts"
457 default_value: OFF
458 field: use_median_filtering
459 type: bool
461 - name: PG_OPFLOW_CONFIG
462 type: opticalFlowConfig_t
463 headers: ["sensors/opflow.h"]
464 condition: USE_OPFLOW
465 members:
466 - name: opflow_hardware
467 description: "Selection of OPFLOW hardware."
468 default_value: NONE
469 table: opflow_hardware
470 - name: opflow_scale
471 min: 0
472 max: 10000
473 default_value: 10.5
474 - name: align_opflow
475 description: "Optical flow module alignment (default CW0_DEG_FLIP)"
476 default_value: CW0FLIP
477 field: opflow_align
478 type: uint8_t
479 table: alignment
481 - name: PG_COMPASS_CONFIG
482 type: compassConfig_t
483 headers: ["sensors/compass.h"]
484 condition: USE_MAG
485 members:
486 - name: align_mag
487 description: "When running on non-default hardware or adding support for new sensors/sensor boards, these values are used for sensor orientation. When carefully understood, these values can also be used to rotate (in 90deg steps) or flip the board. Possible values are: DEFAULT, CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, CW90_DEG_FLIP, CW180_DEG_FLIP, CW270_DEG_FLIP."
488 default_value: "DEFAULT"
489 field: mag_align
490 type: uint8_t
491 table: alignment
492 - name: mag_hardware
493 description: "Selection of mag hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
494 default_value: "AUTO"
495 table: mag_hardware
496 - name: mag_declination
497 description: "Current location magnetic declination in format. For example, -6deg 37min = -637 for Japan. Leading zero in ddd not required. Get your local magnetic declination here: http://magnetic-declination.com/ . Not in use if inav_auto_mag_decl is turned on and you acquire valid GPS fix."
498 default_value: 0
499 min: -18000
500 max: 18000
501 - name: magzero_x
502 description: "Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed."
503 default_value: :zero
504 field: magZero.raw[X]
505 min: INT16_MIN
506 max: INT16_MAX
507 - name: magzero_y
508 description: "Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed."
509 default_value: :zero
510 field: magZero.raw[Y]
511 min: INT16_MIN
512 max: INT16_MAX
513 - name: magzero_z
514 description: "Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed."
515 default_value: :zero
516 field: magZero.raw[Z]
517 min: INT16_MIN
518 max: INT16_MAX
519 - name: maggain_x
520 description: "Magnetometer calibration X gain. If 1024, no calibration or calibration failed"
521 default_value: 1024
522 field: magGain[X]
523 min: INT16_MIN
524 max: INT16_MAX
525 - name: maggain_y
526 description: "Magnetometer calibration Y gain. If 1024, no calibration or calibration failed"
527 default_value: 1024
528 field: magGain[Y]
529 min: INT16_MIN
530 max: INT16_MAX
531 - name: maggain_z
532 description: "Magnetometer calibration Z gain. If 1024, no calibration or calibration failed"
533 default_value: 1024
534 field: magGain[Z]
535 min: INT16_MIN
536 max: INT16_MAX
537 - name: mag_calibration_time
538 description: "Adjust how long time the Calibration of mag will last."
539 default_value: 30
540 field: magCalibrationTimeLimit
541 min: 20
542 max: 120
543 - name: mag_to_use
544 description: "Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target"
545 condition: USE_DUAL_MAG
546 min: 0
547 max: 1
548 default_value: 0
549 - name: align_mag_roll
550 description: "Set the external mag alignment on the roll axis (in 0.1 degree steps). If this value is non-zero, the compass is assumed to be externally mounted and both the board and on-board compass alignent (align_mag) are ignored. See also align_mag_pitch and align_mag_yaw."
551 default_value: 0
552 field: rollDeciDegrees
553 min: -1800
554 max: 3600
555 - name: align_mag_pitch
556 description: "Same as align_mag_roll, but for the pitch axis."
557 default_value: 0
558 field: pitchDeciDegrees
559 min: -1800
560 max: 3600
561 - name: align_mag_yaw
562 description: "Same as align_mag_roll, but for the yaw axis."
563 default_value: 0
564 field: yawDeciDegrees
565 min: -1800
566 max: 3600
568 - name: PG_BAROMETER_CONFIG
569 type: barometerConfig_t
570 headers: ["sensors/barometer.h"]
571 condition: USE_BARO
572 members:
573 - name: baro_hardware
574 description: "Selection of baro hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
575 default_value: "AUTO"
576 table: baro_hardware
577 - name: baro_cal_tolerance
578 description: "Baro calibration tolerance in cm. The default should allow the noisiest baro to complete calibration [cm]."
579 default_value: 150
580 field: baro_calibration_tolerance
581 min: 0
582 max: 1000
584 - name: PG_PITOTMETER_CONFIG
585 type: pitotmeterConfig_t
586 headers: ["sensors/pitotmeter.h"]
587 condition: USE_PITOT
588 members:
589 - name: pitot_hardware
590 description: "Selection of pitot hardware."
591 default_value: "VIRTUAL"
592 table: pitot_hardware
593 - name: pitot_lpf_milli_hz
594 min: 0
595 max: 10000
596 default_value: 350
597 - name: pitot_scale
598 min: 0
599 max: 100
600 default_value: 1.0
602 - name: PG_RX_CONFIG
603 type: rxConfig_t
604 headers: ["rx/rx.h", "rx/spektrum.h"]
605 members:
606 - name: receiver_type
607 description: "Selection of receiver (RX) type. Additional configuration of a `serialrx_provider` and a UART will be needed for `SERIAL`"
608 default_value: :target
609 field: receiverType
610 table: receiver_type
611 - name: min_check
612 description: "These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value."
613 default_value: 1100
614 field: mincheck
615 min: PWM_RANGE_MIN
616 max: PWM_RANGE_MAX
617 - name: max_check
618 description: "These are min/max values (in us) which, when a channel is smaller (min) or larger (max) than the value will activate various RC commands, such as arming, or stick configuration. Normally, every RC channel should be set so that min = 1000us, max = 2000us. On most transmitters this usually means 125% endpoints. Default check values are 100us above/below this value."
619 default_value: 1900
620 field: maxcheck
621 min: PWM_RANGE_MIN
622 max: PWM_RANGE_MAX
623 - name: rssi_source
624 description: "Source of RSSI input. Possible values: `NONE`, `AUTO`, `ADC`, `CHANNEL`, `PROTOCOL`, `MSP`"
625 default_value: "AUTO"
626 field: rssi_source
627 table: rssi_source
628 - name: rssi_channel
629 description: "RX channel containing the RSSI signal"
630 default_value: 0
631 min: 0
632 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
633 - name: rssi_min
634 description: "The minimum RSSI value sent by the receiver, in %. For example, if your receiver's minimum RSSI value shows as 42% in the configurator/OSD set this parameter to 42. See also rssi_max. Note that rssi_min can be set to a value bigger than rssi_max to invert the RSSI calculation (i.e. bigger values mean lower RSSI)."
635 default_value: 0
636 field: rssiMin
637 min: RSSI_VISIBLE_VALUE_MIN
638 max: RSSI_VISIBLE_VALUE_MAX
639 - name: rssi_max
640 description: "The maximum RSSI value sent by the receiver, in %. For example, if your receiver's maximum RSSI value shows as 83% in the configurator/OSD set this parameter to 83. See also rssi_min."
641 default_value: 100
642 field: rssiMax
643 min: RSSI_VISIBLE_VALUE_MIN
644 max: RSSI_VISIBLE_VALUE_MAX
645 - name: sbus_sync_interval
646 field: sbusSyncInterval
647 min: 500
648 max: 10000
649 default_value: 3000
650 - name: rc_filter_lpf_hz
651 description: "RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values"
652 default_value: 50
653 field: rcFilterFrequency
654 min: 15
655 max: 250
656 - name: rc_filter_auto
657 description: "When enabled, INAV will set RC filtering based on refresh rate and smoothing factor."
658 type: bool
659 default_value: ON
660 field: autoSmooth
661 - name: rc_filter_smoothing_factor
662 description: "The RC filter smoothing factor. The higher the value, the more smoothing but also the more delay in response. Value 1 sets the filter at half the refresh rate. Value 100 sets the filter to aprox. 10% of the RC refresh rate"
663 field: autoSmoothFactor
664 default_value: 30
665 min: 1
666 max: 100
667 - name: serialrx_provider
668 description: "When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section."
669 default_value: :target
670 condition: USE_SERIAL_RX
671 table: serial_rx
672 - name: serialrx_inverted
673 description: "Reverse the serial inversion of the serial RX protocol. When this value is OFF, each protocol will use its default signal (e.g. SBUS will use an inverted signal). Some OpenLRS receivers produce a non-inverted SBUS signal. This setting supports this type of receivers (including modified FrSKY)."
674 default_value: OFF
675 condition: USE_SERIAL_RX
676 type: bool
677 - name: spektrum_sat_bind
678 description: "0 = disabled. Used to bind the spektrum satellite to RX"
679 condition: USE_SPEKTRUM_BIND
680 min: SPEKTRUM_SAT_BIND_DISABLED
681 max: SPEKTRUM_SAT_BIND_MAX
682 default_value: :SPEKTRUM_SAT_BIND_DISABLED
683 - name: srxl2_unit_id
684 condition: USE_SERIALRX_SRXL2
685 min: 0
686 max: 15
687 default_value: 1
688 - name: srxl2_baud_fast
689 condition: USE_SERIALRX_SRXL2
690 type: bool
691 default_value: ON
692 - name: rx_min_usec
693 description: "Defines the shortest pulse width value used when ensuring the channel value is valid. If the receiver gives a pulse value lower than this value then the channel will be marked as bad and will default to the value of mid_rc."
694 default_value: 885
695 min: PWM_PULSE_MIN
696 max: PWM_PULSE_MAX
697 - name: rx_max_usec
698 description: "Defines the longest pulse width value used when ensuring the channel value is valid. If the receiver gives a pulse value higher than this value then the channel will be marked as bad and will default to the value of mid_rc."
699 default_value: 2115
700 min: PWM_PULSE_MIN
701 max: PWM_PULSE_MAX
702 - name: serialrx_halfduplex
703 description: "Allow serial receiver to operate on UART TX pin. With some receivers will allow control and telemetry over a single wire."
704 default_value: "AUTO"
705 field: halfDuplex
706 table: tristate
707 - name: msp_override_channels
708 description: "Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires custom firmware with `USE_RX_MSP` and `USE_MSP_RC_OVERRIDE` compile options and the `MSP RC Override` flight mode."
709 default_value: 0
710 field: mspOverrideChannels
711 condition: USE_MSP_RC_OVERRIDE
712 min: 0
713 max: 65535
715 - name: PG_BLACKBOX_CONFIG
716 type: blackboxConfig_t
717 headers: ["blackbox/blackbox.h"]
718 condition: USE_BLACKBOX
719 members:
720 - name: blackbox_rate_num
721 description: "Blackbox logging rate numerator. Use num/denom settings to decide if a frame should be logged, allowing control of the portion of logged loop iterations"
722 default_value: 1
723 field: rate_num
724 min: 1
725 max: 65535
726 - name: blackbox_rate_denom
727 description: "Blackbox logging rate denominator. See blackbox_rate_num."
728 default_value: 1
729 field: rate_denom
730 min: 1
731 max: 65535
732 - name: blackbox_device
733 description: "Selection of where to write blackbox data"
734 default_value: :target
735 field: device
736 table: blackbox_device
737 - name: sdcard_detect_inverted
738 description: "This setting drives the way SD card is detected in card slot. On some targets (AnyFC F7 clone) different card slot was used and depending of hardware revision ON or OFF setting might be required. If card is not detected, change this value."
739 default_value: :target
740 field: invertedCardDetection
741 condition: USE_SDCARD
742 type: bool
744 - name: PG_MOTOR_CONFIG
745 type: motorConfig_t
746 headers: ["flight/mixer.h"]
747 members:
748 - name: max_throttle
749 description: "This is the maximum value (in us) sent to esc when armed. Default of 1850 are OK for everyone (legacy). For modern ESCs, higher values (c. 2000) may be more appropriate. If you have brushed motors, the value should be set to 2000."
750 default_value: 1850
751 field: maxthrottle
752 min: PWM_RANGE_MIN
753 max: PWM_RANGE_MAX
754 - name: min_command
755 description: "This is the PWM value sent to ESCs when they are not armed. If ESCs beep slowly when powered up, try decreasing this value. It can also be used for calibrating all ESCs at once."
756 default_value: 1000
757 field: mincommand
758 min: 0
759 max: PWM_RANGE_MAX
760 - name: motor_pwm_rate
761 description: "Output frequency (in Hz) for motor pins. Applies only to brushed motors. "
762 default_value: 16000
763 field: motorPwmRate
764 min: 50
765 max: 32000
766 - name: motor_pwm_protocol
767 description: "Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED"
768 default_value: "ONESHOT125"
769 field: motorPwmProtocol
770 table: motor_pwm_protocol
771 - name: motor_poles
772 field: motorPoleCount
773 description: "The number of motor poles. Required to compute motor RPM"
774 min: 4
775 max: 255
776 default_value: 14
778 - name: PG_FAILSAFE_CONFIG
779 type: failsafeConfig_t
780 headers: ["flight/failsafe.h"]
781 members:
782 - name: failsafe_delay
783 description: "Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay)."
784 default_value: 5
785 min: 0
786 max: 200
787 - name: failsafe_recovery_delay
788 description: "Time in deciseconds to wait before aborting failsafe when signal is recovered. See [Failsafe documentation](Failsafe.md#failsafe_recovery_delay)."
789 default_value: 5
790 min: 0
791 max: 200
792 - name: failsafe_off_delay
793 description: "Time in deciseconds to wait before turning off motors when failsafe is activated. 0 = No timeout. See [Failsafe documentation](Failsafe.md#failsafe_off_delay)."
794 default_value: 200
795 min: 0
796 max: 200
797 - name: failsafe_throttle_low_delay
798 description: "If failsafe activated when throttle is low for this much time - bypass failsafe and disarm, in 10th of seconds. 0 = No timeout"
799 default_value: 0
800 min: 0
801 max: 300
802 - name: failsafe_procedure
803 description: "What failsafe procedure to initiate in Stage 2. See [Failsafe documentation](Failsafe.md#failsafe_throttle)."
804 default_value: "LAND"
805 table: failsafe_procedure
806 - name: failsafe_stick_threshold
807 description: "Threshold for stick motion to consider failsafe condition resolved. If non-zero failsafe won't clear even if RC link is restored - you have to move sticks to exit failsafe."
808 default_value: 50
809 field: failsafe_stick_motion_threshold
810 min: 0
811 max: 500
812 - name: failsafe_fw_roll_angle
813 description: "Amount of banking when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll"
814 default_value: -200
815 min: -800
816 max: 800
817 - name: failsafe_fw_pitch_angle
818 description: "Amount of dive/climb when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb"
819 default_value: 100
820 min: -800
821 max: 800
822 - name: failsafe_fw_yaw_rate
823 description: "Requested yaw rate to execute when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn"
824 default_value: -45
825 min: -1000
826 max: 1000
827 - name: failsafe_min_distance
828 description: "If failsafe happens when craft is closer than this distance in centimeters from home, failsafe will not execute regular failsafe_procedure, but will execute procedure specified in failsafe_min_distance_procedure instead. 0 = Normal failsafe_procedure always taken."
829 default_value: 0
830 min: 0
831 max: 65000
832 - name: failsafe_min_distance_procedure
833 description: "What failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. See [Failsafe documentation](Failsafe.md#failsafe_throttle)."
834 default_value: "DROP"
835 table: failsafe_procedure
836 - name: failsafe_mission_delay
837 description: "Applies if failsafe occurs when a WP mission is in progress. Sets the time delay in seconds between failsafe occurring and the selected failsafe procedure activating. If set to -1 the failsafe procedure won't activate at all and the mission will continue until the end."
838 default_value: 0
839 min: -1
840 max: 600
842 - name: PG_LIGHTS_CONFIG
843 type: lightsConfig_t
844 headers: ["io/lights.h"]
845 condition: USE_LIGHTS
846 members:
847 - name: failsafe_lights
848 description: "Enable or disable the lights when the `FAILSAFE` flight mode is enabled. The target needs to be compiled with `USE_LIGHTS` [ON/OFF]."
849 default_value: ON
850 field: failsafe.enabled
851 type: bool
852 - name: failsafe_lights_flash_period
853 description: "Time in milliseconds between two flashes when `failsafe_lights` is ON and `FAILSAFE` flight mode is enabled [40-65535]."
854 default_value: 1000
855 field: failsafe.flash_period
856 min: 40
857 max: 65535
858 - name: failsafe_lights_flash_on_time
859 description: "Flash lights ON time in milliseconds when `failsafe_lights` is ON and `FAILSAFE` flight mode is enabled. [20-65535]."
860 default_value: 100
861 field: failsafe.flash_on_time
862 min: 20
863 max: 65535
865 - name: PG_BOARD_ALIGNMENT
866 type: boardAlignment_t
867 headers: ["sensors/boardalignment.h"]
868 members:
869 - name: align_board_roll
870 description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
871 default_value: :zero
872 field: rollDeciDegrees
873 min: -1800
874 max: 3600
875 - name: align_board_pitch
876 description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
877 default_value: :zero
878 field: pitchDeciDegrees
879 min: -1800
880 max: 3600
881 - name: align_board_yaw
882 description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
883 default_value: :zero
884 field: yawDeciDegrees
885 min: -1800
886 max: 3600
888 - name: PG_BATTERY_METERS_CONFIG
889 type: batteryMetersConfig_t
890 headers: ["sensors/battery_config_structs.h"]
891 members:
892 - name: vbat_meter_type
893 description: "Vbat voltage source. Possible values: `NONE`, `ADC`, `ESC`. `ESC` required ESC telemetry enebled and running"
894 condition: USE_ADC
895 default_value: ADC
896 field: voltage.type
897 table: voltage_sensor
898 type: uint8_t
899 - name: vbat_scale
900 description: "Battery voltage calibration value. 1100 = 11:1 voltage divider (10k:1k) x 100. Adjust this slightly if reported pack voltage is different from multimeter reading. You can get current voltage by typing \"status\" in cli."
901 default_value: :target
902 field: voltage.scale
903 condition: USE_ADC
904 min: 0
905 max: 65535
906 - name: current_meter_scale
907 description: "This sets the output voltage to current scaling for the current sensor in 0.1 mV/A steps. 400 is 40mV/A such as the ACS756 sensor outputs. 183 is the setting for the uberdistro with a 0.25mOhm shunt."
908 default_value: :target
909 field: current.scale
910 min: -10000
911 max: 10000
912 - name: current_meter_offset
913 description: "This sets the output offset voltage of the current sensor in millivolts."
914 default_value: :target
915 field: current.offset
916 min: -32768
917 max: 32767
918 - name: current_meter_type
919 description: "ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position."
920 default_value: "ADC"
921 field: current.type
922 table: current_sensor
923 type: uint8_t
924 - name: bat_voltage_src
925 description: "Chose between raw and sag compensated battery voltage to use for battery alarms and telemetry. Possible values are `RAW` and `SAG_COMP`"
926 default_value: "RAW"
927 field: voltageSource
928 table: bat_voltage_source
929 type: uint8_t
930 - name: cruise_power
931 description: "Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit"
932 default_value: 0
933 field: cruise_power
934 min: 0
935 max: 4294967295
936 - name: idle_power
937 description: "Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit"
938 default_value: 0
939 field: idle_power
940 min: 0
941 max: 65535
942 - name: rth_energy_margin
943 description: "Energy margin wanted after getting home (percent of battery energy capacity). Use for the remaining flight time/distance calculation"
944 default_value: 5
945 min: 0
946 max: 100
947 - name: thr_comp_weight
948 description: "Weight used for the throttle compensation based on battery voltage. See the [battery documentation](Battery.md#automatic-throttle-compensation-based-on-battery-voltage)"
949 default_value: 1
950 field: throttle_compensation_weight
951 min: 0
952 max: 2
954 - name: PG_BATTERY_PROFILES
955 type: batteryProfile_t
956 headers: ["sensors/battery_config_structs.h"]
957 value_type: BATTERY_CONFIG_VALUE
958 members:
959 - name: bat_cells
960 description: "Number of cells of the battery (0 = auto-detect), see battery documentation. 7S, 9S and 11S batteries cannot be auto-detected."
961 default_value: 0
962 field: cells
963 condition: USE_ADC
964 min: 0
965 max: 12
966 - name: vbat_cell_detect_voltage
967 description: "Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units."
968 default_value: 425
969 field: voltage.cellDetect
970 condition: USE_ADC
971 min: 100
972 max: 500
973 - name: vbat_max_cell_voltage
974 description: "Maximum voltage per cell in 0.01V units, default is 4.20V"
975 default_value: 420
976 field: voltage.cellMax
977 condition: USE_ADC
978 min: 100
979 max: 500
980 - name: vbat_min_cell_voltage
981 description: "Minimum voltage per cell, this triggers battery out alarms, in 0.01V units, default is 330 (3.3V)"
982 default_value: 330
983 field: voltage.cellMin
984 condition: USE_ADC
985 min: 100
986 max: 500
987 - name: vbat_warning_cell_voltage
988 description: "Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V)"
989 default_value: 350
990 field: voltage.cellWarning
991 condition: USE_ADC
992 min: 100
993 max: 500
994 - name: battery_capacity
995 description: "Set the battery capacity in mAh or mWh (see `battery_capacity_unit`). Used to calculate the remaining battery capacity."
996 default_value: 0
997 field: capacity.value
998 min: 0
999 max: 4294967295
1000 - name: battery_capacity_warning
1001 description: "If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink."
1002 default_value: 0
1003 field: capacity.warning
1004 min: 0
1005 max: 4294967295
1006 - name: battery_capacity_critical
1007 description: "If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps."
1008 default_value: 0
1009 field: capacity.critical
1010 min: 0
1011 max: 4294967295
1012 - name: battery_capacity_unit
1013 description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)."
1014 default_value: "MAH"
1015 field: capacity.unit
1016 table: bat_capacity_unit
1017 type: uint8_t
1018 - name: controlrate_profile
1019 description: "Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile"
1020 default_value: 0
1021 field: controlRateProfile
1022 min: 0
1023 max: MAX_CONTROL_RATE_PROFILE_COUNT
1025 - name: throttle_scale
1026 description: "Throttle scaling factor. `1` means no throttle scaling. `0.5` means throttle scaled down by 50%"
1027 default_value: 1.0
1028 field: motor.throttleScale
1029 min: 0
1030 max: 1
1031 - name: throttle_idle
1032 description: "The percentage of the throttle range (`max_throttle` - `min_command`) above `min_command` used for minimum / idle throttle."
1033 default_value: 15
1034 field: motor.throttleIdle
1035 min: 0
1036 max: 30
1037 - name: turtle_mode_power_factor
1038 field: motor.turtleModePowerFactor
1039 default_value: 55
1040 description: "Turtle mode power factor"
1041 condition: USE_DSHOT
1042 min: 0
1043 max: 100
1044 - name: failsafe_throttle
1045 description: "Throttle level used for landing when failsafe is enabled. See [Failsafe documentation](Failsafe.md#failsafe_throttle)."
1046 default_value: 1000
1047 min: PWM_RANGE_MIN
1048 max: PWM_RANGE_MAX
1049 - name: nav_mc_hover_thr
1050 description: "Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering."
1051 default_value: 1300
1052 field: nav.mc.hover_throttle
1053 min: 1000
1054 max: 2000
1055 - name: nav_fw_cruise_thr
1056 description: "Cruise throttle in GPS assisted modes, this includes RTH. Should be set high enough to avoid stalling. This values gives INAV a base for throttle when flying straight, and it will increase or decrease throttle based on pitch of airplane and the parameters below. In addition it will increase throttle if GPS speed gets below 7m/s ( hardcoded )"
1057 default_value: 1400
1058 field: nav.fw.cruise_throttle
1059 min: 1000
1060 max: 2000
1061 - name: nav_fw_min_thr
1062 description: "Minimum throttle for flying wing in GPS assisted modes"
1063 default_value: 1200
1064 field: nav.fw.min_throttle
1065 min: 1000
1066 max: 2000
1067 - name: nav_fw_max_thr
1068 description: "Maximum throttle for flying wing in GPS assisted modes"
1069 default_value: 1700
1070 field: nav.fw.max_throttle
1071 min: 1000
1072 max: 2000
1073 - name: nav_fw_pitch2thr
1074 description: "Amount of throttle applied related to pitch attitude in GPS assisted modes. Throttle = nav_fw_cruise_throttle - (nav_fw_pitch2thr * pitch_angle). (notice that pitch_angle is in degrees and is negative when climbing and positive when diving, and throttle value is constrained between nav_fw_min_thr and nav_fw_max_thr)"
1075 default_value: 10
1076 field: nav.fw.pitch_to_throttle
1077 min: 0
1078 max: 100
1079 - name: nav_fw_launch_thr
1080 description: "Launch throttle - throttle to be set during launch sequence (pwm units)"
1081 default_value: 1700
1082 field: nav.fw.launch_throttle
1083 min: 1000
1084 max: 2000
1085 - name: nav_fw_launch_idle_thr
1086 description: "Launch idle throttle - throttle to be set before launch sequence is initiated. If set below minimum throttle it will force motor stop or at idle throttle (depending if the MOTOR_STOP is enabled). If set above minimum throttle it will force throttle to this value (if MOTOR_STOP is enabled it will be handled according to throttle stick position)"
1087 default_value: 1000
1088 field: nav.fw.launch_idle_throttle
1089 min: 1000
1090 max: 2000
1091 - name: limit_cont_current
1092 description: "Continous current limit (dA), set to 0 to disable"
1093 condition: USE_POWER_LIMITS
1094 default_value: 0
1095 field: powerLimits.continuousCurrent
1096 max: 4000
1097 - name: limit_burst_current
1098 description: "Burst current limit (dA): the current which is allowed during `limit_burst_current_time` after which `limit_cont_current` will be enforced, set to 0 to disable"
1099 condition: USE_POWER_LIMITS
1100 default_value: 0
1101 field: powerLimits.burstCurrent
1102 max: 4000
1103 - name: limit_burst_current_time
1104 description: "Allowed current burst time (ds) during which `limit_burst_current` is allowed and after which `limit_cont_current` will be enforced"
1105 condition: USE_POWER_LIMITS
1106 default_value: 0
1107 field: powerLimits.burstCurrentTime
1108 max: 3000
1109 - name: limit_burst_current_falldown_time
1110 description: "Time slice at the end of the burst time during which the current limit will be ramped down from `limit_burst_current` back down to `limit_cont_current`"
1111 condition: USE_POWER_LIMITS
1112 default_value: 0
1113 field: powerLimits.burstCurrentFalldownTime
1114 max: 3000
1115 - name: limit_cont_power
1116 description: "Continous power limit (dW), set to 0 to disable"
1117 condition: USE_POWER_LIMITS && USE_ADC
1118 default_value: 0
1119 field: powerLimits.continuousPower
1120 max: 40000
1121 - name: limit_burst_power
1122 description: "Burst power limit (dW): the current which is allowed during `limit_burst_power_time` after which `limit_cont_power` will be enforced, set to 0 to disable"
1123 condition: USE_POWER_LIMITS && USE_ADC
1124 default_value: 0
1125 field: powerLimits.burstPower
1126 max: 40000
1127 - name: limit_burst_power_time
1128 description: "Allowed power burst time (ds) during which `limit_burst_power` is allowed and after which `limit_cont_power` will be enforced"
1129 condition: USE_POWER_LIMITS && USE_ADC
1130 default_value: 0
1131 field: powerLimits.burstPowerTime
1132 max: 3000
1133 - name: limit_burst_power_falldown_time
1134 description: "Time slice at the end of the burst time during which the power limit will be ramped down from `limit_burst_power` back down to `limit_cont_power`"
1135 condition: USE_POWER_LIMITS && USE_ADC
1136 default_value: 0
1137 field: powerLimits.burstPowerFalldownTime
1138 max: 3000
1140 - name: PG_MIXER_PROFILE
1141 type: mixerProfile_t
1142 headers: ["flight/mixer_profile.h"]
1143 value_type: MIXER_CONFIG_VALUE
1144 members:
1145 - name: motor_direction_inverted
1146 description: "Use if you need to inverse yaw motor direction."
1147 default_value: OFF
1148 field: mixer_config.motorDirectionInverted
1149 type: bool
1150 - name: platform_type
1151 description: "Defines UAV platform type. Allowed values: \"MULTIROTOR\", \"AIRPLANE\", \"HELICOPTER\", \"TRICOPTER\", \"ROVER\", \"BOAT\". Currently only MULTIROTOR, AIRPLANE and TRICOPTER types are implemented"
1152 default_value: "MULTIROTOR"
1153 field: mixer_config.platformType
1154 type: uint8_t
1155 table: platform_type
1156 - name: has_flaps
1157 description: "Defines is UAV is capable of having flaps. If ON and AIRPLANE `platform_type` is used, **FLAPERON** flight mode will be available for the pilot"
1158 default_value: OFF
1159 field: mixer_config.hasFlaps
1160 type: bool
1161 - name: model_preview_type
1162 description: "ID of mixer preset applied in a Configurator. **Do not modify manually**. Used only for backup/restore reasons."
1163 default_value: -1
1164 field: mixer_config.appliedMixerPreset
1165 min: -1
1166 max: INT16_MAX
1167 - name: motorstop_on_low
1168 description: "If enabled, motor will stop when throttle is low on this mixer_profile"
1169 default_value: OFF
1170 field: mixer_config.motorstopOnLow
1171 type: bool
1172 - name: mixer_pid_profile_linking
1173 description: "If enabled, pid profile_index will follow mixer_profile index. Set to OFF(default) if you want to handle PID profile by your self. Recommend to set to ON on all mixer_profiles to let the mixer_profile handle the PID profile switching on a VTOL or mixed platform type setup."
1174 default_value: OFF
1175 field: mixer_config.PIDProfileLinking
1176 type: bool
1177 - name: mixer_automated_switch
1178 description: "If set to on, This mixer_profile will try to switch to another mixer_profile when 1.RTH heading home is requested and distance to home is lager than 3*nav_fw_loiter_radius on mixer_profile is a MULTIROTOR or TRICOPTER platform_type. 2. RTH landing is requested on this mixer_profile is a AIRPLANE platform_type"
1179 default_value: OFF
1180 field: mixer_config.automated_switch
1181 type: bool
1182 - name: mixer_switch_trans_timer
1183 description: "If switch another mixer_profile is scheduled by mixer_automated_switch or mixer_automated_switch. Activate Mixertransion motor/servo mixing for this many decisecond(0.1s) before the actual mixer_profile switch."
1184 default_value: 0
1185 field: mixer_config.switchTransitionTimer
1186 min: 0
1187 max: 200
1191 - name: PG_REVERSIBLE_MOTORS_CONFIG
1192 type: reversibleMotorsConfig_t
1193 members:
1194 - name: 3d_deadband_low
1195 description: "Low value of throttle deadband for 3D mode (when stick is in the 3d_deadband_throttle range, the fixed values of 3d_deadband_low / _high are used instead)"
1196 default_value: 1406
1197 field: deadband_low
1198 min: PWM_RANGE_MIN
1199 max: PWM_RANGE_MAX
1200 - name: 3d_deadband_high
1201 description: "High value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead)"
1202 default_value: 1514
1203 field: deadband_high
1204 min: PWM_RANGE_MIN
1205 max: PWM_RANGE_MAX
1206 - name: 3d_neutral
1207 description: "Neutral (stop) throttle value for 3D mode"
1208 default_value: 1460
1209 field: neutral
1210 min: PWM_RANGE_MIN
1211 max: PWM_RANGE_MAX
1213 - name: PG_SERVO_CONFIG
1214 type: servoConfig_t
1215 headers: ["flight/servos.h"]
1216 members:
1217 - name: servo_protocol
1218 description: "An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SBUS` (S.Bus protocol output via a configured serial port)"
1219 default_value: "PWM"
1220 field: servo_protocol
1221 table: servo_protocol
1222 - name: servo_center_pulse
1223 description: "Servo midpoint"
1224 default_value: 1500
1225 field: servoCenterPulse
1226 min: PWM_RANGE_MIN
1227 max: PWM_RANGE_MAX
1228 - name: servo_pwm_rate
1229 description: "Output frequency (in Hz) servo pins. When using tricopters or gimbal with digital servo, this rate can be increased. Max of 498Hz (for 500Hz pwm period), and min of 50Hz. Most digital servos will support for example 330Hz."
1230 default_value: 50
1231 field: servoPwmRate
1232 min: 50
1233 max: 498
1234 - name: servo_lpf_hz
1235 description: "Selects the servo PWM output cutoff frequency. Value is in [Hz]"
1236 default_value: 20
1237 field: servo_lowpass_freq
1238 min: 0
1239 max: 400
1240 - name: flaperon_throw_offset
1241 description: "Defines throw range in us for both ailerons that will be passed to servo mixer via input source 14 (`FEATURE FLAPS`) when FLAPERON mode is activated."
1242 default_value: 200
1243 min: FLAPERON_THROW_MIN
1244 max: FLAPERON_THROW_MAX
1245 - name: tri_unarmed_servo
1246 description: "On tricopter mix only, if this is set to ON, servo will always be correcting regardless of armed state. to disable this, set it to OFF."
1247 default_value: ON
1248 type: bool
1249 - name: servo_autotrim_rotation_limit
1250 description: "Servo midpoints are only updated when total aircraft rotation is less than this threshold [deg/s]. Only applies when using `feature FW_AUTOTRIM`."
1251 default_value: 15
1252 min: 1
1253 max: 60
1255 - name: PG_CONTROL_RATE_PROFILES
1256 type: controlRateConfig_t
1257 headers: ["fc/controlrate_profile_config_struct.h"]
1258 value_type: CONTROL_RATE_VALUE
1259 members:
1260 - name: thr_mid
1261 description: "Throttle value when the stick is set to mid-position. Used in the throttle curve calculation."
1262 default_value: 50
1263 field: throttle.rcMid8
1264 min: 0
1265 max: 100
1266 - name: thr_expo
1267 description: "Throttle exposition value"
1268 default_value: 0
1269 field: throttle.rcExpo8
1270 min: 0
1271 max: 100
1272 - name: tpa_rate
1273 description: "Throttle PID attenuation reduces influence of PDFF on ROLL and PITCH of multi-rotor, PIDFF on ROLL,PITCH,YAW OF fixed_wing as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate."
1274 default_value: 0
1275 field: throttle.dynPID
1276 min: 0
1277 max: 100
1278 - name: tpa_breakpoint
1279 description: "See tpa_rate."
1280 default_value: 1500
1281 field: throttle.pa_breakpoint
1282 min: PWM_RANGE_MIN
1283 max: PWM_RANGE_MAX
1284 - name: tpa_on_yaw
1285 description: "Throttle PID attenuation also reduces influence on YAW for multi-rotor, Should be set to ON for tilting rotors."
1286 type: bool
1287 field: throttle.dynPID_on_YAW
1288 default_value: OFF
1289 - name: fw_tpa_time_constant
1290 description: "TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. See **PID Attenuation and scaling** Wiki for full details."
1291 default_value: 1500
1292 field: throttle.fixedWingTauMs
1293 min: 0
1294 max: 5000
1295 - name: rc_expo
1296 description: "Exposition value used for the PITCH/ROLL axes by all the stabilized flights modes (all but `MANUAL`)"
1297 default_value: 70
1298 field: stabilized.rcExpo8
1299 min: 0
1300 max: 100
1301 - name: rc_yaw_expo
1302 description: "Exposition value used for the YAW axis by all the stabilized flights modes (all but `MANUAL`)"
1303 default_value: 20
1304 field: stabilized.rcYawExpo8
1305 min: 0
1306 max: 100
1307 # New rates are in dps/10. That means, Rate of 20 means 200dps of rotation speed on given axis.
1308 # Rate 180 (1800dps) is max. value gyro can measure reliably
1309 - name: roll_rate
1310 description: "Defines rotation rate on ROLL axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure."
1311 default_value: 20
1312 field: stabilized.rates[FD_ROLL]
1313 min: ROLL_PITCH_RATE_MIN
1314 max: ROLL_PITCH_RATE_MAX
1315 - name: pitch_rate
1316 description: "Defines rotation rate on PITCH axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure."
1317 default_value: 20
1318 field: stabilized.rates[FD_PITCH]
1319 min: ROLL_PITCH_RATE_MIN
1320 max: ROLL_PITCH_RATE_MAX
1321 - name: yaw_rate
1322 description: "Defines rotation rate on YAW axis that UAV will try to archive on max. stick deflection. Rates are defined in tens of degrees (deca-degrees) per second [rate = dps/10]. That means, rate 20 represents 200dps rotation speed. Default 20 (200dps) is more less equivalent of old Cleanflight/Baseflight rate 0. Max. 180 (1800dps) is what gyro can measure."
1323 default_value: 20
1324 field: stabilized.rates[FD_YAW]
1325 min: 1
1326 max: 180
1327 - name: manual_rc_expo
1328 description: "Exposition value used for the PITCH/ROLL axes by the `MANUAL` flight mode [0-100]"
1329 default_value: 35
1330 field: manual.rcExpo8
1331 min: 0
1332 max: 100
1333 - name: manual_rc_yaw_expo
1334 description: "Exposition value used for the YAW axis by the `MANUAL` flight mode [0-100]"
1335 default_value: 20
1336 field: manual.rcYawExpo8
1337 min: 0
1338 max: 100
1339 - name: manual_roll_rate
1340 description: "Servo travel multiplier for the ROLL axis in `MANUAL` flight mode [0-100]%"
1341 default_value: 100
1342 field: manual.rates[FD_ROLL]
1343 min: MANUAL_RATE_MIN
1344 max: MANUAL_RATE_MAX
1345 - name: manual_pitch_rate
1346 description: "Servo travel multiplier for the PITCH axis in `MANUAL` flight mode [0-100]%"
1347 default_value: 100
1348 field: manual.rates[FD_PITCH]
1349 min: MANUAL_RATE_MIN
1350 max: MANUAL_RATE_MAX
1351 - name: manual_yaw_rate
1352 description: "Servo travel multiplier for the YAW axis in `MANUAL` flight mode [0-100]%"
1353 default_value: 100
1354 field: manual.rates[FD_YAW]
1355 min: MANUAL_RATE_MIN
1356 max: MANUAL_RATE_MAX
1357 - name: fpv_mix_degrees
1358 field: misc.fpvCamAngleDegrees
1359 min: 0
1360 max: 50
1361 default_value: 0
1362 - name: rate_dynamics_center_sensitivity
1363 field: rateDynamics.sensitivityCenter
1364 default_value: 100
1365 min: 25
1366 max: 175
1367 description: "The center stick sensitivity for Rate Dynamics"
1368 condition: USE_RATE_DYNAMICS
1369 - name: rate_dynamics_end_sensitivity
1370 field: rateDynamics.sensitivityEnd
1371 default_value: 100
1372 min: 25
1373 max: 175
1374 description: "The end stick sensitivity for Rate Dynamics"
1375 condition: USE_RATE_DYNAMICS
1376 - name: rate_dynamics_center_correction
1377 field: rateDynamics.correctionCenter
1378 default_value: 10
1379 min: 10
1380 max: 95
1381 description: "The center stick correction for Rate Dynamics"
1382 condition: USE_RATE_DYNAMICS
1383 - name: rate_dynamics_end_correction
1384 field: rateDynamics.correctionEnd
1385 default_value: 10
1386 min: 10
1387 max: 95
1388 description: "The end stick correction for Rate Dynamics"
1389 condition: USE_RATE_DYNAMICS
1390 - name: rate_dynamics_center_weight
1391 field: rateDynamics.weightCenter
1392 default_value: 0
1393 min: 0
1394 max: 95
1395 description: "The center stick weight for Rate Dynamics"
1396 condition: USE_RATE_DYNAMICS
1397 - name: rate_dynamics_end_weight
1398 field: rateDynamics.weightEnd
1399 default_value: 0
1400 min: 0
1401 max: 95
1402 description: "The end stick weight for Rate Dynamics"
1403 condition: USE_RATE_DYNAMICS
1405 - name: PG_SERIAL_CONFIG
1406 type: serialConfig_t
1407 headers: ["io/serial.h"]
1408 members:
1409 - name: reboot_character
1410 description: "Special character used to trigger reboot"
1411 default_value: 82
1412 min: 48
1413 max: 126
1415 - name: PG_IMU_CONFIG
1416 type: imuConfig_t
1417 headers: ["flight/imu.h"]
1418 members:
1419 - name: ahrs_dcm_kp
1420 description: "Inertial Measurement Unit KP Gain for accelerometer measurements"
1421 default_value: 2000
1422 field: dcm_kp_acc
1423 max: UINT16_MAX
1424 - name: ahrs_dcm_ki
1425 description: "Inertial Measurement Unit KI Gain for accelerometer measurements"
1426 default_value: 50
1427 field: dcm_ki_acc
1428 max: UINT16_MAX
1429 - name: ahrs_dcm_kp_mag
1430 description: "Inertial Measurement Unit KP Gain for compass measurements"
1431 default_value: 2000
1432 field: dcm_kp_mag
1433 max: UINT16_MAX
1434 - name: ahrs_dcm_ki_mag
1435 description: "Inertial Measurement Unit KI Gain for compass measurements"
1436 default_value: 50
1437 field: dcm_ki_mag
1438 max: UINT16_MAX
1439 - name: small_angle
1440 description: "If the aircraft tilt angle exceed this value the copter will refuse to arm."
1441 default_value: 25
1442 min: 0
1443 max: 180
1444 - name: ahrs_acc_ignore_rate
1445 description: "Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy"
1446 default_value: 15
1447 field: acc_ignore_rate
1448 min: 0
1449 max: 30
1450 - name: ahrs_acc_ignore_slope
1451 description: "Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)"
1452 default_value: 5
1453 field: acc_ignore_slope
1454 min: 0
1455 max: 10
1456 - name: ahrs_gps_yaw_windcomp
1457 description: "Wind compensation in heading estimation from gps groundcourse(fixed wing only)"
1458 default_value: ON
1459 field: gps_yaw_windcomp
1460 type: bool
1461 - name: ahrs_inertia_comp_method
1462 description: "Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop"
1463 default_value: ADAPTIVE
1464 field: inertia_comp_method
1465 table: imu_inertia_comp_method
1467 - name: PG_ARMING_CONFIG
1468 type: armingConfig_t
1469 members:
1470 - name: fixed_wing_auto_arm
1471 description: "Auto-arm fixed wing aircraft on throttle above min_check, and disarming with stick commands are disabled, so power cycle is required to disarm. Requires enabled motorstop and no arm switch configured."
1472 default_value: OFF
1473 type: bool
1474 - name: disarm_kill_switch
1475 description: "Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Only applies when arming and disarming with an AUX channel."
1476 default_value: ON
1477 type: bool
1478 - name: switch_disarm_delay
1479 description: "Delay before disarming when requested by switch (ms) [0-1000]"
1480 default_value: 250
1481 field: switchDisarmDelayMs
1482 min: 0
1483 max: 1000
1484 - name: prearm_timeout
1485 description: "Duration (ms) for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout."
1486 default_value: 10000
1487 field: prearmTimeoutMs
1488 min: 0
1489 max: 10000
1491 - name: PG_GENERAL_SETTINGS
1492 headers: ["config/general_settings.h"]
1493 type: generalSettings_t
1494 members:
1495 - name: applied_defaults
1496 description: "Internal (configurator) hint. Should not be changed manually"
1497 default_value: 0
1498 field: appliedDefaults
1499 type: uint8_t
1500 min: 0
1501 max: 99
1503 - name: PG_EZ_TUNE
1504 headers: ["flight/ez_tune.h"]
1505 type: ezTuneSettings_t
1506 value_type: EZ_TUNE_VALUE
1507 members:
1508 - name: ez_enabled
1509 description: "Enables EzTune feature"
1510 default_value: OFF
1511 field: enabled
1512 type: bool
1513 - name: ez_filter_hz
1514 description: "EzTune filter cutoff frequency"
1515 default_value: 110
1516 field: filterHz
1517 min: 10
1518 max: 300
1519 - name: ez_axis_ratio
1520 description: "EzTune axis ratio"
1521 default_value: 110
1522 field: axisRatio
1523 min: 25
1524 max: 175
1525 - name: ez_response
1526 description: "EzTune response"
1527 default_value: 100
1528 field: response
1529 min: 0
1530 max: 200
1531 - name: ez_damping
1532 description: "EzTune damping"
1533 default_value: 100
1534 field: damping
1535 min: 0
1536 max: 200
1537 - name: ez_stability
1538 description: "EzTune stability"
1539 default_value: 100
1540 field: stability
1541 min: 0
1542 max: 200
1543 - name: ez_aggressiveness
1544 description: "EzTune aggressiveness"
1545 default_value: 100
1546 field: aggressiveness
1547 min: 0
1548 max: 200
1549 - name: ez_rate
1550 description: "EzTune rate"
1551 default_value: 100
1552 field: rate
1553 min: 0
1554 max: 200
1555 - name: ez_expo
1556 description: "EzTune expo"
1557 default_value: 100
1558 field: expo
1559 min: 0
1560 max: 200
1562 - name: PG_RPM_FILTER_CONFIG
1563 headers: ["flight/rpm_filter.h"]
1564 condition: USE_RPM_FILTER
1565 type: rpmFilterConfig_t
1566 members:
1567 - name: rpm_gyro_filter_enabled
1568 description: "Enables gyro RPM filtere. Set to `ON` only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV"
1569 default_value: OFF
1570 field: gyro_filter_enabled
1571 type: bool
1572 - name: rpm_gyro_harmonics
1573 description: "Number of harmonic frequences to be covered by gyro RPM filter. Default value of `1` usually works just fine"
1574 default_value: 1
1575 field: gyro_harmonics
1576 type: uint8_t
1577 min: 1
1578 max: 3
1579 - name: rpm_gyro_min_hz
1580 description: "The lowest frequency for gyro RPM filtere. Default `150` is fine for 5\" mini-quads. On 7-inch drones you can lower even down to `60`-`70`"
1581 default_value: 100
1582 field: gyro_min_hz
1583 type: uint8_t
1584 min: 30
1585 max: 200
1586 - name: rpm_gyro_q
1587 description: "Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting"
1588 default_value: 500
1589 field: gyro_q
1590 type: uint16_t
1591 min: 1
1592 max: 3000
1593 - name: PG_GPS_CONFIG
1594 headers: [ "io/gps.h" ]
1595 type: gpsConfig_t
1596 condition: USE_GPS
1597 members:
1598 - name: gps_provider
1599 description: "Which GPS protocol to be used, note that UBLOX is 5Hz and UBLOX7 is 10Hz (M8N)."
1600 default_value: "UBLOX"
1601 field: provider
1602 table: gps_provider
1603 type: uint8_t
1604 - name: gps_sbas_mode
1605 description: "Which SBAS mode to be used"
1606 default_value: "NONE"
1607 field: sbasMode
1608 table: gps_sbas_mode
1609 type: uint8_t
1610 - name: gps_dyn_model
1611 description: "GPS navigation model: Pedestrian, Air_1g, Air_4g. Default is AIR_1G. Use pedestrian with caution, can cause flyaways with fast flying."
1612 default_value: "AIR_1G"
1613 field: dynModel
1614 table: gps_dyn_model
1615 type: uint8_t
1616 - name: gps_auto_config
1617 description: "Enable automatic configuration of UBlox GPS receivers."
1618 default_value: ON
1619 field: autoConfig
1620 type: bool
1621 - name: gps_auto_baud
1622 description: "Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS"
1623 default_value: ON
1624 field: autoBaud
1625 type: bool
1626 - name: gps_auto_baud_max_supported
1627 description: "Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0"
1628 default_value: "230400"
1629 table: gps_auto_baud_max
1630 field: autoBaudMax
1631 type: uint8_t
1632 - name: gps_ublox_use_galileo
1633 description: "Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]."
1634 default_value: OFF
1635 field: ubloxUseGalileo
1636 type: bool
1637 - name: gps_ublox_use_beidou
1638 description: "Enable use of Beidou satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps hardware support [OFF/ON]."
1639 default_value: OFF
1640 field: ubloxUseBeidou
1641 type: bool
1642 - name: gps_ublox_use_glonass
1643 description: "Enable use of Glonass satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps haardware support [OFF/ON]."
1644 default_value: OFF
1645 field: ubloxUseGlonass
1646 type: bool
1647 - name: gps_min_sats
1648 description: "Minimum number of GPS satellites in view to acquire GPS_FIX and consider GPS position valid. Some GPS receivers appeared to be very inaccurate with low satellite count."
1649 default_value: 6
1650 field: gpsMinSats
1651 min: 5
1652 max: 10
1653 - name: gps_ublox_nav_hz
1654 description: "Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer."
1655 default_value: 10
1656 field: ubloxNavHz
1657 type: uint8_t
1658 min: 5
1659 max: 200
1662 - name: PG_RC_CONTROLS_CONFIG
1663 type: rcControlsConfig_t
1664 headers: ["fc/rc_controls.h"]
1665 members:
1666 - name: deadband
1667 description: "These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle."
1668 default_value: 5
1669 min: 0
1670 max: 32
1671 - name: yaw_deadband
1672 description: "These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle."
1673 default_value: 5
1674 min: 0
1675 max: 100
1676 - name: pos_hold_deadband
1677 description: "Stick deadband in [r/c points], applied after r/c deadband and expo. Used for adjustments in navigation modes."
1678 default_value: 10
1679 min: 2
1680 max: 250
1681 - name: control_deadband
1682 description: "Stick deadband in [r/c points], applied after r/c deadband and expo. Used to check if sticks are centered."
1683 default_value: 10
1684 min: 2
1685 max: 250
1686 - name: alt_hold_deadband
1687 description: "Defines the deadband of throttle during alt_hold [r/c points]"
1688 default_value: 50
1689 min: 10
1690 max: 250
1691 - name: 3d_deadband_throttle
1692 description: "Throttle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter."
1693 default_value: 50
1694 field: mid_throttle_deadband
1695 min: 0
1696 max: 200
1697 - name: airmode_type
1698 description: "Defines the Airmode state handling type. Default **STICK_CENTER** is the classical approach in which Airmode is always active if enabled, but when the throttle is low and ROLL/PITCH/YAW sticks are centered, Iterms is not allowed to grow (ANTI_WINDUP). **THROTTLE_THRESHOLD** is the Airmode behavior known from Betaflight. In this mode, Airmode is active as soon THROTTLE position is above `airmode_throttle_threshold` and stays active until disarm. ANTI_WINDUP is never triggered. For small Multirotors (up to 7-inch propellers) it is suggested to switch to **THROTTLE_THRESHOLD** since it keeps full stabilization no matter what pilot does with the sticks. Fixed Wings always use **STICK_CENTER_ONCE** or **STICK_CENTER** modes."
1699 default_value: "STICK_CENTER"
1700 field: airmodeHandlingType
1701 table: airmodeHandlingType
1702 - name: airmode_throttle_threshold
1703 description: "Defines airmode THROTTLE activation threshold when `airmode_type` **THROTTLE_THRESHOLD** is used"
1704 default_value: 1150
1705 field: airmodeThrottleThreshold
1706 min: 1000
1707 max: 2000
1709 - name: PG_PID_PROFILE
1710 type: pidProfile_t
1711 headers: ["flight/pid.h"]
1712 value_type: PROFILE_VALUE
1713 members:
1714 - name: mc_p_pitch
1715 description: "Multicopter rate stabilisation P-gain for PITCH"
1716 default_value: 40
1717 field: bank_mc.pid[PID_PITCH].P
1718 min: RPYL_PID_MIN
1719 max: RPYL_PID_MAX
1720 - name: mc_i_pitch
1721 description: "Multicopter rate stabilisation I-gain for PITCH"
1722 default_value: 30
1723 field: bank_mc.pid[PID_PITCH].I
1724 min: RPYL_PID_MIN
1725 max: RPYL_PID_MAX
1726 - name: mc_d_pitch
1727 description: "Multicopter rate stabilisation D-gain for PITCH"
1728 default_value: 23
1729 field: bank_mc.pid[PID_PITCH].D
1730 min: RPYL_PID_MIN
1731 max: RPYL_PID_MAX
1732 - name: mc_cd_pitch
1733 description: "Multicopter Control Derivative gain for PITCH"
1734 default_value: 60
1735 field: bank_mc.pid[PID_PITCH].FF
1736 min: RPYL_PID_MIN
1737 max: RPYL_PID_MAX
1738 - name: mc_p_roll
1739 description: "Multicopter rate stabilisation P-gain for ROLL"
1740 default_value: 40
1741 field: bank_mc.pid[PID_ROLL].P
1742 min: RPYL_PID_MIN
1743 max: RPYL_PID_MAX
1744 - name: mc_i_roll
1745 description: "Multicopter rate stabilisation I-gain for ROLL"
1746 default_value: 30
1747 field: bank_mc.pid[PID_ROLL].I
1748 min: RPYL_PID_MIN
1749 max: RPYL_PID_MAX
1750 - name: mc_d_roll
1751 description: "Multicopter rate stabilisation D-gain for ROLL"
1752 default_value: 23
1753 field: bank_mc.pid[PID_ROLL].D
1754 min: RPYL_PID_MIN
1755 max: RPYL_PID_MAX
1756 - name: mc_cd_roll
1757 description: "Multicopter Control Derivative gain for ROLL"
1758 default_value: 60
1759 field: bank_mc.pid[PID_ROLL].FF
1760 min: RPYL_PID_MIN
1761 max: RPYL_PID_MAX
1762 - name: mc_p_yaw
1763 description: "Multicopter rate stabilisation P-gain for YAW"
1764 default_value: 85
1765 field: bank_mc.pid[PID_YAW].P
1766 min: RPYL_PID_MIN
1767 max: RPYL_PID_MAX
1768 - name: mc_i_yaw
1769 description: "Multicopter rate stabilisation I-gain for YAW"
1770 default_value: 45
1771 field: bank_mc.pid[PID_YAW].I
1772 min: RPYL_PID_MIN
1773 max: RPYL_PID_MAX
1774 - name: mc_d_yaw
1775 description: "Multicopter rate stabilisation D-gain for YAW"
1776 default_value: 0
1777 field: bank_mc.pid[PID_YAW].D
1778 min: RPYL_PID_MIN
1779 max: RPYL_PID_MAX
1780 - name: mc_cd_yaw
1781 description: "Multicopter Control Derivative gain for YAW"
1782 default_value: 60
1783 field: bank_mc.pid[PID_YAW].FF
1784 min: RPYL_PID_MIN
1785 max: RPYL_PID_MAX
1786 - name: mc_p_level
1787 description: "Multicopter attitude stabilisation P-gain"
1788 default_value: 20
1789 field: bank_mc.pid[PID_LEVEL].P
1790 min: RPYL_PID_MIN
1791 max: RPYL_PID_MAX
1792 - name: mc_i_level
1793 description: "Multicopter attitude stabilisation low-pass filter cutoff"
1794 default_value: 15
1795 field: bank_mc.pid[PID_LEVEL].I
1796 min: RPYL_PID_MIN
1797 max: RPYL_PID_MAX
1798 - name: mc_d_level
1799 description: "Multicopter attitude stabilisation HORIZON transition point"
1800 default_value: 75
1801 field: bank_mc.pid[PID_LEVEL].D
1802 min: RPYL_PID_MIN
1803 max: RPYL_PID_MAX
1804 - name: fw_p_pitch
1805 description: "Fixed-wing rate stabilisation P-gain for PITCH"
1806 default_value: 5
1807 field: bank_fw.pid[PID_PITCH].P
1808 min: RPYL_PID_MIN
1809 max: RPYL_PID_MAX
1810 - name: fw_i_pitch
1811 description: "Fixed-wing rate stabilisation I-gain for PITCH"
1812 default_value: 7
1813 field: bank_fw.pid[PID_PITCH].I
1814 min: RPYL_PID_MIN
1815 max: RPYL_PID_MAX
1816 - name: fw_d_pitch
1817 description: "Fixed wing rate stabilisation D-gain for PITCH"
1818 default_value: 0
1819 field: bank_fw.pid[PID_PITCH].D
1820 min: RPYL_PID_MIN
1821 max: RPYL_PID_MAX
1822 - name: fw_ff_pitch
1823 description: "Fixed-wing rate stabilisation FF-gain for PITCH"
1824 default_value: 50
1825 field: bank_fw.pid[PID_PITCH].FF
1826 min: RPYL_PID_MIN
1827 max: RPYL_PID_MAX
1828 - name: fw_p_roll
1829 description: "Fixed-wing rate stabilisation P-gain for ROLL"
1830 default_value: 5
1831 field: bank_fw.pid[PID_ROLL].P
1832 min: RPYL_PID_MIN
1833 max: RPYL_PID_MAX
1834 - name: fw_i_roll
1835 description: "Fixed-wing rate stabilisation I-gain for ROLL"
1836 default_value: 7
1837 field: bank_fw.pid[PID_ROLL].I
1838 min: RPYL_PID_MIN
1839 max: RPYL_PID_MAX
1840 - name: fw_d_roll
1841 description: "Fixed wing rate stabilisation D-gain for ROLL"
1842 default_value: 0
1843 field: bank_fw.pid[PID_ROLL].D
1844 min: RPYL_PID_MIN
1845 max: RPYL_PID_MAX
1846 - name: fw_ff_roll
1847 description: "Fixed-wing rate stabilisation FF-gain for ROLL"
1848 default_value: 50
1849 field: bank_fw.pid[PID_ROLL].FF
1850 min: RPYL_PID_MIN
1851 max: RPYL_PID_MAX
1852 - name: fw_p_yaw
1853 description: "Fixed-wing rate stabilisation P-gain for YAW"
1854 default_value: 6
1855 field: bank_fw.pid[PID_YAW].P
1856 min: RPYL_PID_MIN
1857 max: RPYL_PID_MAX
1858 - name: fw_i_yaw
1859 description: "Fixed-wing rate stabilisation I-gain for YAW"
1860 default_value: 10
1861 field: bank_fw.pid[PID_YAW].I
1862 min: RPYL_PID_MIN
1863 max: RPYL_PID_MAX
1864 - name: fw_d_yaw
1865 description: "Fixed wing rate stabilisation D-gain for YAW"
1866 default_value: 0
1867 field: bank_fw.pid[PID_YAW].D
1868 min: RPYL_PID_MIN
1869 max: RPYL_PID_MAX
1870 - name: fw_ff_yaw
1871 description: "Fixed-wing rate stabilisation FF-gain for YAW"
1872 default_value: 60
1873 field: bank_fw.pid[PID_YAW].FF
1874 min: RPYL_PID_MIN
1875 max: RPYL_PID_MAX
1876 - name: fw_p_level
1877 description: "Fixed-wing attitude stabilisation P-gain"
1878 default_value: 20
1879 field: bank_fw.pid[PID_LEVEL].P
1880 min: RPYL_PID_MIN
1881 max: RPYL_PID_MAX
1882 - name: fw_i_level
1883 description: "Fixed-wing attitude stabilisation low-pass filter cutoff"
1884 default_value: 5
1885 field: bank_fw.pid[PID_LEVEL].I
1886 min: RPYL_PID_MIN
1887 max: RPYL_PID_MAX
1888 - name: fw_d_level
1889 description: "Fixed-wing attitude stabilisation HORIZON transition point"
1890 default_value: 75
1891 field: bank_fw.pid[PID_LEVEL].D
1892 min: RPYL_PID_MIN
1893 max: RPYL_PID_MAX
1894 - name: max_angle_inclination_rll
1895 description: "Maximum inclination in level (angle) mode (ROLL axis). 100=10°"
1896 default_value: 300
1897 field: max_angle_inclination[FD_ROLL]
1898 min: 100
1899 max: 900
1900 - name: max_angle_inclination_pit
1901 description: "Maximum inclination in level (angle) mode (PITCH axis). 100=10°"
1902 default_value: 300
1903 field: max_angle_inclination[FD_PITCH]
1904 min: 100
1905 max: 900
1906 - name: dterm_lpf_hz
1907 description: "Dterm low pass filter cutoff frequency. Default setting is very conservative and small multirotors should use higher value between 80 and 100Hz. 80 seems like a gold spot for 7-inch builds while 100 should work best with 5-inch machines. If motors are getting too hot, lower the value"
1908 default_value: 110
1909 min: 0
1910 max: 500
1911 - name: dterm_lpf_type
1912 description: "Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`, `PT2`, `PT3`."
1913 default_value: "PT2"
1914 field: dterm_lpf_type
1915 table: filter_type_full
1916 - name: yaw_lpf_hz
1917 description: "Yaw P term low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below)"
1918 default_value: 0
1919 min: 0
1920 max: 200
1921 - name: fw_reference_airspeed
1922 description: "Reference airspeed. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present."
1923 default_value: 1500
1924 field: fixedWingReferenceAirspeed
1925 min: 300
1926 max: 6000
1927 - name: fw_turn_assist_yaw_gain
1928 description: "Gain required to keep the yaw rate consistent with the turn rate for a coordinated turn (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of `fw_reference_airspeed` parameter"
1929 default_value: 1
1930 field: fixedWingCoordinatedYawGain
1931 min: 0
1932 max: 2
1933 - name: fw_turn_assist_pitch_gain
1934 description: "Gain required to keep constant pitch angle during coordinated turns (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of `fw_reference_airspeed` parameter"
1935 default_value: 1
1936 field: fixedWingCoordinatedPitchGain
1937 min: 0
1938 max: 2
1939 - name: fw_iterm_limit_stick_position
1940 description: "Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. `0` mean stick is in center position, `1` means it is fully deflected to either side"
1941 default_value: 0.5
1942 field: fixedWingItermLimitOnStickPosition
1943 min: 0
1944 max: 1
1945 - name: fw_yaw_iterm_freeze_bank_angle
1946 description: "Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled."
1947 default_value: 0
1948 field: fixedWingYawItermBankFreeze
1949 min: 0
1950 max: 90
1951 - name: pidsum_limit
1952 description: "A limitation to overall amount of correction Flight PID can request on each axis (Roll/Pitch). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help"
1953 default_value: 500
1954 field: pidSumLimit
1955 min: PID_SUM_LIMIT_MIN
1956 max: PID_SUM_LIMIT_MAX
1957 - name: pidsum_limit_yaw
1958 description: "A limitation to overall amount of correction Flight PID can request on each axis (Yaw). If when doing a hard maneuver on one axis machine looses orientation on other axis - reducing this parameter may help"
1959 default_value: 350
1960 field: pidSumLimitYaw
1961 min: PID_SUM_LIMIT_MIN
1962 max: PID_SUM_LIMIT_MAX
1963 - name: iterm_windup
1964 description: "Used to prevent Iterm accumulation on during maneuvers. Iterm will be dampened when motors are reaching it's limit (when requested motor correction range is above percentage specified by this parameter)"
1965 default_value: 50
1966 field: itermWindupPointPercent
1967 min: 0
1968 max: 90
1969 - name: pid_iterm_limit_percent
1970 description: "Limits max/min I-term value in stabilization PID controller. It solves the problem of servo saturation before take-off/throwing the airplane into the air. Or multirotors with low authority. By default, error accumulated in I-term can not exceed 33% of total pid throw (around 165us on deafult pidsum_limit of pitch/roll). Set 0 to disable completely."
1971 default_value: 33
1972 field: pidItermLimitPercent
1973 min: 0
1974 max: 200
1975 - name: rate_accel_limit_roll_pitch
1976 description: "Limits acceleration of ROLL/PITCH rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 5000 dps^2 and even > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 360 dps^2). When set correctly, it greatly improves stopping performance. Value of 0 disables limiting."
1977 default_value: 0
1978 field: axisAccelerationLimitRollPitch
1979 max: 500000
1980 - name: rate_accel_limit_yaw
1981 description: "Limits acceleration of YAW rotation speed that can be requested by stick input. In degrees-per-second-squared. Small and powerful UAV flies great with high acceleration limit ( > 10000 dps^2). Big and heavy multirotors will benefit from low acceleration limit (~ 180 dps^2). When set correctly, it greatly improves stopping performance and general stability during yaw turns. Value of 0 disables limiting."
1982 default_value: 10000
1983 field: axisAccelerationLimitYaw
1984 max: 500000
1985 - name: heading_hold_rate_limit
1986 description: "This setting limits yaw rotation rate that HEADING_HOLD controller can request from PID inner loop controller. It is independent from manual yaw rate and used only when HEADING_HOLD flight mode is enabled by pilot, RTH or WAYPOINT modes."
1987 min: HEADING_HOLD_RATE_LIMIT_MIN
1988 max: HEADING_HOLD_RATE_LIMIT_MAX
1989 default_value: 90
1990 - name: nav_mc_pos_z_p
1991 description: "P gain of altitude PID controller (Multirotor)"
1992 field: bank_mc.pid[PID_POS_Z].P
1993 min: 0
1994 max: 255
1995 default_value: 50
1996 - name: nav_mc_vel_z_p
1997 description: "P gain of velocity PID controller"
1998 field: bank_mc.pid[PID_VEL_Z].P
1999 min: 0
2000 max: 255
2001 default_value: 100
2002 - name: nav_mc_vel_z_i
2003 description: "I gain of velocity PID controller"
2004 field: bank_mc.pid[PID_VEL_Z].I
2005 min: 0
2006 max: 255
2007 default_value: 50
2008 - name: nav_mc_vel_z_d
2009 description: "D gain of velocity PID controller"
2010 field: bank_mc.pid[PID_VEL_Z].D
2011 min: 0
2012 max: 255
2013 default_value: 10
2014 - name: nav_mc_pos_xy_p
2015 description: "Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity"
2016 field: bank_mc.pid[PID_POS_XY].P
2017 min: 0
2018 max: 255
2019 default_value: 65
2020 - name: nav_mc_vel_xy_p
2021 description: "P gain of Position-Rate (Velocity to Acceleration) PID controller. Higher P means stronger response when position error occurs. Too much P might cause \"nervous\" behavior and oscillations"
2022 field: bank_mc.pid[PID_VEL_XY].P
2023 min: 0
2024 max: 255
2025 default_value: 40
2026 - name: nav_mc_vel_xy_i
2027 description: "I gain of Position-Rate (Velocity to Acceleration) PID controller. Used for drift compensation (caused by wind for example). Higher I means stronger response to drift. Too much I gain might cause target overshot"
2028 field: bank_mc.pid[PID_VEL_XY].I
2029 min: 0
2030 max: 255
2031 default_value: 15
2032 - name: nav_mc_vel_xy_d
2033 description: "D gain of Position-Rate (Velocity to Acceleration) PID controller. It can damp P and I. Increasing D might help when drone overshoots target."
2034 field: bank_mc.pid[PID_VEL_XY].D
2035 min: 0
2036 max: 255
2037 default_value: 100
2038 - name: nav_mc_vel_xy_ff
2039 field: bank_mc.pid[PID_VEL_XY].FF
2040 min: 0
2041 max: 255
2042 default_value: 40
2043 - name: nav_mc_heading_p
2044 description: "P gain of Heading Hold controller (Multirotor)"
2045 default_value: 60
2046 field: bank_mc.pid[PID_HEADING].P
2047 min: 0
2048 max: 255
2049 - name: nav_mc_vel_xy_dterm_lpf_hz
2050 field: navVelXyDTermLpfHz
2051 min: 0
2052 max: 100
2053 default_value: 2
2054 - name: nav_mc_vel_xy_dterm_attenuation
2055 description: "Maximum D-term attenution percentage for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating."
2056 field: navVelXyDtermAttenuation
2057 min: 0
2058 max: 100
2059 default_value: 90
2060 - name: nav_mc_vel_xy_dterm_attenuation_start
2061 description: "A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins"
2062 default_value: 10
2063 field: navVelXyDtermAttenuationStart
2064 min: 0
2065 max: 100
2066 - name: nav_mc_vel_xy_dterm_attenuation_end
2067 description: "A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum"
2068 default_value: 60
2069 field: navVelXyDtermAttenuationEnd
2070 min: 0
2071 max: 100
2072 - name: nav_fw_pos_z_p
2073 description: "P gain of altitude PID controller (Fixedwing)"
2074 default_value: 40
2075 field: bank_fw.pid[PID_POS_Z].P
2076 min: 0
2077 max: 255
2078 - name: nav_fw_pos_z_i
2079 description: "I gain of altitude PID controller (Fixedwing)"
2080 default_value: 5
2081 field: bank_fw.pid[PID_POS_Z].I
2082 min: 0
2083 max: 255
2084 - name: nav_fw_pos_z_d
2085 description: "D gain of altitude PID controller (Fixedwing)"
2086 default_value: 10
2087 field: bank_fw.pid[PID_POS_Z].D
2088 min: 0
2089 max: 255
2090 - name: nav_fw_pos_xy_p
2091 description: "P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH"
2092 default_value: 75
2093 field: bank_fw.pid[PID_POS_XY].P
2094 min: 0
2095 max: 255
2096 - name: nav_fw_pos_xy_i
2097 description: "I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero"
2098 default_value: 5
2099 field: bank_fw.pid[PID_POS_XY].I
2100 min: 0
2101 max: 255
2102 - name: nav_fw_pos_xy_d
2103 description: "D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero"
2104 default_value: 8
2105 field: bank_fw.pid[PID_POS_XY].D
2106 min: 0
2107 max: 255
2108 - name: nav_fw_heading_p
2109 description: "P gain of Heading Hold controller (Fixedwing)"
2110 default_value: 60
2111 field: bank_fw.pid[PID_HEADING].P
2112 min: 0
2113 max: 255
2114 - name: nav_fw_pos_hdg_p
2115 description: "P gain of heading PID controller. (Fixedwing, rovers, boats)"
2116 default_value: 30
2117 field: bank_fw.pid[PID_POS_HEADING].P
2118 min: 0
2119 max: 255
2120 - name: nav_fw_pos_hdg_i
2121 description: "I gain of heading trajectory PID controller. (Fixedwing, rovers, boats)"
2122 default_value: 2
2123 field: bank_fw.pid[PID_POS_HEADING].I
2124 min: 0
2125 max: 255
2126 - name: nav_fw_pos_hdg_d
2127 description: "D gain of heading trajectory PID controller. (Fixedwing, rovers, boats)"
2128 default_value: 0
2129 field: bank_fw.pid[PID_POS_HEADING].D
2130 min: 0
2131 max: 255
2132 - name: nav_fw_pos_hdg_pidsum_limit
2133 description: "Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats)"
2134 default_value: 350
2135 field: navFwPosHdgPidsumLimit
2136 min: PID_SUM_LIMIT_MIN
2137 max: PID_SUM_LIMIT_MAX
2138 - name: mc_iterm_relax
2139 field: iterm_relax
2140 table: iterm_relax
2141 default_value: RP
2142 - name: mc_iterm_relax_cutoff
2143 field: iterm_relax_cutoff
2144 min: 1
2145 max: 100
2146 default_value: 15
2147 - name: d_boost_min
2148 field: dBoostMin
2149 condition: USE_D_BOOST
2150 min: 0
2151 max: 1
2152 default_value: 0.5
2153 - name: d_boost_max
2154 field: dBoostMax
2155 condition: USE_D_BOOST
2156 min: 1
2157 max: 3
2158 default_value: 1.25
2159 - name: d_boost_max_at_acceleration
2160 field: dBoostMaxAtAlleceleration
2161 condition: USE_D_BOOST
2162 min: 1000
2163 max: 16000
2164 default_value: 7500
2165 - name: d_boost_gyro_delta_lpf_hz
2166 field: dBoostGyroDeltaLpfHz
2167 condition: USE_D_BOOST
2168 min: 10
2169 max: 250
2170 default_value: 80
2171 - name: antigravity_gain
2172 description: "Max Antigravity gain. `1` means Antigravity is disabled, `2` means Iterm is allowed to double during rapid throttle movements"
2173 default_value: 1
2174 field: antigravityGain
2175 condition: USE_ANTIGRAVITY
2176 min: 1
2177 max: 20
2178 - name: antigravity_accelerator
2179 description: ""
2180 default_value: 1
2181 field: antigravityAccelerator
2182 condition: USE_ANTIGRAVITY
2183 min: 1
2184 max: 20
2185 - name: antigravity_cutoff_lpf_hz
2186 description: "Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain"
2187 default_value: 15
2188 field: antigravityCutoff
2189 condition: USE_ANTIGRAVITY
2190 min: 1
2191 max: 30
2192 - name: pid_type
2193 description: "Allows to set type of PID controller used in control loop. Possible values: `NONE`, `PID`, `PIFF`, `AUTO`. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use `PIFF` and multirotors `PID`"
2194 field: pidControllerType
2195 table: pidTypeTable
2196 default_value: AUTO
2197 - name: mc_cd_lpf_hz
2198 description: "Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky"
2199 default_value: 30
2200 field: controlDerivativeLpfHz
2201 min: 0
2202 max: 200
2203 - name: fw_level_pitch_trim
2204 description: "Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level"
2205 default_value: 0
2206 field: fixedWingLevelTrim
2207 min: -10
2208 max: 10
2209 - name: smith_predictor_strength
2210 description: "The strength factor of a Smith Predictor of PID measurement. In percents"
2211 default_value: 0.5
2212 field: smithPredictorStrength
2213 condition: USE_SMITH_PREDICTOR
2214 min: 0
2215 max: 1
2216 - name: smith_predictor_delay
2217 description: "Expected delay of the gyro signal. In milliseconds"
2218 default_value: 0
2219 field: smithPredictorDelay
2220 condition: USE_SMITH_PREDICTOR
2221 min: 0
2222 max: 8
2223 - name: smith_predictor_lpf_hz
2224 description: "Cutoff frequency for the Smith Predictor Low Pass Filter"
2225 default_value: 50
2226 field: smithPredictorFilterHz
2227 condition: USE_SMITH_PREDICTOR
2228 min: 1
2229 max: 500
2230 - name: fw_level_pitch_gain
2231 description: "I-gain for the pitch trim for self-leveling flight modes. Higher values means that AUTOTRIM will be faster but might introduce oscillations"
2232 default_value: 5
2233 field: fixedWingLevelTrimGain
2234 min: 0
2235 max: 20
2237 - name: PG_PID_AUTOTUNE_CONFIG
2238 type: pidAutotuneConfig_t
2239 condition: USE_AUTOTUNE_FIXED_WING
2240 members:
2241 - name: fw_autotune_min_stick
2242 description: "Minimum stick input [%], after applying deadband and expo, to start recording the plane's response to stick input."
2243 default_value: 50
2244 field: fw_min_stick
2245 min: 0
2246 max: 100
2247 - name: fw_autotune_rate_adjustment
2248 description: "`AUTO` and `LIMIT` adjust the rates to match the capabilities of the airplane, with `LIMIT` they are never increased above the starting rates setting. `FIXED` does not adjust the rates. Rates are not changed when tuning in `ANGLE` mode."
2249 default_value: "AUTO"
2250 field: fw_rate_adjustment
2251 table: autotune_rate_adjustment
2252 type: uint8_t
2253 - name: fw_autotune_max_rate_deflection
2254 description: "The target percentage of maximum mixer output used for determining the rates in `AUTO` and `LIMIT`."
2255 default_value: 80
2256 field: fw_max_rate_deflection
2257 min: 50
2258 max: 100
2260 - name: PG_POSITION_ESTIMATION_CONFIG
2261 type: positionEstimationConfig_t
2262 members:
2263 - name: inav_auto_mag_decl
2264 description: "Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored."
2265 default_value: ON
2266 field: automatic_mag_declination
2267 type: bool
2268 - name: inav_gravity_cal_tolerance
2269 description: "Unarmed gravity calibration tolerance level. Won't finish the calibration until estimated gravity error falls below this value."
2270 default_value: 5
2271 field: gravity_calibration_tolerance
2272 min: 0
2273 max: 255
2274 - name: inav_use_gps_velned
2275 description: "Defined if INAV should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF INAV will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance."
2276 default_value: ON
2277 field: use_gps_velned
2278 type: bool
2279 - name: inav_use_gps_no_baro
2280 field: use_gps_no_baro
2281 type: bool
2282 default_value: OFF
2283 - name: inav_allow_dead_reckoning
2284 description: "Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation"
2285 default_value: OFF
2286 field: allow_dead_reckoning
2287 type: bool
2288 - name: inav_reset_altitude
2289 description: "Defines when relative estimated altitude is reset to zero. Variants - `NEVER` (once reference is acquired it's used regardless); `FIRST_ARM` (keep altitude at zero until firstly armed), `EACH_ARM` (altitude is reset to zero on each arming)"
2290 default_value: "FIRST_ARM"
2291 field: reset_altitude_type
2292 table: reset_type
2293 - name: inav_reset_home
2294 description: "Allows to chose when the home position is reset. Can help prevent resetting home position after accidental mid-air disarm. Possible values are: NEVER, FIRST_ARM and EACH_ARM"
2295 default_value: "FIRST_ARM"
2296 field: reset_home_type
2297 table: reset_type
2298 - name: inav_max_surface_altitude
2299 description: "Max allowed altitude for surface following mode. [cm]"
2300 default_value: 200
2301 field: max_surface_altitude
2302 min: 0
2303 max: 1000
2304 - name: inav_w_z_surface_p
2305 field: w_z_surface_p
2306 min: 0
2307 max: 100
2308 default_value: 3.5
2309 - name: inav_w_z_surface_v
2310 field: w_z_surface_v
2311 min: 0
2312 max: 100
2313 default_value: 6.1
2314 - name: inav_w_xy_flow_p
2315 field: w_xy_flow_p
2316 min: 0
2317 max: 100
2318 default_value: 1.0
2319 - name: inav_w_xy_flow_v
2320 field: w_xy_flow_v
2321 min: 0
2322 max: 100
2323 default_value: 2.0
2324 - name: inav_w_z_baro_p
2325 description: "Weight of barometer measurements in estimated altitude and climb rate"
2326 field: w_z_baro_p
2327 min: 0
2328 max: 10
2329 default_value: 0.35
2330 - name: inav_w_z_gps_p
2331 description: "Weight of GPS altitude measurements in estimated altitude. Setting is used only of airplanes"
2332 field: w_z_gps_p
2333 min: 0
2334 max: 10
2335 default_value: 0.2
2336 - name: inav_w_z_gps_v
2337 description: "Weight of GPS climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors."
2338 field: w_z_gps_v
2339 min: 0
2340 max: 10
2341 default_value: 0.1
2342 - name: inav_w_xy_gps_p
2343 description: "Weight of GPS coordinates in estimated UAV position and speed."
2344 default_value: 1.0
2345 field: w_xy_gps_p
2346 min: 0
2347 max: 10
2348 - name: inav_w_xy_gps_v
2349 description: "Weight of GPS velocity data in estimated UAV speed"
2350 default_value: 2.0
2351 field: w_xy_gps_v
2352 min: 0
2353 max: 10
2354 - name: inav_w_z_res_v
2355 description: "Decay coefficient for estimated climb rate when baro/GPS reference for altitude is lost"
2356 default_value: 0.5
2357 field: w_z_res_v
2358 min: 0
2359 max: 10
2360 - name: inav_w_xy_res_v
2361 description: "Decay coefficient for estimated velocity when GPS reference for position is lost"
2362 default_value: 0.5
2363 field: w_xy_res_v
2364 min: 0
2365 max: 10
2366 - name: inav_w_xyz_acc_p
2367 field: w_xyz_acc_p
2368 min: 0
2369 max: 1
2370 default_value: 1.0
2371 - name: inav_w_acc_bias
2372 description: "Weight for accelerometer drift estimation"
2373 default_value: 0.01
2374 field: w_acc_bias
2375 min: 0
2376 max: 1
2377 - name: inav_max_eph_epv
2378 description: "Maximum uncertainty value until estimated position is considered valid and is used for navigation [cm]"
2379 default_value: 1000
2380 field: max_eph_epv
2381 min: 0
2382 max: 9999
2383 - name: inav_baro_epv
2384 description: "Uncertainty value for barometric sensor [cm]"
2385 default_value: 100
2386 field: baro_epv
2387 min: 0
2388 max: 9999
2390 - name: PG_NAV_CONFIG
2391 type: navConfig_t
2392 headers: ["navigation/navigation.h"]
2393 members:
2394 - name: nav_disarm_on_landing
2395 description: "If set to ON, INAV disarms the FC after landing"
2396 default_value: ON
2397 field: general.flags.disarm_on_landing
2398 type: bool
2399 - name: nav_land_detect_sensitivity
2400 description: "Changes sensitivity of landing detection. Higher values increase speed of detection but also increase risk of false detection. Default value should work in most cases."
2401 default_value: 5
2402 field: general.land_detect_sensitivity
2403 min: 1
2404 max: 15
2405 - name: nav_landing_bump_detection
2406 description: "Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and currently only works for multirotors."
2407 default_value: OFF
2408 field: general.flags.landing_bump_detection
2409 type: bool
2410 - name: nav_mc_althold_throttle
2411 description: "If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively."
2412 default_value: "STICK"
2413 field: mc.althold_throttle_type
2414 table: nav_mc_althold_throttle
2415 - name: nav_extra_arming_safety
2416 description: "If set to ON drone won't arm if no GPS fix and any navigation mode like RTH or POSHOLD is configured. ALLOW_BYPASS allows the user to momentarily disable this check by holding yaw high (left stick held at the bottom right in mode 2) when switch arming is used"
2417 default_value: "ALLOW_BYPASS"
2418 field: general.flags.extra_arming_safety
2419 table: nav_extra_arming_safety
2420 - name: nav_user_control_mode
2421 description: "Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - pitch/roll controls attitude like in ANGLE mode; CRUISE - pitch/roll controls velocity in forward and right direction."
2422 default_value: "ATTI"
2423 field: general.flags.user_control_mode
2424 table: nav_user_control_mode
2425 - name: nav_position_timeout
2426 description: "If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable)"
2427 default_value: 5
2428 field: general.pos_failure_timeout
2429 min: 0
2430 max: 10
2431 - name: nav_wp_load_on_boot
2432 description: "If set to ON, waypoints will be automatically loaded from EEPROM to the FC during startup."
2433 default_value: OFF
2434 field: general.waypoint_load_on_boot
2435 type: bool
2436 - name: nav_wp_radius
2437 description: "Waypoint radius [cm]. Waypoint would be considered reached if machine is within this radius"
2438 default_value: 100
2439 field: general.waypoint_radius
2440 min: 10
2441 max: 10000
2442 - name: nav_wp_enforce_altitude
2443 description: "Forces craft to achieve the set WP altitude as well as position before moving to next WP. Position is held and altitude adjusted as required before moving on. 0 = disabled, otherwise setting defines altitude capture tolerance [cm], e.g. 100 means required altitude is achieved when within 100cm of waypoint altitude setting."
2444 default_value: 0
2445 field: general.waypoint_enforce_altitude
2446 min: 0
2447 max: 2000
2448 - name: nav_wp_max_safe_distance
2449 description: "First waypoint in the mission should be closer than this value [m]. A value of 0 disables this check."
2450 default_value: 100
2451 field: general.waypoint_safe_distance
2452 min: 0
2453 max: 1500
2454 - name: nav_wp_mission_restart
2455 description: "Sets restart behaviour for a WP mission when interrupted mid mission. START from first WP, RESUME from last active WP or SWITCH between START and RESUME each time WP Mode is reselected ON. SWITCH effectively allows resuming once only from a previous mid mission waypoint after which the mission will restart from the first waypoint."
2456 default_value: "RESUME"
2457 field: general.flags.waypoint_mission_restart
2458 table: nav_wp_mission_restart
2459 - name: nav_wp_multi_mission_index
2460 description: "Index of active mission selected from multi mission WP entry loaded in flight controller. Limited to a maximum of 9 missions."
2461 default_value: 1
2462 field: general.waypoint_multi_mission_index
2463 condition: USE_MULTI_MISSION
2464 min: 1
2465 max: 9
2466 - name: nav_fw_wp_tracking_accuracy
2467 description: "Waypoint tracking accuracy forces the craft to quickly head toward and track along the waypoint course line as closely as possible. Settings 1 to 10 adjust the course tracking response. Higher values dampen the response reducing possible overshoot. A value of 5 is a good starting point. Set to 0 to disable."
2468 default_value: 0
2469 field: fw.wp_tracking_accuracy
2470 min: 0
2471 max: 10
2472 - name: nav_fw_wp_tracking_max_angle
2473 description: "Sets the maximum allowed alignment convergence angle to the waypoint course line when nav_fw_wp_tracking_accuracy is active [degrees]. Lower values result in smoother alignment with the course line but will take more distance until this is achieved."
2474 default_value: 60
2475 field: fw.wp_tracking_max_angle
2476 min: 30
2477 max: 80
2478 - name: nav_fw_wp_turn_smoothing
2479 description: "Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner)."
2480 default_value: "OFF"
2481 field: fw.wp_turn_smoothing
2482 table: nav_fw_wp_turn_smoothing
2483 - name: nav_auto_speed
2484 description: "Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]"
2485 default_value: 300
2486 field: general.auto_speed
2487 min: 10
2488 max: 2000
2489 - name: nav_min_ground_speed
2490 description: "Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s."
2491 default_value: 7
2492 field: general.min_ground_speed
2493 min: 6
2494 max: 50
2495 - name: nav_max_auto_speed
2496 description: "Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]"
2497 default_value: 1000
2498 field: general.max_auto_speed
2499 min: 10
2500 max: 2000
2501 - name: nav_auto_climb_rate
2502 description: "Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]"
2503 default_value: 500
2504 field: general.max_auto_climb_rate
2505 min: 10
2506 max: 2000
2507 - name: nav_manual_speed
2508 description: "Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]"
2509 default_value: 500
2510 field: general.max_manual_speed
2511 min: 10
2512 max: 2000
2513 - name: nav_manual_climb_rate
2514 description: "Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]"
2515 default_value: 200
2516 field: general.max_manual_climb_rate
2517 min: 10
2518 max: 2000
2519 - name: nav_land_minalt_vspd
2520 description: "Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s]"
2521 default_value: 50
2522 field: general.land_minalt_vspd
2523 min: 50
2524 max: 500
2525 - name: nav_land_maxalt_vspd
2526 description: "Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s]"
2527 default_value: 200
2528 field: general.land_maxalt_vspd
2529 min: 100
2530 max: 2000
2531 - name: nav_land_slowdown_minalt
2532 description: "Defines at what altitude the descent velocity should start to be `nav_land_minalt_vspd` [cm]"
2533 default_value: 500
2534 field: general.land_slowdown_minalt
2535 min: 50
2536 max: 1000
2537 - name: nav_land_slowdown_maxalt
2538 description: "Defines at what altitude the descent velocity should start to ramp down from `nav_land_maxalt_vspd` to `nav_land_minalt_vspd` during the RTH landing phase [cm]"
2539 default_value: 2000
2540 field: general.land_slowdown_maxalt
2541 min: 500
2542 max: 4000
2543 - name: nav_emerg_landing_speed
2544 description: "Rate of descent UAV will try to maintain when doing emergency descent sequence [cm/s]"
2545 default_value: 500
2546 field: general.emerg_descent_rate
2547 min: 100
2548 max: 2000
2549 - name: nav_min_rth_distance
2550 description: "Minimum distance from homepoint when RTH full procedure will be activated [cm]. Below this distance, the mode will activate at the current location and the final phase is executed (loiter / land). Above this distance, the full procedure is activated, which may include initial climb and flying directly to the homepoint before entering the loiter / land phase."
2551 default_value: 500
2552 field: general.min_rth_distance
2553 min: 0
2554 max: 5000
2555 - name: nav_overrides_motor_stop
2556 description: "When set to OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to OFF_ALWAYS the navigation system will not take over the control of the motor if the throttle was low even when failsafe is triggered. When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect on NAV modes which take control of the throttle when combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV"
2557 default_value: "ALL_NAV"
2558 field: general.flags.nav_overrides_motor_stop
2559 table: nav_overrides_motor_stop
2560 - name: nav_fw_soaring_motor_stop
2561 description: "Stops motor when Soaring mode enabled."
2562 default_value: OFF
2563 field: general.flags.soaring_motor_stop
2564 type: bool
2565 - name: nav_fw_soaring_pitch_deadband
2566 description: "Pitch Angle deadband when soaring mode enabled (deg). Angle mode inactive within deadband allowing pitch to free float whilst soaring."
2567 default_value: 5
2568 field: fw.soaring_pitch_deadband
2569 min: 0
2570 max: 15
2571 - name: nav_rth_climb_first
2572 description: "If set to ON or ON_FW_SPIRAL aircraft will climb to nav_rth_altitude first before turning to head home. If set to OFF aircraft will turn and head home immediately climbing on the way. For a fixed wing ON will use a linear climb, ON_FW_SPIRAL will use a loiter turning climb with climb rate set by nav_auto_climb_rate, turn rate set by nav_fw_loiter_radius (ON_FW_SPIRAL is a fixed wing setting and behaves the same as ON for a multirotor)"
2573 default_value: "ON"
2574 field: general.flags.rth_climb_first
2575 table: nav_rth_climb_first
2576 - name: nav_rth_climb_first_stage_mode
2577 description: "This determines how rth_climb_first_stage_altitude is used. Default is AT_LEAST."
2578 default_value: "AT_LEAST"
2579 field: general.flags.rth_climb_first_stage_mode
2580 table: nav_rth_climb_first_stage_modes
2581 - name: nav_rth_climb_first_stage_altitude
2582 description: "The altitude [cm] at which climb first will transition to turn first. How the altitude is used, is determined by nav_rth_climb_first_stage_mode. Default=0; feature disabled."
2583 default_value: 0
2584 field: general.rth_climb_first_stage_altitude
2585 max: 65000
2586 - name: nav_rth_climb_ignore_emerg
2587 description: "If set to ON, aircraft will execute initial climb regardless of position sensor (GPS) status."
2588 default_value: OFF
2589 field: general.flags.rth_climb_ignore_emerg
2590 type: bool
2591 - name: nav_rth_tail_first
2592 description: "If set to ON drone will return tail-first. Obviously meaningless for airplanes."
2593 default_value: OFF
2594 field: general.flags.rth_tail_first
2595 type: bool
2596 - name: nav_rth_allow_landing
2597 description: "If set to ON drone will land as a last phase of RTH."
2598 default_value: "ALWAYS"
2599 field: general.flags.rth_allow_landing
2600 table: nav_rth_allow_landing
2601 - name: nav_rth_alt_mode
2602 description: "Configure how the aircraft will manage altitude on the way home, see Navigation modes on wiki for more details"
2603 default_value: "AT_LEAST"
2604 field: general.flags.rth_alt_control_mode
2605 table: nav_rth_alt_mode
2606 - name: nav_rth_alt_control_override
2607 description: "If set to ON RTH altitude and CLIMB FIRST settings can be overridden during the RTH climb phase using full pitch or roll stick held for > 1 second. RTH altitude is reset to the current altitude using pitch down stick. RTH CLIMB FIRST is overridden using right roll stick so craft turns and heads directly to home (CLIMB FIRST override only works for fixed wing)"
2608 default_value: OFF
2609 field: general.flags.rth_alt_control_override
2610 type: bool
2611 - name: nav_rth_abort_threshold
2612 description: "RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds the threshold defined by this parameter, instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default is 500m which is safe enough for both multirotor machines and airplanes. Set to 0 to disable. [cm]"
2613 default_value: 50000
2614 field: general.rth_abort_threshold
2615 max: 65000
2616 min: 0
2617 - name: nav_max_terrain_follow_alt
2618 field: general.max_terrain_follow_altitude
2619 default_value: "100"
2620 description: "Max allowed above the ground altitude for terrain following mode"
2621 max: 1000
2622 default_value: 100
2623 - name: nav_max_altitude
2624 field: general.max_altitude
2625 description: "Max allowed altitude (above Home Point) that applies to all NAV modes (including Altitude Hold). 0 means limit is disabled"
2626 default_value: 0
2627 max: 65000
2628 min: 0
2629 - name: nav_rth_altitude
2630 description: "Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters)"
2631 default_value: 1000
2632 field: general.rth_altitude
2633 max: 65000
2634 - name: nav_rth_home_altitude
2635 description: "Aircraft will climb/descend to this altitude after reaching home if landing is not enabled. Set to 0 to stay at `nav_rth_altitude` (default) [cm]"
2636 default_value: 0
2637 field: general.rth_home_altitude
2638 max: 65000
2639 - name: nav_rth_linear_descent_start_distance
2640 description: The distance [m] away from home to start the linear descent. 0 = immediately (original linear descent behaviour)
2641 default_value: 0
2642 min: 0
2643 max: 10000
2644 field: general.rth_linear_descent_start_distance
2645 - name: nav_rth_use_linear_descent
2646 description: If enabled, the aircraft will gradually descent to the nav_rth_home_altitude en route. The distance from home to start the descent can be set with `nav_rth_linear_descent_start_distance`.
2647 default_value: OFF
2648 type: bool
2649 field: general.flags.rth_use_linear_descent
2650 - name: nav_rth_trackback_mode
2651 description: "Useage modes for RTH Trackback. OFF = disabled, ON = Normal and Failsafe RTH, FS = Failsafe RTH only."
2652 default_value: "OFF"
2653 field: general.flags.rth_trackback_mode
2654 table: rth_trackback_mode
2655 - name: nav_rth_trackback_distance
2656 description: "Maximum distance allowed for RTH trackback. Normal RTH is executed once this distance is exceeded [m]."
2657 default_value: 500
2658 field: general.rth_trackback_distance
2659 max: 2000
2660 min: 50
2661 - name: safehome_max_distance
2662 description: "In order for a safehome to be used, it must be less than this distance (in cm) from the arming point."
2663 default_value: 20000
2664 field: general.safehome_max_distance
2665 min: 0
2666 max: 65000
2667 - name: safehome_usage_mode
2668 description: "Used to control when safehomes will be used. Possible values are `OFF`, `RTH` and `RTH_FS`. See [Safehome documentation](Safehomes.md#Safehome) for more information."
2669 default_value: "RTH"
2670 field: general.flags.safehome_usage_mode
2671 table: safehome_usage_mode
2672 - name: nav_mission_planner_reset
2673 description: "With Reset ON WP Mission Planner waypoint count can be reset to 0 by toggling the mode switch ON-OFF-ON."
2674 default_value: ON
2675 field: general.flags.mission_planner_reset
2676 type: bool
2677 - name: nav_cruise_yaw_rate
2678 description: "Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on fixed wing (Note: On multirotor setting to 0 will disable Course Hold/Cruise mode completely) [dps]"
2679 default_value: 20
2680 field: general.cruise_yaw_rate
2681 min: 0
2682 max: 120
2683 - name: nav_mc_bank_angle
2684 description: "Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude"
2685 default_value: 30
2686 field: mc.max_bank_angle
2687 min: 15
2688 max: 45
2689 - name: nav_auto_disarm_delay
2690 description: "Delay before craft disarms when `nav_disarm_on_landing` is set (ms)"
2691 default_value: 1000
2692 field: general.auto_disarm_delay
2693 min: 100
2694 max: 10000
2695 - name: nav_mc_braking_speed_threshold
2696 description: "min speed in cm/s above which braking can happen"
2697 default_value: 100
2698 field: mc.braking_speed_threshold
2699 condition: USE_MR_BRAKING_MODE
2700 min: 0
2701 max: 1000
2702 - name: nav_mc_braking_disengage_speed
2703 description: "braking is disabled when speed goes below this value"
2704 default_value: 75
2705 field: mc.braking_disengage_speed
2706 condition: USE_MR_BRAKING_MODE
2707 min: 0
2708 max: 1000
2709 - name: nav_mc_braking_timeout
2710 description: "timeout in ms for braking"
2711 default_value: 2000
2712 field: mc.braking_timeout
2713 condition: USE_MR_BRAKING_MODE
2714 min: 100
2715 max: 5000
2716 - name: nav_mc_braking_boost_factor
2717 description: "acceleration factor for BOOST phase"
2718 default_value: 100
2719 field: mc.braking_boost_factor
2720 condition: USE_MR_BRAKING_MODE
2721 min: 0
2722 max: 200
2723 - name: nav_mc_braking_boost_timeout
2724 description: "how long in ms BOOST phase can happen"
2725 default_value: 750
2726 field: mc.braking_boost_timeout
2727 condition: USE_MR_BRAKING_MODE
2728 min: 0
2729 max: 5000
2730 - name: nav_mc_braking_boost_speed_threshold
2731 description: "BOOST can be enabled when speed is above this value"
2732 default_value: 150
2733 field: mc.braking_boost_speed_threshold
2734 condition: USE_MR_BRAKING_MODE
2735 min: 100
2736 max: 1000
2737 - name: nav_mc_braking_boost_disengage_speed
2738 description: "BOOST will be disabled when speed goes below this value"
2739 default_value: 100
2740 field: mc.braking_boost_disengage_speed
2741 condition: USE_MR_BRAKING_MODE
2742 min: 0
2743 max: 1000
2744 - name: nav_mc_braking_bank_angle
2745 description: "max angle that MR is allowed to bank in BOOST mode"
2746 default_value: 40
2747 field: mc.braking_bank_angle
2748 condition: USE_MR_BRAKING_MODE
2749 min: 15
2750 max: 60
2751 - name: nav_mc_pos_deceleration_time
2752 description: "Used for stoping distance calculation. Stop position is computed as _speed_ * _nav_mc_pos_deceleration_time_ from the place where sticks are released. Braking mode overrides this setting"
2753 default_value: 120
2754 field: mc.posDecelerationTime
2755 min: 0
2756 max: 255
2757 - name: nav_mc_pos_expo
2758 description: "Expo for PosHold control"
2759 default_value: 10
2760 field: mc.posResponseExpo
2761 min: 0
2762 max: 255
2763 - name: nav_mc_wp_slowdown
2764 description: "When ON, NAV engine will slow down when switching to the next waypoint. This prioritizes turning over forward movement. When OFF, NAV engine will continue to the next waypoint and turn as it goes."
2765 default_value: ON
2766 field: mc.slowDownForTurning
2767 type: bool
2768 - name: nav_fw_bank_angle
2769 description: "Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll"
2770 default_value: 35
2771 field: fw.max_bank_angle
2772 min: 5
2773 max: 80
2774 - name: nav_fw_climb_angle
2775 description: "Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit"
2776 default_value: 20
2777 field: fw.max_climb_angle
2778 min: 5
2779 max: 80
2780 - name: nav_fw_dive_angle
2781 description: "Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit"
2782 default_value: 15
2783 field: fw.max_dive_angle
2784 min: 5
2785 max: 80
2786 - name: nav_fw_pitch2thr_smoothing
2787 description: "How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by pitch_to_throttle_thresh."
2788 default_value: 6
2789 field: fw.pitch_to_throttle_smooth
2790 min: 0
2791 max: 9
2792 - name: fw_min_throttle_down_pitch
2793 description: "Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle (decidegrees)"
2794 default_value: 0
2795 field: fw.minThrottleDownPitchAngle
2796 min: 0
2797 max: 450
2798 - name: nav_fw_pitch2thr_threshold
2799 description: "Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees]"
2800 default_value: 50
2801 field: fw.pitch_to_throttle_thresh
2802 min: 0
2803 max: 900
2804 - name: nav_fw_loiter_radius
2805 description: "PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]"
2806 default_value: 7500
2807 field: fw.loiter_radius
2808 min: 0
2809 max: 30000
2810 - name: fw_loiter_direction
2811 description: "Direction of loitering: center point on right wing (clockwise - default), or center point on left wing (counterclockwise). If equal YAW then can be changed in flight using a yaw stick."
2812 default_value: "RIGHT"
2813 field: fw.loiter_direction
2814 table: direction
2815 - name: nav_fw_cruise_speed
2816 description: "Speed for the plane/wing at cruise throttle used for remaining flight time/distance estimation in cm/s"
2817 default_value: 0
2818 field: fw.cruise_speed
2819 min: 0
2820 max: 65535
2821 - name: nav_fw_control_smoothness
2822 description: "How smoothly the autopilot controls the airplane to correct the navigation error"
2823 default_value: 0
2824 field: fw.control_smoothness
2825 min: 0
2826 max: 9
2828 - name: nav_fw_land_dive_angle
2829 description: "Dive angle that airplane will use during final landing phase. During dive phase, motor is stopped or IDLE and roll control is locked to 0 degrees"
2830 default_value: 2
2831 field: fw.land_dive_angle
2832 condition: NAV_FIXED_WING_LANDING
2833 min: -20
2834 max: 20
2836 - name: nav_fw_launch_velocity
2837 description: "Forward velocity threshold for swing-launch detection [cm/s]"
2838 default_value: 300
2839 field: fw.launch_velocity_thresh
2840 min: 100
2841 max: 10000
2842 - name: nav_fw_launch_accel
2843 description: "Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s"
2844 default_value: 1863
2845 field: fw.launch_accel_thresh
2846 min: 1000
2847 max: 20000
2848 - name: nav_fw_launch_max_angle
2849 description: "Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]"
2850 default_value: 45
2851 field: fw.launch_max_angle
2852 min: 5
2853 max: 180
2854 - name: nav_fw_launch_detect_time
2855 description: "Time for which thresholds have to breached to consider launch happened [ms]"
2856 default_value: 40
2857 field: fw.launch_time_thresh
2858 min: 10
2859 max: 1000
2860 - name: nav_fw_launch_idle_motor_delay
2861 description: "Delay between raising throttle and motor starting at idle throttle (ms)"
2862 default_value: 0
2863 field: fw.launch_idle_motor_timer
2864 min: 0
2865 max: 60000
2866 - name: nav_fw_launch_motor_delay
2867 description: "Delay between detected launch and launch sequence start and throttling up (ms)"
2868 default_value: 500
2869 field: fw.launch_motor_timer
2870 min: 0
2871 max: 5000
2872 - name: nav_fw_launch_spinup_time
2873 description: "Time to bring power from minimum throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller"
2874 default_value: 100
2875 field: fw.launch_motor_spinup_time
2876 min: 0
2877 max: 1000
2878 - name: nav_fw_launch_end_time
2879 description: "Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]"
2880 default_value: 3000
2881 field: fw.launch_end_time
2882 min: 0
2883 max: 5000
2884 - name: nav_fw_launch_min_time
2885 description: "Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]."
2886 default_value: 0
2887 field: fw.launch_min_time
2888 min: 0
2889 max: 60000
2890 - name: nav_fw_launch_timeout
2891 description: "Maximum time for launch sequence to be executed. After this time LAUNCH mode will be turned off and regular flight mode will take over (ms)"
2892 default_value: 5000
2893 field: fw.launch_timeout
2894 max: 60000
2895 - name: nav_fw_launch_max_altitude
2896 description: "Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]."
2897 default_value: 0
2898 field: fw.launch_max_altitude
2899 min: 0
2900 max: 60000
2901 - name: nav_fw_launch_climb_angle
2902 description: "Climb angle (attitude of model, not climb slope) for launch sequence (degrees), is also restrained by global max_angle_inclination_pit"
2903 default_value: 18
2904 field: fw.launch_climb_angle
2905 min: 5
2906 max: 45
2907 - name: nav_fw_launch_manual_throttle
2908 description: "Allows launch with manually controlled throttle. INAV only levels wings and controls climb pitch during launch. Throttle is controlled directly by throttle stick movement. IF USED WITHOUT A GPS LOCK plane must be launched immediately after throttle is increased to avoid issues with climb out stabilisation and the launch ending sooner than expected (launch end timer starts as soon as the throttle stick is raised)."
2909 default_value: OFF
2910 field: fw.launch_manual_throttle
2911 type: bool
2912 - name: nav_fw_launch_abort_deadband
2913 description: "Launch abort stick deadband in [r/c points], applied after r/c deadband and expo. The Roll/Pitch stick needs to be deflected beyond this deadband to abort the launch."
2914 default_value: 100
2915 field: fw.launch_abort_deadband
2916 min: 2
2917 max: 250
2918 - name: nav_fw_allow_manual_thr_increase
2919 description: "Enable the possibility to manually increase the throttle in auto throttle controlled modes for fixed wing"
2920 default_value: OFF
2921 field: fw.allow_manual_thr_increase
2922 type: bool
2923 - name: nav_use_fw_yaw_control
2924 description: "Enables or Disables the use of the heading PID controller on fixed wing. Heading PID controller is always enabled for rovers and boats"
2925 default_value: OFF
2926 field: fw.useFwNavYawControl
2927 type: bool
2928 - name: nav_fw_yaw_deadband
2929 description: "Deadband for heading trajectory PID controller. When heading error is below the deadband, controller assumes that vehicle is on course"
2930 default_value: 0
2931 field: fw.yawControlDeadband
2932 min: 0
2933 max: 90
2935 - name: PG_TELEMETRY_CONFIG
2936 type: telemetryConfig_t
2937 headers: ["io/serial.h", "telemetry/telemetry.h", "telemetry/sim.h"]
2938 condition: USE_TELEMETRY
2939 members:
2940 - name: telemetry_switch
2941 description: "Which aux channel to use to change serial output & baud rate (MSP / Telemetry). It disables automatic switching to Telemetry when armed."
2942 default_value: OFF
2943 type: bool
2944 - name: telemetry_inverted
2945 description: "Determines if the telemetry protocol default signal inversion is reversed. This should be OFF in most cases unless a custom or hacked RX is used."
2946 default_value: OFF
2947 type: bool
2948 - name: frsky_pitch_roll
2949 description: "S.Port telemetry: Send pitch and roll degrees*10 instead of raw accelerometer data"
2950 default_value: OFF
2951 type: bool
2952 - name: report_cell_voltage
2953 description: "S.Port and IBUS telemetry: Send the average cell voltage if set to ON"
2954 default_value: OFF
2955 type: bool
2956 - name: hott_alarm_sound_interval
2957 description: "Battery alarm delay in seconds for Hott telemetry"
2958 default_value: 5
2959 field: hottAlarmSoundInterval
2960 min: 0
2961 max: 120
2962 - name: telemetry_halfduplex
2963 description: "S.Port telemetry only: Turn UART into UNIDIR for usage on F1 and F4 target. See Telemetry.md for details"
2964 default_value: ON
2965 field: halfDuplex
2966 type: bool
2967 - name: smartport_fuel_unit
2968 description: "S.Port telemetry only: Unit of the value sent with the `FUEL` ID (FrSky D-Series always sends percent). [PERCENT/MAH/MWH]"
2969 default_value: "MAH"
2970 field: smartportFuelUnit
2971 condition: USE_TELEMETRY_SMARTPORT
2972 type: uint8_t
2973 table: smartport_fuel_unit
2974 - name: ibus_telemetry_type
2975 description: "Type compatibility ibus telemetry for transmitters. See Telemetry.md label IBUS for details."
2976 default_value: 0
2977 field: ibusTelemetryType
2978 min: 0
2979 max: 255
2980 - name: ltm_update_rate
2981 description: "Defines the LTM update rate (use of bandwidth [NORMAL/MEDIUM/SLOW]). See Telemetry.md, LTM section for details."
2982 default_value: "NORMAL"
2983 field: ltmUpdateRate
2984 condition: USE_TELEMETRY_LTM
2985 table: ltm_rates
2986 - name: sim_ground_station_number
2987 description: "Number of phone that is used to communicate with SIM module. Messages / calls from other numbers are ignored. If undefined, can be set by calling or sending a message to the module."
2988 default_value: ""
2989 field: simGroundStationNumber
2990 condition: USE_TELEMETRY_SIM
2991 - name: sim_pin
2992 description: "PIN code for the SIM module"
2993 default_value: "0000"
2994 field: simPin
2995 condition: USE_TELEMETRY_SIM
2996 - name: sim_transmit_interval
2997 description: "Text message transmission interval in seconds for SIM module. Minimum value: 10"
2998 default_value: 60
2999 field: simTransmitInterval
3000 condition: USE_TELEMETRY_SIM
3001 type: uint16_t
3002 min: SIM_MIN_TRANSMIT_INTERVAL
3003 max: 65535
3004 - name: sim_transmit_flags
3005 description: "Bitmask specifying text message transmit condition flags for the SIM module. 1: continuous transmission, 2: continuous transmission in failsafe mode, 4: continuous transmission when GPS signal quality is low, 8: acceleration events, 16: continuous transmission when altitude is below `sim_low_altitude`"
3006 default_value: :SIM_TX_FLAG_FAILSAFE
3007 field: simTransmitFlags
3008 condition: USE_TELEMETRY_SIM
3009 max: 63
3010 - name: acc_event_threshold_high
3011 description: "Acceleration threshold [cm/s/s] for impact / high g event text messages sent by SIM module. Acceleration values greater than 4 g can occur in fixed wing flight without an impact, so a setting of 4000 or greater is suggested. 0 = detection off."
3012 default_value: 0
3013 field: accEventThresholdHigh
3014 condition: USE_TELEMETRY_SIM
3015 type: uint16_t
3016 min: 0
3017 max: 65535
3018 - name: acc_event_threshold_low
3019 description: "Acceleration threshold [cm/s/s] for low-g / freefall detection text messages sent by SIM module. A setting of less than 100 is suggested. Valid values: [0-900], 0 = detection off."
3020 default_value: 0
3021 field: accEventThresholdLow
3022 condition: USE_TELEMETRY_SIM
3023 type: uint16_t
3024 min: 0
3025 max: 900
3026 - name: acc_event_threshold_neg_x
3027 description: "Acceleration threshold [cm/s/s] for backwards acceleration / fixed wing landing detection text messages sent by SIM module. Suggested value for fixed wing: 1100. 0 = detection off."
3028 default_value: 0
3029 field: accEventThresholdNegX
3030 condition: USE_TELEMETRY_SIM
3031 type: uint16_t
3032 min: 0
3033 max: 65535
3034 - name: sim_low_altitude
3035 description: "Threshold for low altitude warning messages sent by SIM module when the 'L' transmit flag is set in `sim_transmit_flags`."
3036 default_value: -32767
3037 field: simLowAltitude
3038 condition: USE_TELEMETRY_SIM
3039 type: int16_t
3040 min: INT16_MIN
3041 max: INT16_MAX
3042 - name: mavlink_ext_status_rate
3043 field: mavlink.extended_status_rate
3044 type: uint8_t
3045 min: 0
3046 max: 255
3047 default_value: 2
3048 - name: mavlink_rc_chan_rate
3049 field: mavlink.rc_channels_rate
3050 type: uint8_t
3051 min: 0
3052 max: 255
3053 default_value: 5
3054 - name: mavlink_pos_rate
3055 field: mavlink.position_rate
3056 type: uint8_t
3057 min: 0
3058 max: 255
3059 default_value: 2
3060 - name: mavlink_extra1_rate
3061 field: mavlink.extra1_rate
3062 type: uint8_t
3063 min: 0
3064 max: 255
3065 default_value: 10
3066 - name: mavlink_extra2_rate
3067 field: mavlink.extra2_rate
3068 type: uint8_t
3069 min: 0
3070 max: 255
3071 default_value: 2
3072 - name: mavlink_extra3_rate
3073 field: mavlink.extra3_rate
3074 type: uint8_t
3075 min: 0
3076 max: 255
3077 default_value: 1
3078 - name: mavlink_version
3079 field: mavlink.version
3080 description: "Version of MAVLink to use"
3081 type: uint8_t
3082 min: 1
3083 max: 2
3084 default_value: 2
3086 - name: PG_LED_STRIP_CONFIG
3087 type: ledStripConfig_t
3088 headers: ["common/color.h", "io/ledstrip.h"]
3089 condition: USE_LED_STRIP
3090 members:
3091 - name: ledstrip_visual_beeper
3092 description: ""
3093 default_value: OFF
3094 type: bool
3096 - name: PG_OSD_CONFIG
3097 type: osdConfig_t
3098 headers: ["io/osd.h", "drivers/osd.h"]
3099 condition: USE_OSD
3100 members:
3101 - name: osd_telemetry
3102 description: "To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST`"
3103 table: osd_telemetry
3104 field: telemetry
3105 type: uint8_t
3106 default_value: "OFF"
3107 - name: osd_video_system
3108 description: "Video system used. Possible values are `AUTO`, `PAL`, `NTSC`, `HDZERO`, 'DJIWTF', 'AVATAR' and `BF43COMPAT`"
3109 default_value: "AUTO"
3110 table: osd_video_system
3111 field: video_system
3112 type: uint8_t
3113 - name: osd_row_shiftdown
3114 description: "Number of rows to shift the OSD display (increase if top rows are cut off)"
3115 default_value: 0
3116 field: row_shiftdown
3117 min: 0
3118 max: 1
3119 - name: osd_msp_displayport_fullframe_interval
3120 description: "Full Frame redraw interval for MSP DisplayPort [deciseconds]. This is how often a full frame update is sent to the DisplayPort, to cut down on OSD artifacting. The default value should be fine for most pilots. Though long range pilots may benefit from increasing the refresh time, especially near the edge of range. -1 = disabled (legacy mode) | 0 = every frame (not recommended) | default = 10 (1 second)"
3121 default_value: 10
3122 min: -1
3123 max: 600
3124 type: int16_t
3125 field: msp_displayport_fullframe_interval
3126 - name: osd_units
3127 description: "IMPERIAL, METRIC, UK"
3128 default_value: "METRIC"
3129 field: units
3130 table: osd_unit
3131 type: uint8_t
3132 - name: osd_stats_energy_unit
3133 description: "Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour)"
3134 default_value: "MAH"
3135 field: stats_energy_unit
3136 table: osd_stats_energy_unit
3137 type: uint8_t
3138 - name: osd_stats_min_voltage_unit
3139 description: "Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats."
3140 default_value: "BATTERY"
3141 field: stats_min_voltage_unit
3142 table: osd_stats_min_voltage_unit
3143 type: uint8_t
3144 - name: osd_stats_page_auto_swap_time
3145 description: "Auto swap display time interval between disarm stats pages (seconds). Reverts to manual control when Roll stick used to change pages. Disabled when set to 0."
3146 default_value: 3
3147 field: stats_page_auto_swap_time
3148 min: 0
3149 max: 10
3150 - name: osd_rssi_alarm
3151 description: "Value below which to make the OSD RSSI indicator blink"
3152 default_value: 20
3153 field: rssi_alarm
3154 min: 0
3155 max: 100
3156 - name: osd_time_alarm
3157 description: "Value above which to make the OSD flight time indicator blink (minutes)"
3158 default_value: 10
3159 field: time_alarm
3160 min: 0
3161 max: 600
3162 - name: osd_alt_alarm
3163 description: "Value above which to make the OSD relative altitude indicator blink (meters)"
3164 default_value: 100
3165 field: alt_alarm
3166 min: 0
3167 max: 10000
3168 - name: osd_dist_alarm
3169 description: "Value above which to make the OSD distance from home indicator blink (meters)"
3170 default_value: 1000
3171 field: dist_alarm
3172 min: 0
3173 max: 50000
3174 - name: osd_neg_alt_alarm
3175 description: "Value below which (negative altitude) to make the OSD relative altitude indicator blink (meters)"
3176 default_value: 5
3177 field: neg_alt_alarm
3178 min: 0
3179 max: 10000
3180 - name: osd_current_alarm
3181 description: "Value above which the OSD current consumption element will start blinking. Measured in full Amperes."
3182 default_value: 0
3183 field: current_alarm
3184 min: 0
3185 max: 255
3186 - name: osd_gforce_alarm
3187 description: "Value above which the OSD g force indicator will blink (g)"
3188 default_value: 5
3189 field: gforce_alarm
3190 min: 0
3191 max: 20
3192 - name: osd_gforce_axis_alarm_min
3193 description: "Value under which the OSD axis g force indicators will blink (g)"
3194 default_value: -5
3195 field: gforce_axis_alarm_min
3196 min: -20
3197 max: 20
3198 - name: osd_gforce_axis_alarm_max
3199 description: "Value above which the OSD axis g force indicators will blink (g)"
3200 default_value: 5
3201 field: gforce_axis_alarm_max
3202 min: -20
3203 max: 20
3204 - name: osd_imu_temp_alarm_min
3205 description: "Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3206 default_value: -200
3207 field: imu_temp_alarm_min
3208 min: -550
3209 max: 1250
3210 - name: osd_imu_temp_alarm_max
3211 description: "Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3212 default_value: 600
3213 field: imu_temp_alarm_max
3214 min: -550
3215 max: 1250
3216 - name: osd_esc_temp_alarm_max
3217 description: "Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3218 default_value: 900
3219 field: esc_temp_alarm_max
3220 min: -550
3221 max: 1500
3222 - name: osd_esc_temp_alarm_min
3223 description: "Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3224 default_value: -200
3225 field: esc_temp_alarm_min
3226 min: -550
3227 max: 1500
3228 - name: osd_baro_temp_alarm_min
3229 description: "Temperature under which the baro temperature OSD element will start blinking (decidegrees centigrade)"
3230 default_value: -200
3231 field: baro_temp_alarm_min
3232 condition: USE_BARO
3233 min: -550
3234 max: 1250
3235 - name: osd_baro_temp_alarm_max
3236 description: "Temperature above which the baro temperature OSD element will start blinking (decidegrees centigrade)"
3237 default_value: 600
3238 field: baro_temp_alarm_max
3239 condition: USE_BARO
3240 min: -550
3241 max: 1250
3242 - name: osd_snr_alarm
3243 condition: USE_SERIALRX_CRSF
3244 description: "Value below which Crossfire SNR Alarm pops-up. (dB)"
3245 default_value: 4
3246 field: snr_alarm
3247 min: -20
3248 max: 10
3249 - name: osd_link_quality_alarm
3250 condition: USE_SERIALRX_CRSF
3251 description: "LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50%"
3252 default_value: 70
3253 field: link_quality_alarm
3254 min: 0
3255 max: 100
3256 - name: osd_rssi_dbm_alarm
3257 condition: USE_SERIALRX_CRSF
3258 description: "RSSI dBm indicator blinks below this value [dBm]. 0 disables this alarm"
3259 default_value: 0
3260 field: rssi_dbm_alarm
3261 min: -130
3262 max: 0
3263 - name: osd_rssi_dbm_max
3264 condition: USE_SERIALRX_CRSF
3265 description: "RSSI dBm upper end of curve. Perfect rssi (max) = 100%"
3266 default_value: -30
3267 field: rssi_dbm_max
3268 min: -50
3269 max: 0
3270 - name: osd_rssi_dbm_min
3271 condition: USE_SERIALRX_CRSF
3272 description: "RSSI dBm lower end of curve or RX sensitivity level. Worst rssi (min) = 0%"
3273 default_value: -120
3274 field: rssi_dbm_min
3275 min: -130
3276 max: 0
3277 - name: osd_temp_label_align
3278 description: "Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are `LEFT` and `RIGHT`"
3279 default_value: "LEFT"
3280 field: temp_label_align
3281 condition: USE_TEMPERATURE_SENSOR
3282 table: osd_alignment
3283 type: uint8_t
3284 - name: osd_airspeed_alarm_min
3285 condition: USE_PITOT
3286 description: "Airspeed under which the airspeed OSD element will start blinking (cm/s)"
3287 default_value: 0
3288 field: airspeed_alarm_min
3289 min: 0
3290 max: 27000 # (1000km/h * 1000 * 100 / 60 / 60)
3291 - name: osd_airspeed_alarm_max
3292 condition: USE_PITOT
3293 description: "Airspeed above which the airspeed OSD element will start blinking (cm/s)"
3294 default_value: 0
3295 field: airspeed_alarm_max
3296 min: 0
3297 max: 27000 # (1000km/h * 1000 * 100 / 60 / 60)
3298 - name: osd_ahi_reverse_roll
3299 description: "Switches the artificial horizon in the OSD to instead be a bank indicator, by reversing the direction of its movement."
3300 field: ahi_reverse_roll
3301 type: bool
3302 default_value: OFF
3303 - name: osd_ahi_max_pitch
3304 description: "Max pitch, in degrees, for OSD artificial horizon"
3305 default_value: 20
3306 field: ahi_max_pitch
3307 min: 10
3308 max: 90
3309 default_value: 20
3310 - name: osd_crosshairs_style
3311 description: "To set the visual type for the crosshair"
3312 default_value: "DEFAULT"
3313 field: crosshairs_style
3314 table: osd_crosshairs_style
3315 type: uint8_t
3316 - name: osd_crsf_lq_format
3317 description: "To select LQ format"
3318 default_value: "TYPE1"
3319 field: crsf_lq_format
3320 table: osd_crsf_lq_format
3321 type: uint8_t
3322 - name: osd_horizon_offset
3323 description: "To vertically adjust the whole OSD and AHI and scrolling bars"
3324 default_value: 0
3325 field: horizon_offset
3326 min: -2
3327 max: 2
3328 - name: osd_camera_uptilt
3329 description: "Set the camera uptilt for the FPV camera in degres, positive is up, negative is down, relative to the horizontal. Used for correct display of HUD items and AHI (when enabled)."
3330 default_value: 0
3331 field: camera_uptilt
3332 min: -40
3333 max: 80
3334 - name: osd_ahi_camera_uptilt_comp
3335 description: "When set to `ON`, the AHI position is adjusted by `osd_camera_uptilt`. For example, with a cammera uptilt of 30 degrees, the AHI will appear in the middle of the OSD when the aircraft is pitched forward 30 degrees. When set to `OFF`, the AHI will appear in the center of the OSD regardless of camera angle, but can still be shifted up and down using `osd_horizon_offset` (`osd_ahi_vertical_offset` for pixel-OSD)."
3336 default_value: OFF
3337 field: ahi_camera_uptilt_comp
3338 type: bool
3339 - name: osd_camera_fov_h
3340 description: "Horizontal field of view for the camera in degres"
3341 default_value: 135
3342 field: camera_fov_h
3343 min: 60
3344 max: 150
3345 - name: osd_camera_fov_v
3346 description: "Vertical field of view for the camera in degres"
3347 default_value: 85
3348 field: camera_fov_v
3349 min: 30
3350 max: 120
3351 - name: osd_hud_margin_h
3352 description: "Left and right margins for the hud area"
3353 default_value: 3
3354 field: hud_margin_h
3355 min: 0
3356 max: 4
3357 - name: osd_hud_margin_v
3358 description: "Top and bottom margins for the hud area"
3359 default_value: 3
3360 field: hud_margin_v
3361 min: 1
3362 max: 3
3363 - name: osd_hud_homing
3364 description: "To display little arrows around the crossair showing where the home point is in the hud"
3365 default_value: OFF
3366 field: hud_homing
3367 type: bool
3368 - name: osd_hud_homepoint
3369 description: "To 3D-display the home point location in the hud"
3370 default_value: OFF
3371 field: hud_homepoint
3372 type: bool
3373 - name: osd_hud_radar_disp
3374 description: "Maximum count of nearby aircrafts or points of interest to display in the hud, as sent from an ESP32 LoRa module. Set to 0 to disable (show nothing). The nearby aircrafts will appear as markers A, B, C, etc"
3375 default_value: 0
3376 field: hud_radar_disp
3377 min: 0
3378 max: 4
3379 - name: osd_hud_radar_range_min
3380 description: "In meters, radar aircrafts closer than this will not be displayed in the hud"
3381 default_value: 3
3382 field: hud_radar_range_min
3383 min: 1
3384 max: 30
3385 - name: osd_hud_radar_range_max
3386 description: "In meters, radar aircrafts further away than this will not be displayed in the hud"
3387 default_value: 4000
3388 field: hud_radar_range_max
3389 min: 100
3390 max: 9990
3391 - name: osd_hud_radar_alt_difference_display_time
3392 description: "Time in seconds to display the altitude difference in radar"
3393 field: hud_radar_alt_difference_display_time
3394 min: 0
3395 max: 10
3396 default_value: 3
3397 - name: osd_hud_radar_distance_display_time
3398 description: "Time in seconds to display the distance in radar"
3399 field: hud_radar_distance_display_time
3400 min: 1
3401 max: 10
3402 default_value: 3
3403 - name: osd_hud_wp_disp
3404 description: "How many navigation waypoints are displayed, set to 0 (zero) to disable. As sample, if set to 2, and you just passed the 3rd waypoint of the mission, you'll see markers for the 4th waypoint (marked 1) and the 5th waypoint (marked 2)"
3405 default_value: 0
3406 field: hud_wp_disp
3407 min: 0
3408 max: 3
3409 - name: osd_left_sidebar_scroll
3410 field: left_sidebar_scroll
3411 table: osd_sidebar_scroll
3412 type: uint8_t
3413 default_value: NONE
3414 - name: osd_right_sidebar_scroll
3415 field: right_sidebar_scroll
3416 table: osd_sidebar_scroll
3417 type: uint8_t
3418 default_value: NONE
3419 - name: osd_sidebar_scroll_arrows
3420 field: sidebar_scroll_arrows
3421 type: bool
3422 default_value: OFF
3423 - name: osd_main_voltage_decimals
3424 description: "Number of decimals for the battery voltages displayed in the OSD [1-2]."
3425 default_value: 1
3426 field: main_voltage_decimals
3427 min: 1
3428 max: 2
3429 - name: osd_coordinate_digits
3430 field: coordinate_digits
3431 min: 8
3432 max: 11
3433 default_value: 9
3435 - name: osd_estimations_wind_compensation
3436 description: "Use wind estimation for remaining flight time/distance estimation"
3437 default_value: ON
3438 condition: USE_WIND_ESTIMATOR
3439 field: estimations_wind_compensation
3440 type: bool
3442 - name: osd_failsafe_switch_layout
3443 description: "If enabled the OSD automatically switches to the first layout during failsafe"
3444 default_value: OFF
3445 type: bool
3447 - name: osd_plus_code_digits
3448 description: "Numer of plus code digits before shortening with `osd_plus_code_short`. Precision at the equator: 10=13.9x13.9m; 11=2.8x3.5m; 12=56x87cm; 13=11x22cm."
3449 field: plus_code_digits
3450 default_value: 11
3451 min: 10
3452 max: 13
3453 - name: osd_plus_code_short
3454 description: "Number of leading digits removed from plus code. Removing 2, 4 and 6 digits requires a reference location within, respectively, ~800km, ~40 km and ~2km to recover the original coordinates."
3455 field: plus_code_short
3456 default_value: "0"
3457 table: osd_plus_code_short
3459 - name: osd_ahi_style
3460 description: "Sets OSD Artificial Horizon style \"DEFAULT\" or \"LINE\" for the FrSky Graphical OSD."
3461 field: ahi_style
3462 default_value: "DEFAULT"
3463 table: osd_ahi_style
3464 type: uint8_t
3466 - name: osd_force_grid
3467 field: force_grid
3468 type: bool
3469 default_value: OFF
3470 description: Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development)
3472 - name: osd_ahi_bordered
3473 field: ahi_bordered
3474 type: bool
3475 description: Shows a border/corners around the AHI region (pixel OSD only)
3476 default_value: OFF
3478 - name: osd_ahi_width
3479 field: ahi_width
3480 max: 255
3481 description: AHI width in pixels (pixel OSD only)
3482 default_value: 132
3484 - name: osd_ahi_height
3485 field: ahi_height
3486 max: 255
3487 description: AHI height in pixels (pixel OSD only)
3488 default_value: 162
3490 - name: osd_ahi_vertical_offset
3491 field: ahi_vertical_offset
3492 min: -128
3493 max: 127
3494 description: AHI vertical offset from center (pixel OSD only)
3495 default_value: -18
3497 - name: osd_sidebar_horizontal_offset
3498 field: sidebar_horizontal_offset
3499 min: -128
3500 max: 127
3501 default_value: 0
3502 description: Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges.
3504 - name: osd_left_sidebar_scroll_step
3505 field: left_sidebar_scroll_step
3506 max: 255
3507 default_value: 0
3508 description: How many units each sidebar step represents. 0 means the default value for the scroll type.
3510 - name: osd_right_sidebar_scroll_step
3511 field: right_sidebar_scroll_step
3512 max: 255
3513 default_value: 0
3514 description: Same as left_sidebar_scroll_step, but for the right sidebar
3516 - name: osd_sidebar_height
3517 field: sidebar_height
3518 min: 0
3519 max: 5
3520 default_value: 3
3521 description: Height of sidebars in rows. 0 leaves only the level indicator arrows (Not for pixel OSD)
3523 - name: osd_ahi_pitch_interval
3524 field: ahi_pitch_interval
3525 min: 0
3526 max: 30
3527 default_value: 0
3528 description: Draws AHI at increments of the set pitch interval over the full pitch range. AHI line is drawn with ends offset when pitch first exceeds interval with offset increasing with increasing pitch. Offset direction changes between climb and dive. Set to 0 to disable (Not for pixel OSD)
3530 - name: osd_home_position_arm_screen
3531 type: bool
3532 default_value: ON
3533 description: Should home position coordinates be displayed on the arming screen.
3535 - name: osd_pan_servo_index
3536 description: Index of the pan servo, used to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos.
3537 field: pan_servo_index
3538 min: 0
3539 max: 16
3540 default_value: 0
3542 - name: osd_pan_servo_pwm2centideg
3543 description: Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs `18` for this setting. Change sign to inverse direction.
3544 field: pan_servo_pwm2centideg
3545 default_value: 0
3546 min: -36
3547 max: 36
3549 - name: osd_pan_servo_offcentre_warning
3550 description: Degrees either side of the pan servo centre; where it is assumed camera is wanted to be facing forwards, but isn't at 0. If in this range and not 0 for longer than 10 seconds, the pan servo offset OSD element will blink. 0 means the warning is disabled.
3551 field: pan_servo_offcentre_warning
3552 min: 0
3553 max: 45
3554 default_value: 10
3556 - name: osd_pan_servo_indicator_show_degrees
3557 description: Show the degress of offset from centre on the pan servo OSD display element.
3558 field: pan_servo_indicator_show_degrees
3559 type: bool
3560 default_value: OFF
3562 - name: osd_esc_rpm_precision
3563 description: Number of characters used to display the RPM value.
3564 field: esc_rpm_precision
3565 min: 3
3566 max: 6
3567 default_value: 3
3569 - name: osd_mah_precision
3570 description: Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity
3571 field: mAh_precision
3572 min: 4
3573 max: 6
3574 default_value: 4
3576 - name: osd_use_pilot_logo
3577 description: Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511
3578 field: use_pilot_logo
3579 type: bool
3580 default_value: OFF
3582 - name: osd_inav_to_pilot_logo_spacing
3583 description: The space between the INAV and pilot logos, if `osd_use_pilot_logo` is `ON`. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen.
3584 field: inav_to_pilot_logo_spacing
3585 min: 0
3586 max: 20
3587 default_value: 8
3589 - name: osd_arm_screen_display_time
3590 description: Amount of time to display the arm screen [ms]
3591 field: arm_screen_display_time
3592 min: 1000
3593 max: 5000
3594 default_value: 1500
3596 - name: osd_switch_indicator_zero_name
3597 description: "Character to use for OSD switch incicator 0."
3598 field: osd_switch_indicator0_name
3599 type: string
3600 max: 5
3601 default_value: "FLAP"
3603 - name: osd_switch_indicator_one_name
3604 description: "Character to use for OSD switch incicator 1."
3605 field: osd_switch_indicator1_name
3606 type: string
3607 max: 5
3608 default_value: "GEAR"
3610 - name: osd_switch_indicator_two_name
3611 description: "Character to use for OSD switch incicator 2."
3612 field: osd_switch_indicator2_name
3613 type: string
3614 max: 5
3615 default_value: "CAM"
3617 - name: osd_switch_indicator_three_name
3618 description: "Character to use for OSD switch incicator 3."
3619 field: osd_switch_indicator3_name
3620 type: string
3621 max: 5
3622 default_value: "LIGT"
3624 - name: osd_switch_indicator_zero_channel
3625 description: "RC Channel to use for OSD switch indicator 0."
3626 field: osd_switch_indicator0_channel
3627 min: 5
3628 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
3629 default_value: 5
3631 - name: osd_switch_indicator_one_channel
3632 description: "RC Channel to use for OSD switch indicator 1."
3633 field: osd_switch_indicator1_channel
3634 min: 5
3635 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
3636 default_value: 5
3638 - name: osd_switch_indicator_two_channel
3639 description: "RC Channel to use for OSD switch indicator 2."
3640 field: osd_switch_indicator2_channel
3641 min: 5
3642 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
3643 default_value: 5
3645 - name: osd_switch_indicator_three_channel
3646 description: "RC Channel to use for OSD switch indicator 3."
3647 field: osd_switch_indicator3_channel
3648 min: 5
3649 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
3650 default_value: 5
3652 - name: osd_switch_indicators_align_left
3653 description: "Align text to left of switch indicators"
3654 field: osd_switch_indicators_align_left
3655 type: bool
3656 default_value: ON
3658 - name: osd_system_msg_display_time
3659 description: System message display cycle time for multiple messages (milliseconds).
3660 field: system_msg_display_time
3661 default_value: 1000
3662 min: 500
3663 max: 5000
3665 - name: PG_OSD_COMMON_CONFIG
3666 type: osdCommonConfig_t
3667 headers: ["io/osd_common.h"]
3668 condition: USE_OSD || USE_DJI_HD_OSD
3669 members:
3670 - name: osd_speed_source
3671 description: "Sets the speed type displayed by the DJI OSD and OSD canvas (FrSky Pixel): GROUND, 3D, AIR"
3672 default_value: "GROUND"
3673 field: speedSource
3674 table: osdSpeedSource
3675 type: uint8_t
3677 - name: PG_SYSTEM_CONFIG
3678 type: systemConfig_t
3679 headers: ["fc/config.h"]
3680 members:
3681 - name: i2c_speed
3682 description: "This setting controls the clock speed of I2C bus. 400KHZ is the default that most setups are able to use. Some noise-free setups may be overclocked to 800KHZ. Some sensor chips or setups with long wires may work unreliably at 400KHZ - user can try lowering the clock speed to 200KHZ or even 100KHZ. User need to bear in mind that lower clock speeds might require higher looptimes (lower looptime rate)"
3683 default_value: "400KHZ"
3684 condition: USE_I2C
3685 table: i2c_speed
3686 - name: cpu_underclock
3687 description: "This option is only available on certain architectures (F3 CPUs at the moment). It makes CPU clock lower to reduce interference to long-range RC systems working at 433MHz"
3688 default_value: OFF
3689 field: cpuUnderclock
3690 condition: USE_UNDERCLOCK
3691 type: bool
3692 - name: debug_mode
3693 description: "Defines debug values exposed in debug variables (developer / debugging setting)"
3694 default_value: "NONE"
3695 table: debug_modes
3696 - name: ground_test_mode
3697 description: "For developer ground test use. Disables motors, sets heading status = Trusted on FW."
3698 condition: USE_DEV_TOOLS
3699 default_value: OFF
3700 field: groundTestMode
3701 type: bool
3702 - name: throttle_tilt_comp_str
3703 description: "Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled."
3704 default_value: 0
3705 field: throttle_tilt_compensation_strength
3706 min: 0
3707 max: 100
3708 - name: name
3709 description: "Craft name"
3710 default_value: ""
3711 type: string
3712 field: craftName
3713 max: MAX_NAME_LENGTH
3714 - name: pilot_name
3715 description: "Pilot name"
3716 default_value: ""
3717 type: string
3718 field: pilotName
3719 max: MAX_NAME_LENGTH
3721 - name: PG_MODE_ACTIVATION_OPERATOR_CONFIG
3722 type: modeActivationOperatorConfig_t
3723 headers: ["fc/rc_modes.h"]
3724 members:
3725 - name: mode_range_logic_operator
3726 description: "Control how Mode selection works in flight modes. If you example have Angle mode configured on two different Aux channels, this controls if you need both activated ( AND ) or if you only need one activated ( OR ) to active angle mode."
3727 default_value: "OR"
3728 field: modeActivationOperator
3729 table: aux_operator
3730 type: uint8_t
3732 - name: PG_STATS_CONFIG
3733 type: statsConfig_t
3734 headers: ["fc/stats.h"]
3735 condition: USE_STATS
3736 members:
3737 - name: stats
3738 description: "General switch of the statistics recording feature (a.k.a. odometer)"
3739 default_value: OFF
3740 field: stats_enabled
3741 type: bool
3742 - name: stats_total_time
3743 description: "Total flight time [in seconds]. The value is updated on every disarm when \"stats\" are enabled."
3744 default_value: 0
3745 max: INT32_MAX
3746 - name: stats_total_dist
3747 description: "Total flight distance [in meters]. The value is updated on every disarm when \"stats\" are enabled."
3748 default_value: 0
3749 max: INT32_MAX
3750 - name: stats_total_energy
3751 description: "Total energy consumption [in mWh]. The value is updated on every disarm when \"stats\" are enabled."
3752 max: INT32_MAX
3753 condition: USE_ADC
3754 default_value: 0
3756 - name: PG_TIME_CONFIG
3757 type: timeConfig_t
3758 headers: ["common/time.h"]
3759 members:
3760 - name: tz_offset
3761 description: "Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs"
3762 default_value: 0
3763 min: -720
3764 max: 840
3765 - name: tz_automatic_dst
3766 description: "Automatically add Daylight Saving Time to the GPS time when needed or simply ignore it. Includes presets for EU and the USA - if you live outside these areas it is suggested to manage DST manually via `tz_offset`."
3767 default_value: "OFF"
3768 type: uint8_t
3769 table: tz_automatic_dst
3771 - name: PG_DISPLAY_CONFIG
3772 type: displayConfig_t
3773 headers: ["drivers/display.h"]
3774 members:
3775 - name: display_force_sw_blink
3776 description: "OFF = OSD hardware blink / ON = OSD software blink. If OSD warning text/values are invisible, try setting this to ON"
3777 default_value: OFF
3778 field: force_sw_blink
3779 type: bool
3781 - name: PG_VTX_CONFIG
3782 type: vtxConfig_t
3783 headers: ["io/vtx_control.h"]
3784 condition: USE_VTX_CONTROL
3785 members:
3786 - name: vtx_halfduplex
3787 description: "Use half duplex UART to communicate with the VTX, using only a TX pin in the FC."
3788 default_value: ON
3789 field: halfDuplex
3790 type: bool
3791 - name: vtx_smartaudio_early_akk_workaround
3792 description: "Enable workaround for early AKK SAudio-enabled VTX bug."
3793 default_value: ON
3794 field: smartAudioEarlyAkkWorkaroundEnable
3795 type: bool
3796 - name: vtx_smartaudio_alternate_softserial_method
3797 description: "Enable the alternate softserial method. This is the method used in INAV 3.0 and ealier."
3798 default_value: ON
3799 field: smartAudioAltSoftSerialMethod
3800 type: bool
3801 - name: vtx_softserial_shortstop
3802 description: "Enable the 3x shorter stopbit on softserial. Need for some IRC Tramp VTXes."
3803 default_value: OFF
3804 field: softSerialShortStop
3805 type: bool
3806 - name: vtx_smartaudio_stopbits
3807 description: "Set stopbit count for serial (TBS Sixty9 SmartAudio 2.1 require value of 1 bit)"
3808 default_value: 2
3809 field: smartAudioStopBits
3810 min: 1
3811 max: 2
3813 - name: PG_VTX_SETTINGS_CONFIG
3814 type: vtxSettingsConfig_t
3815 headers: ["drivers/vtx_common.h", "io/vtx.h"]
3816 condition: USE_VTX_SMARTAUDIO || USE_VTX_TRAMP
3817 members:
3818 - name: vtx_band
3819 description: "Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race."
3820 default_value: 1
3821 field: band
3822 min: VTX_SETTINGS_NO_BAND
3823 max: VTX_SETTINGS_MAX_BAND
3824 - name: vtx_channel
3825 description: "Channel to use within the configured `vtx_band`. Valid values are [1, 8]."
3826 default_value: 1
3827 field: channel
3828 min: VTX_SETTINGS_MIN_CHANNEL
3829 max: VTX_SETTINGS_MAX_CHANNEL
3830 - name: vtx_power
3831 description: "VTX RF power level to use. The exact number of mw depends on the VTX hardware."
3832 default_value: 1
3833 field: power
3834 min: VTX_SETTINGS_MIN_POWER
3835 max: VTX_SETTINGS_MAX_POWER
3836 - name: vtx_low_power_disarm
3837 description: "When the craft is disarmed, set the VTX to its lowest power. `ON` will set the power to its minimum value on startup, increase it to `vtx_power` when arming and change it back to its lowest setting after disarming. `UNTIL_FIRST_ARM` will start with minimum power, but once the craft is armed it will increase to `vtx_power` and it will never decrease until the craft is power cycled."
3838 default_value: "OFF"
3839 field: lowPowerDisarm
3840 table: vtx_low_power_disarm
3841 type: uint8_t
3842 - name: vtx_pit_mode_chan
3843 field: pitModeChan
3844 min: VTX_SETTINGS_MIN_CHANNEL
3845 max: VTX_SETTINGS_MAX_CHANNEL
3846 default_value: 1
3847 - name: vtx_max_power_override
3848 description: "Some VTXes may report max power incorrectly (i.e. 200mW for a 600mW VTX). Use this to override max supported power. 0 to disable and use whatever VTX reports as its capabilities"
3849 default_value: 0
3850 field: maxPowerOverride
3851 min: 0
3852 max: 10000
3853 - name: vtx_frequency_group
3854 field: frequencyGroup
3855 description: "VTx Frequency group to use. Frequency groups: FREQUENCYGROUP_5G8: 5.8GHz, FREQUENCYGROUP_2G4: 2.4GHz, FREQUENCYGROUP_1G3: 1.3GHz."
3856 table: vtx_frequency_groups
3857 min: 0
3858 max: 2
3859 default_value: FREQUENCYGROUP_5G8
3861 - name: PG_PINIOBOX_CONFIG
3862 type: pinioBoxConfig_t
3863 headers: ["io/piniobox.h"]
3864 condition: USE_PINIOBOX
3865 members:
3866 - name: pinio_box1
3867 field: permanentId[0]
3868 description: "Mode assignment for PINIO#1"
3869 default_value: "target specific"
3870 min: 0
3871 max: 255
3872 default_value: :BOX_PERMANENT_ID_NONE
3873 type: uint8_t
3874 - name: pinio_box2
3875 field: permanentId[1]
3876 default_value: "target specific"
3877 description: "Mode assignment for PINIO#1"
3878 min: 0
3879 max: 255
3880 default_value: :BOX_PERMANENT_ID_NONE
3881 type: uint8_t
3882 - name: pinio_box3
3883 field: permanentId[2]
3884 default_value: "target specific"
3885 description: "Mode assignment for PINIO#1"
3886 min: 0
3887 max: 255
3888 default_value: :BOX_PERMANENT_ID_NONE
3889 type: uint8_t
3890 - name: pinio_box4
3891 field: permanentId[3]
3892 default_value: "target specific"
3893 description: "Mode assignment for PINIO#1"
3894 min: 0
3895 max: 255
3896 default_value: :BOX_PERMANENT_ID_NONE
3897 type: uint8_t
3899 - name: PG_LOG_CONFIG
3900 type: logConfig_t
3901 headers: ["common/log.h"]
3902 condition: USE_LOG
3903 members:
3904 - name: log_level
3905 field: level
3906 table: log_level
3907 description: "Defines serial debugging log level. See `docs/development/serial_printf_debugging.md` for usage."
3908 default_value: "ERROR"
3909 - name: log_topics
3910 field: topics
3911 min: 0
3912 max: UINT32_MAX
3913 description: "Defines serial debugging log topic. See `docs/development/serial_printf_debugging.md` for usage."
3914 default_value: 0
3916 - name: PG_ESC_SENSOR_CONFIG
3917 type: escSensorConfig_t
3918 headers: ["sensors/esc_sensor.h"]
3919 condition: USE_ESC_SENSOR
3920 members:
3921 - name: esc_sensor_listen_only
3922 default_value: OFF
3923 description: "Enable when BLHeli32 Auto Telemetry function is used. Disable in every other case"
3924 field: listenOnly
3925 type: bool
3926 default_value: OFF
3928 - name: PG_SMARTPORT_MASTER_CONFIG
3929 type: smartportMasterConfig_t
3930 headers: ["io/smartport_master.h"]
3931 condition: USE_SMARTPORT_MASTER
3932 members:
3933 - name: smartport_master_halfduplex
3934 field: halfDuplex
3935 type: bool
3936 default_value: ON
3937 - name: smartport_master_inverted
3938 field: inverted
3939 type: bool
3940 default_value: OFF
3942 - name: PG_DJI_OSD_CONFIG
3943 type: djiOsdConfig_t
3944 headers: ["io/osd_dji_hd.h"]
3945 condition: USE_DJI_HD_OSD
3946 members:
3947 - name: dji_workarounds
3948 description: "Enables workarounds for different versions of MSP protocol used"
3949 field: proto_workarounds
3950 min: 0
3951 max: UINT8_MAX
3952 default_value: 1
3953 - name: dji_use_name_for_messages
3954 description: "Re-purpose the craft name field for messages."
3955 default_value: ON
3956 field: use_name_for_messages
3957 type: bool
3958 - name: dji_esc_temp_source
3959 description: "Re-purpose the ESC temperature field for IMU/BARO temperature"
3960 default_value: "ESC"
3961 field: esc_temperature_source
3962 table: djiOsdTempSource
3963 type: uint8_t
3964 - name: dji_message_speed_source
3965 description: "Sets the speed type displayed by the DJI OSD in craft name: GROUND, 3D, AIR"
3966 default_value: "3D"
3967 field: messageSpeedSource
3968 table: osdSpeedSource
3969 type: uint8_t
3970 - name: dji_rssi_source
3971 description: "Source of the DJI RSSI field: RSSI, CRSF_LQ"
3972 default_value: "RSSI"
3973 field: rssi_source
3974 table: djiRssiSource
3975 type: uint8_t
3976 - name: dji_use_adjustments
3977 description: "Show inflight adjustments in craft name field"
3978 default_value: OFF
3979 type: bool
3980 field: useAdjustments
3981 - name: dji_cn_alternating_duration
3982 description: "Alternating duration of craft name elements, in tenths of a second"
3983 default_value: 30
3984 min: 1
3985 max: 150
3986 field: craftNameAlternatingDuration
3987 type: uint8_t
3989 - name: PG_BEEPER_CONFIG
3990 type: beeperConfig_t
3991 headers: [ "fc/config.h" ]
3992 members:
3993 - name: dshot_beeper_enabled
3994 description: "Whether using DShot motors as beepers is enabled"
3995 default_value: ON
3996 field: dshot_beeper_enabled
3997 type: bool
3998 - name: dshot_beeper_tone
3999 description: "Sets the DShot beeper tone"
4000 min: 1
4001 max: 5
4002 default_value: 1
4003 field: dshot_beeper_tone
4004 type: uint8_t
4005 - name: beeper_pwm_mode
4006 field: pwmMode
4007 type: bool
4008 default_value: OFF
4009 description: "Allows disabling PWM mode for beeper on some targets. Switch from ON to OFF if the external beeper sound is weak. Do not switch from OFF to ON without checking if the board supports PWM beeper mode"
4011 - name: PG_POWER_LIMITS_CONFIG
4012 type: powerLimitsConfig_t
4013 headers: ["flight/power_limits.h"]
4014 condition: USE_POWER_LIMITS
4015 members:
4016 - name: limit_pi_p
4017 description: "Throttle attenuation PI control P term"
4018 default_value: 100
4019 field: piP
4020 max: 10000
4021 - name: limit_pi_i
4022 description: "Throttle attenuation PI control I term"
4023 default_value: 100
4024 field: piI
4025 max: 10000
4026 - name: limit_attn_filter_cutoff
4027 description: "Throttle attenuation PI control output filter cutoff frequency"
4028 default_value: 1.2
4029 field: attnFilterCutoff
4030 max: 100
4032 - name: PG_LEDPIN_CONFIG
4033 type: ledPinConfig_t
4034 headers: ["drivers/light_ws2811strip.h"]
4035 members:
4036 - name: led_pin_pwm_mode
4037 condition: USE_LED_STRIP
4038 description: "PWM mode of LED pin."
4039 default_value: "SHARED_LOW"
4040 field: led_pin_pwm_mode
4041 table: led_pin_pwm_mode
4043 - name: PG_OSD_JOYSTICK_CONFIG
4044 type: osdJoystickConfig_t
4045 headers: ["io/osd_joystick.h"]
4046 condition: USE_RCDEVICE && USE_LED_STRIP
4047 members:
4048 - name: osd_joystick_enabled
4049 description: "Enable OSD Joystick emulation"
4050 default_value: OFF
4051 field: osd_joystick_enabled
4052 type: bool
4053 - name: osd_joystick_down
4054 description: "PWM value for DOWN key"
4055 default_value: 0
4056 field: osd_joystick_down
4057 min: 0
4058 max: 100
4059 - name: osd_joystick_up
4060 description: "PWM value for UP key"
4061 default_value: 48
4062 field: osd_joystick_up
4063 min: 0
4064 max: 100
4065 - name: osd_joystick_left
4066 description: "PWM value for LEFT key"
4067 default_value: 63
4068 field: osd_joystick_left
4069 min: 0
4070 max: 100
4071 - name: osd_joystick_right
4072 description: "PWM value for RIGHT key"
4073 default_value: 28
4074 field: osd_joystick_right
4075 min: 0
4076 max: 100
4077 - name: osd_joystick_enter
4078 description: "PWM value for ENTER key"
4079 default_value: 75
4080 field: osd_joystick_enter
4081 min: 0
4082 max: 100