| blob | a089c01859f08c52aff590b454d4aabaf6509995 |
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", "FAKE"]
8 enum: accelerationSensor_e
9 - name: rangefinder_hardware
10 values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
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"]
23 enum: pitotSensor_e
24 - name: receiver_type
25 values: ["NONE", "SERIAL", "MSP"]
26 enum: rxReceiverType_e
27 - name: serial_rx
28 values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST", "MAVLINK"]
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", "ESC"]
39 enum: currentSensor_e
40 - name: voltage_sensor
41 values: ["NONE", "ADC", "ESC"]
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: ["NMEA", "UBLOX", "UBLOX7", "MSP"]
48 enum: gpsProvider_e
49 - name: gps_sbas_mode
50 values: ["AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN", "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", "AT_LEAST_LINEAR_DESCENT"]
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"]
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: frsky_unit
84 values: ["METRIC", "IMPERIAL"]
85 enum: frskyUnit_e
86 - name: ltm_rates
87 values: ["NORMAL", "MEDIUM", "SLOW"]
88 - name: i2c_speed
89 values: ["400KHZ", "800KHZ", "100KHZ", "200KHZ"]
90 - name: debug_modes
91 values: ["NONE", "AGL", "FLOW_RAW", "FLOW", "ALWAYS", "SAG_COMP_VOLTAGE",
92 "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
93 "NAV_YAW", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "ALTITUDE",
94 "AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS", "LANDING", "POS_EST"]
95 - name: aux_operator
96 values: ["OR", "AND"]
97 enum: modeActivationOperator_e
98 - name: osd_crosshairs_style
99 values: ["DEFAULT", "AIRCRAFT", "TYPE3", "TYPE4", "TYPE5", "TYPE6", "TYPE7", "TYPE8"]
100 enum: osd_crosshairs_style_e
101 - name: osd_sidebar_scroll
102 values: ["NONE", "ALTITUDE", "SPEED", "HOME_DISTANCE"]
103 enum: osd_sidebar_scroll_e
104 - name: nav_rth_allow_landing
105 values: ["NEVER", "ALWAYS", "FS_ONLY"]
106 enum: navRTHAllowLanding_e
107 - name: bat_capacity_unit
108 values: ["MAH", "MWH"]
109 enum: batCapacityUnit_e
110 - name: bat_voltage_source
111 values: ["RAW", "SAG_COMP"]
112 enum: batVoltageSource_e
113 - name: smartport_fuel_unit
114 values: ["PERCENT", "MAH", "MWH"]
115 enum: smartportFuelUnit_e
116 - name: platform_type
117 values: ["MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT"]
118 - name: output_mode
119 values: ["AUTO", "MOTORS", "SERVOS"]
120 enum: outputMode_e
121 - name: tz_automatic_dst
122 values: ["OFF", "EU", "USA"]
123 enum: tz_automatic_dst_e
124 - name: vtx_low_power_disarm
125 values: ["OFF", "ON", "UNTIL_FIRST_ARM"]
126 enum: vtxLowerPowerDisarm_e
127 - name: vtx_frequency_groups
128 values: ["FREQUENCYGROUP_5G8", "FREQUENCYGROUP_2G4", "FREQUENCYGROUP_1G3"]
129 enum: vtxFrequencyGroups_e
130 - name: filter_type
131 values: ["PT1", "BIQUAD"]
132 - name: filter_type_full
133 values: ["PT1", "BIQUAD", "PT2", "PT3"]
134 - name: log_level
135 values: ["ERROR", "WARNING", "INFO", "VERBOSE", "DEBUG"]
136 - name: iterm_relax
137 values: ["OFF", "RP", "RPY"]
138 enum: itermRelax_e
139 - name: airmodeHandlingType
140 values: ["STICK_CENTER", "THROTTLE_THRESHOLD", "STICK_CENTER_ONCE"]
141 - name: nav_extra_arming_safety
142 values: ["ON", "ALLOW_BYPASS"]
143 enum: navExtraArmingSafety_e
144 - name: rssi_source
145 values: ["NONE", "AUTO", "ADC", "CHANNEL", "PROTOCOL", "MSP"]
146 enum: rssiSource_e
147 - name: pidTypeTable
148 values: ["NONE", "PID", "PIFF", "AUTO"]
149 enum: pidType_e
150 - name: osd_ahi_style
151 values: ["DEFAULT", "LINE"]
152 enum: osd_ahi_style_e
153 - name: tristate
154 enum: tristate_e
155 values: ["AUTO", "ON", "OFF"]
156 - name: osd_crsf_lq_format
157 enum: osd_crsf_lq_format_e
158 values: ["TYPE1", "TYPE2", "TYPE3"]
159 - name: off_on
160 values: ["OFF", "ON"]
161 - name: djiOsdTempSource
162 values: ["ESC", "IMU", "BARO"]
163 enum: djiOsdTempSource_e
164 - name: osdSpeedSource
165 values: ["GROUND", "3D", "AIR"]
166 enum: osdSpeedSource_e
167 - name: nav_overrides_motor_stop
168 enum: navOverridesMotorStop_e
169 values: ["OFF_ALWAYS", "OFF", "AUTO_ONLY", "ALL_NAV"]
170 - name: osd_plus_code_short
171 values: ["0", "2", "4", "6"]
172 - name: autotune_rate_adjustment
173 enum: autotune_rate_adjustment_e
174 values: ["FIXED", "LIMIT", "AUTO"]
175 - name: safehome_usage_mode
176 values: ["OFF", "RTH", "RTH_FS"]
177 enum: safehomeUsageMode_e
178 - name: nav_rth_climb_first
179 enum: navRTHClimbFirst_e
180 values: ["OFF", "ON", "ON_FW_SPIRAL"]
181 - name: nav_wp_mission_restart
182 enum: navMissionRestart_e
183 values: ["START", "RESUME", "SWITCH"]
184 - name: djiRssiSource
185 values: ["RSSI", "CRSF_LQ"]
186 enum: djiRssiSource_e
187 - name: rth_trackback_mode
188 values: ["OFF", "ON", "FS"]
189 enum: rthTrackbackMode_e
190 - name: dynamic_gyro_notch_mode
191 values: ["2D", "3D_R", "3D_P", "3D_Y", "3D_RP", "3D_RY", "3D_PY", "3D"]
192 enum: dynamicGyroNotchMode_e
193 - name: nav_fw_wp_turn_smoothing
194 values: ["OFF", "ON", "ON-CUT"]
195 enum: wpFwTurnSmoothing_e
197 constants:
198 RPYL_PID_MIN: 0
199 RPYL_PID_MAX: 255
201 MANUAL_RATE_MIN: 0
202 MANUAL_RATE_MAX: 100
204 ROLL_PITCH_RATE_MIN: 4
205 ROLL_PITCH_RATE_MAX: 180
207 MAX_CONTROL_RATE_PROFILE_COUNT: 3
208 MAX_BATTERY_PROFILE_COUNT: 3
211 groups:
212 - name: PG_GYRO_CONFIG
213 type: gyroConfig_t
214 headers: ["sensors/gyro.h"]
215 members:
216 - name: looptime
217 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."
218 default_value: 1000
219 max: 9000
220 - name: gyro_hardware_lpf
221 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."
222 default_value: "256HZ"
223 field: gyro_lpf
224 table: gyro_lpf
225 - name: gyro_anti_aliasing_lpf_hz
226 description: "Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz"
227 default_value: 250
228 field: gyro_anti_aliasing_lpf_hz
229 max: 1000
230 - name: gyro_anti_aliasing_lpf_type
231 description: "Specifies the type of the software LPF of the gyro signals."
232 default_value: "PT1"
233 field: gyro_anti_aliasing_lpf_type
234 table: filter_type
235 - name: moron_threshold
236 description: "When powering up, gyro bias is calculated. If the model is shaking/moving during this initial calibration, offsets are calculated incorrectly, and could lead to poor flying performance. This threshold means how much average gyro reading could differ before re-calibration is triggered."
237 default_value: 32
238 field: gyroMovementCalibrationThreshold
239 max: 128
240 - name: gyro_main_lpf_hz
241 description: "Software based gyro main lowpass filter. Value is cutoff frequency (Hz)"
242 default_value: 60
243 field: gyro_main_lpf_hz
244 min: 0
245 max: 500
246 - name: gyro_main_lpf_type
247 description: "Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
248 default_value: BIQUAD
249 field: gyro_main_lpf_type
250 table: filter_type
251 - name: gyro_use_dyn_lpf
252 description: "Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position."
253 default_value: OFF
254 field: useDynamicLpf
255 type: bool
256 - name: gyro_dyn_lpf_min_hz
257 description: "Minimum frequency of the gyro Dynamic LPF"
258 default_value: 200
259 field: gyroDynamicLpfMinHz
260 min: 40
261 max: 400
262 - name: gyro_dyn_lpf_max_hz
263 description: "Maximum frequency of the gyro Dynamic LPF"
264 default_value: 500
265 field: gyroDynamicLpfMaxHz
266 min: 40
267 max: 1000
268 - name: gyro_dyn_lpf_curve_expo
269 description: "Expo value for the throttle-to-frequency mapping for Dynamic LPF"
270 default_value: 5
271 field: gyroDynamicLpfCurveExpo
272 min: 1
273 max: 10
274 - name: dynamic_gyro_notch_enabled
275 description: "Enable/disable dynamic gyro notch also known as Matrix Filter"
276 default_value: ON
277 field: dynamicGyroNotchEnabled
278 condition: USE_DYNAMIC_FILTERS
279 type: bool
280 - name: dynamic_gyro_notch_q
281 description: "Q factor for dynamic notches"
282 default_value: 120
283 field: dynamicGyroNotchQ
284 condition: USE_DYNAMIC_FILTERS
285 min: 1
286 max: 1000
287 - name: dynamic_gyro_notch_min_hz
288 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`"
289 default_value: 50
290 field: dynamicGyroNotchMinHz
291 condition: USE_DYNAMIC_FILTERS
292 min: 30
293 max: 250
294 - name: dynamic_gyro_notch_mode
295 description: "Gyro dynamic notch type"
296 default_value: "2D"
297 table: dynamic_gyro_notch_mode
298 field: dynamicGyroNotchMode
299 condition: USE_DYNAMIC_FILTERS
300 - name: dynamic_gyro_notch_3d_q
301 description: "Q factor for 3D dynamic notches"
302 default_value: 200
303 field: dynamicGyroNotch3dQ
304 condition: USE_DYNAMIC_FILTERS
305 min: 1
306 max: 1000
307 - name: gyro_to_use
308 condition: USE_DUAL_GYRO
309 min: 0
310 max: 2
311 default_value: 0
312 - name: setpoint_kalman_enabled
313 description: "Enable Kalman filter on the gyro data"
314 default_value: ON
315 condition: USE_GYRO_KALMAN
316 field: kalmanEnabled
317 type: bool
318 - name: setpoint_kalman_q
319 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"
320 default_value: 100
321 field: kalman_q
322 condition: USE_GYRO_KALMAN
323 min: 1
324 max: 1000
325 - name: init_gyro_cal
326 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."
327 default_value: ON
328 field: init_gyro_cal_enabled
329 type: bool
330 - name: gyro_zero_x
331 description: "Calculated gyro zero calibration of axis X"
332 default_value: 0
333 field: gyro_zero_cal[X]
334 min: INT16_MIN
335 max: INT16_MAX
336 - name: gyro_zero_y
337 description: "Calculated gyro zero calibration of axis Y"
338 default_value: 0
339 field: gyro_zero_cal[Y]
340 min: INT16_MIN
341 max: INT16_MAX
342 - name: gyro_zero_z
343 description: "Calculated gyro zero calibration of axis Z"
344 default_value: 0
345 field: gyro_zero_cal[Z]
346 min: INT16_MIN
347 max: INT16_MAX
348 - name: ins_gravity_cmss
349 description: "Calculated 1G of Acc axis Z to use in INS"
350 default_value: 0.0
351 field: gravity_cmss_cal
352 min: 0
353 max: 2000
355 - name: PG_ADC_CHANNEL_CONFIG
356 type: adcChannelConfig_t
357 headers: ["fc/config.h"]
358 condition: USE_ADC
359 members:
360 - name: vbat_adc_channel
361 description: "ADC channel to use for battery voltage sensor. Defaults to board VBAT input (if available). 0 = disabled"
362 default_value: :target
363 field: adcFunctionChannel[ADC_BATTERY]
364 min: ADC_CHN_NONE
365 max: ADC_CHN_MAX
366 - name: rssi_adc_channel
367 description: "ADC channel to use for analog RSSI input. Defaults to board RSSI input (if available). 0 = disabled"
368 default_value: :target
369 field: adcFunctionChannel[ADC_RSSI]
370 min: ADC_CHN_NONE
371 max: ADC_CHN_MAX
372 - name: current_adc_channel
373 description: "ADC channel to use for analog current sensor input. Defaults to board CURRENT sensor input (if available). 0 = disabled"
374 default_value: :target
375 field: adcFunctionChannel[ADC_CURRENT]
376 min: ADC_CHN_NONE
377 max: ADC_CHN_MAX
378 - name: airspeed_adc_channel
379 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"
380 default_value: :target
381 field: adcFunctionChannel[ADC_AIRSPEED]
382 min: ADC_CHN_NONE
383 max: ADC_CHN_MAX
385 - name: PG_ACCELEROMETER_CONFIG
386 type: accelerometerConfig_t
387 headers: ["sensors/acceleration.h"]
388 members:
389 - name: acc_notch_hz
390 min: 0
391 max: 255
392 default_value: 0
393 - name: acc_notch_cutoff
394 min: 1
395 max: 255
396 default_value: 1
397 - name: acc_hardware
398 description: "Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
399 default_value: "AUTO"
400 table: acc_hardware
401 - name: acc_lpf_hz
402 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."
403 default_value: 15
404 min: 0
405 max: 200
406 - name: acc_lpf_type
407 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."
408 default_value: "BIQUAD"
409 field: acc_soft_lpf_type
410 table: filter_type
411 - name: acczero_x
412 description: "Calculated value after '6 position avanced calibration'. See Wiki page."
413 default_value: 0
414 field: accZero.raw[X]
415 min: INT16_MIN
416 max: INT16_MAX
417 - name: acczero_y
418 description: "Calculated value after '6 position avanced calibration'. See Wiki page."
419 default_value: 0
420 field: accZero.raw[Y]
421 min: INT16_MIN
422 max: INT16_MAX
423 - name: acczero_z
424 description: "Calculated value after '6 position avanced calibration'. See Wiki page."
425 default_value: 0
426 field: accZero.raw[Z]
427 min: INT16_MIN
428 max: INT16_MAX
429 - name: accgain_x
430 description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
431 default_value: 4096
432 field: accGain.raw[X]
433 min: 1
434 max: 8192
435 - name: accgain_y
436 description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
437 default_value: 4096
438 field: accGain.raw[Y]
439 min: 1
440 max: 8192
441 - name: accgain_z
442 description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
443 default_value: 4096
444 field: accGain.raw[Z]
445 min: 1
446 max: 8192
448 - name: PG_RANGEFINDER_CONFIG
449 type: rangefinderConfig_t
450 headers: ["sensors/rangefinder.h"]
451 condition: USE_RANGEFINDER
452 members:
453 - name: rangefinder_hardware
454 table: rangefinder_hardware
455 description: "Selection of rangefinder hardware."
456 default_value: "NONE"
457 - name: rangefinder_median_filter
458 description: "3-point median filtering for rangefinder readouts"
459 default_value: OFF
460 field: use_median_filtering
461 type: bool
463 - name: PG_OPFLOW_CONFIG
464 type: opticalFlowConfig_t
465 headers: ["sensors/opflow.h"]
466 condition: USE_OPFLOW
467 members:
468 - name: opflow_hardware
469 description: "Selection of OPFLOW hardware."
470 default_value: NONE
471 table: opflow_hardware
472 - name: opflow_scale
473 min: 0
474 max: 10000
475 default_value: 10.5
476 - name: align_opflow
477 description: "Optical flow module alignment (default CW0_DEG_FLIP)"
478 default_value: CW0FLIP
479 field: opflow_align
480 type: uint8_t
481 table: alignment
483 - name: PG_COMPASS_CONFIG
484 type: compassConfig_t
485 headers: ["sensors/compass.h"]
486 condition: USE_MAG
487 members:
488 - name: align_mag
489 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."
490 default_value: "DEFAULT"
491 field: mag_align
492 type: uint8_t
493 table: alignment
494 - name: mag_hardware
495 description: "Selection of mag hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
496 default_value: "AUTO"
497 table: mag_hardware
498 - name: mag_declination
499 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."
500 default_value: 0
501 min: -18000
502 max: 18000
503 - name: magzero_x
504 description: "Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed."
505 default_value: :zero
506 field: magZero.raw[X]
507 min: INT16_MIN
508 max: INT16_MAX
509 - name: magzero_y
510 description: "Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed."
511 default_value: :zero
512 field: magZero.raw[Y]
513 min: INT16_MIN
514 max: INT16_MAX
515 - name: magzero_z
516 description: "Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed."
517 default_value: :zero
518 field: magZero.raw[Z]
519 min: INT16_MIN
520 max: INT16_MAX
521 - name: maggain_x
522 description: "Magnetometer calibration X gain. If 1024, no calibration or calibration failed"
523 default_value: 1024
524 field: magGain[X]
525 min: INT16_MIN
526 max: INT16_MAX
527 - name: maggain_y
528 description: "Magnetometer calibration Y gain. If 1024, no calibration or calibration failed"
529 default_value: 1024
530 field: magGain[Y]
531 min: INT16_MIN
532 max: INT16_MAX
533 - name: maggain_z
534 description: "Magnetometer calibration Z gain. If 1024, no calibration or calibration failed"
535 default_value: 1024
536 field: magGain[Z]
537 min: INT16_MIN
538 max: INT16_MAX
539 - name: mag_calibration_time
540 description: "Adjust how long time the Calibration of mag will last."
541 default_value: 30
542 field: magCalibrationTimeLimit
543 min: 20
544 max: 120
545 - name: mag_to_use
546 description: "Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target"
547 condition: USE_DUAL_MAG
548 min: 0
549 max: 1
550 default_value: 0
551 - name: align_mag_roll
552 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."
553 default_value: 0
554 field: rollDeciDegrees
555 min: -1800
556 max: 3600
557 - name: align_mag_pitch
558 description: "Same as align_mag_roll, but for the pitch axis."
559 default_value: 0
560 field: pitchDeciDegrees
561 min: -1800
562 max: 3600
563 - name: align_mag_yaw
564 description: "Same as align_mag_roll, but for the yaw axis."
565 default_value: 0
566 field: yawDeciDegrees
567 min: -1800
568 max: 3600
570 - name: PG_BAROMETER_CONFIG
571 type: barometerConfig_t
572 headers: ["sensors/barometer.h"]
573 condition: USE_BARO
574 members:
575 - name: baro_hardware
576 description: "Selection of baro hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
577 default_value: "AUTO"
578 table: baro_hardware
579 - name: baro_cal_tolerance
580 description: "Baro calibration tolerance in cm. The default should allow the noisiest baro to complete calibration [cm]."
581 default_value: 150
582 field: baro_calibration_tolerance
583 min: 0
584 max: 1000
586 - name: PG_PITOTMETER_CONFIG
587 type: pitotmeterConfig_t
588 headers: ["sensors/pitotmeter.h"]
589 condition: USE_PITOT
590 members:
591 - name: pitot_hardware
592 description: "Selection of pitot hardware."
593 default_value: "NONE"
594 table: pitot_hardware
595 - name: pitot_lpf_milli_hz
596 min: 0
597 max: 10000
598 default_value: 350
599 - name: pitot_scale
600 min: 0
601 max: 100
602 default_value: 1.0
604 - name: PG_RX_CONFIG
605 type: rxConfig_t
606 headers: ["rx/rx.h", "rx/spektrum.h"]
607 members:
608 - name: receiver_type
609 description: "Selection of receiver (RX) type. Additional configuration of a `serialrx_provider` and a UART will be needed for `SERIAL`"
610 default_value: :target
611 field: receiverType
612 table: receiver_type
613 - name: min_check
614 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."
615 default_value: 1100
616 field: mincheck
617 min: PWM_RANGE_MIN
618 max: PWM_RANGE_MAX
619 - name: max_check
620 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."
621 default_value: 1900
622 field: maxcheck
623 min: PWM_RANGE_MIN
624 max: PWM_RANGE_MAX
625 - name: rssi_source
626 description: "Source of RSSI input. Possible values: `NONE`, `AUTO`, `ADC`, `CHANNEL`, `PROTOCOL`, `MSP`"
627 default_value: "AUTO"
628 field: rssi_source
629 table: rssi_source
630 - name: rssi_channel
631 description: "RX channel containing the RSSI signal"
632 default_value: 0
633 min: 0
634 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
635 - name: rssi_min
636 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)."
637 default_value: 0
638 field: rssiMin
639 min: RSSI_VISIBLE_VALUE_MIN
640 max: RSSI_VISIBLE_VALUE_MAX
641 - name: rssi_max
642 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."
643 default_value: 100
644 field: rssiMax
645 min: RSSI_VISIBLE_VALUE_MIN
646 max: RSSI_VISIBLE_VALUE_MAX
647 - name: sbus_sync_interval
648 field: sbusSyncInterval
649 min: 500
650 max: 10000
651 default_value: 3000
652 - name: rc_filter_lpf_hz
653 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"
654 default_value: 50
655 field: rcFilterFrequency
656 min: 15
657 max: 250
658 - name: rc_filter_auto
659 description: "When enabled, INAV will set RC filtering based on refresh rate and smoothing factor."
660 type: bool
661 default_value: OFF
662 field: autoSmooth
663 - name: rc_filter_smoothing_factor
664 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"
665 field: autoSmoothFactor
666 default_value: 30
667 min: 1
668 max: 100
669 - name: serialrx_provider
670 description: "When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section."
671 default_value: :target
672 condition: USE_SERIAL_RX
673 table: serial_rx
674 - name: serialrx_inverted
675 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)."
676 default_value: OFF
677 condition: USE_SERIAL_RX
678 type: bool
679 - name: spektrum_sat_bind
680 description: "0 = disabled. Used to bind the spektrum satellite to RX"
681 condition: USE_SPEKTRUM_BIND
682 min: SPEKTRUM_SAT_BIND_DISABLED
683 max: SPEKTRUM_SAT_BIND_MAX
684 default_value: :SPEKTRUM_SAT_BIND_DISABLED
685 - name: srxl2_unit_id
686 condition: USE_SERIALRX_SRXL2
687 min: 0
688 max: 15
689 default_value: 1
690 - name: srxl2_baud_fast
691 condition: USE_SERIALRX_SRXL2
692 type: bool
693 default_value: ON
694 - name: rx_min_usec
695 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."
696 default_value: 885
697 min: PWM_PULSE_MIN
698 max: PWM_PULSE_MAX
699 - name: rx_max_usec
700 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."
701 default_value: 2115
702 min: PWM_PULSE_MIN
703 max: PWM_PULSE_MAX
704 - name: serialrx_halfduplex
705 description: "Allow serial receiver to operate on UART TX pin. With some receivers will allow control and telemetry over a single wire."
706 default_value: "AUTO"
707 field: halfDuplex
708 table: tristate
709 - name: msp_override_channels
710 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."
711 default_value: 0
712 field: mspOverrideChannels
713 condition: USE_MSP_RC_OVERRIDE
714 min: 0
715 max: 65535
717 - name: PG_BLACKBOX_CONFIG
718 type: blackboxConfig_t
719 headers: ["blackbox/blackbox.h"]
720 condition: USE_BLACKBOX
721 members:
722 - name: blackbox_rate_num
723 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"
724 default_value: 1
725 field: rate_num
726 min: 1
727 max: 65535
728 - name: blackbox_rate_denom
729 description: "Blackbox logging rate denominator. See blackbox_rate_num."
730 default_value: 1
731 field: rate_denom
732 min: 1
733 max: 65535
734 - name: blackbox_device
735 description: "Selection of where to write blackbox data"
736 default_value: :target
737 field: device
738 table: blackbox_device
739 - name: sdcard_detect_inverted
740 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."
741 default_value: :target
742 field: invertedCardDetection
743 condition: USE_SDCARD
744 type: bool
746 - name: PG_MOTOR_CONFIG
747 type: motorConfig_t
748 headers: ["flight/mixer.h"]
749 members:
750 - name: max_throttle
751 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."
752 default_value: 1850
753 field: maxthrottle
754 min: PWM_RANGE_MIN
755 max: PWM_RANGE_MAX
756 - name: min_command
757 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."
758 default_value: 1000
759 field: mincommand
760 min: 0
761 max: PWM_RANGE_MAX
762 - name: motor_pwm_rate
763 description: "Output frequency (in Hz) for motor pins. Applies only to brushed motors. "
764 default_value: 16000
765 field: motorPwmRate
766 min: 50
767 max: 32000
768 - name: motor_pwm_protocol
769 description: "Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED"
770 default_value: "ONESHOT125"
771 field: motorPwmProtocol
772 table: motor_pwm_protocol
773 - name: motor_poles
774 field: motorPoleCount
775 description: "The number of motor poles. Required to compute motor RPM"
776 min: 4
777 max: 255
778 default_value: 14
780 - name: PG_FAILSAFE_CONFIG
781 type: failsafeConfig_t
782 headers: ["flight/failsafe.h"]
783 members:
784 - name: failsafe_delay
785 description: "Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay)."
786 default_value: 5
787 min: 0
788 max: 200
789 - name: failsafe_recovery_delay
790 description: "Time in deciseconds to wait before aborting failsafe when signal is recovered. See [Failsafe documentation](Failsafe.md#failsafe_recovery_delay)."
791 default_value: 5
792 min: 0
793 max: 200
794 - name: failsafe_off_delay
795 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)."
796 default_value: 200
797 min: 0
798 max: 200
799 - name: failsafe_throttle_low_delay
800 description: "If failsafe activated when throttle is low for this much time - bypass failsafe and disarm, in 10th of seconds. 0 = No timeout"
801 default_value: 0
802 min: 0
803 max: 300
804 - name: failsafe_procedure
805 description: "What failsafe procedure to initiate in Stage 2. See [Failsafe documentation](Failsafe.md#failsafe_throttle)."
806 default_value: "LAND"
807 table: failsafe_procedure
808 - name: failsafe_stick_threshold
809 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."
810 default_value: 50
811 field: failsafe_stick_motion_threshold
812 min: 0
813 max: 500
814 - name: failsafe_fw_roll_angle
815 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"
816 default_value: -200
817 min: -800
818 max: 800
819 - name: failsafe_fw_pitch_angle
820 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"
821 default_value: 100
822 min: -800
823 max: 800
824 - name: failsafe_fw_yaw_rate
825 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"
826 default_value: -45
827 min: -1000
828 max: 1000
829 - name: failsafe_min_distance
830 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."
831 default_value: 0
832 min: 0
833 max: 65000
834 - name: failsafe_min_distance_procedure
835 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)."
836 default_value: "DROP"
837 table: failsafe_procedure
838 - name: failsafe_mission_delay
839 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."
840 default_value: 0
841 min: -1
842 max: 600
844 - name: PG_LIGHTS_CONFIG
845 type: lightsConfig_t
846 headers: ["io/lights.h"]
847 condition: USE_LIGHTS
848 members:
849 - name: failsafe_lights
850 description: "Enable or disable the lights when the `FAILSAFE` flight mode is enabled. The target needs to be compiled with `USE_LIGHTS` [ON/OFF]."
851 default_value: ON
852 field: failsafe.enabled
853 type: bool
854 - name: failsafe_lights_flash_period
855 description: "Time in milliseconds between two flashes when `failsafe_lights` is ON and `FAILSAFE` flight mode is enabled [40-65535]."
856 default_value: 1000
857 field: failsafe.flash_period
858 min: 40
859 max: 65535
860 - name: failsafe_lights_flash_on_time
861 description: "Flash lights ON time in milliseconds when `failsafe_lights` is ON and `FAILSAFE` flight mode is enabled. [20-65535]."
862 default_value: 100
863 field: failsafe.flash_on_time
864 min: 20
865 max: 65535
867 - name: PG_BOARD_ALIGNMENT
868 type: boardAlignment_t
869 headers: ["sensors/boardalignment.h"]
870 members:
871 - name: align_board_roll
872 description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
873 default_value: :zero
874 field: rollDeciDegrees
875 min: -1800
876 max: 3600
877 - name: align_board_pitch
878 description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
879 default_value: :zero
880 field: pitchDeciDegrees
881 min: -1800
882 max: 3600
883 - name: align_board_yaw
884 description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
885 default_value: :zero
886 field: yawDeciDegrees
887 min: -1800
888 max: 3600
890 - name: PG_BATTERY_METERS_CONFIG
891 type: batteryMetersConfig_t
892 headers: ["sensors/battery_config_structs.h"]
893 members:
894 - name: vbat_meter_type
895 description: "Vbat voltage source. Possible values: `NONE`, `ADC`, `ESC`. `ESC` required ESC telemetry enebled and running"
896 condition: USE_ADC
897 default_value: ADC
898 field: voltage.type
899 table: voltage_sensor
900 type: uint8_t
901 - name: vbat_scale
902 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."
903 default_value: :target
904 field: voltage.scale
905 condition: USE_ADC
906 min: 0
907 max: 65535
908 - name: current_meter_scale
909 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."
910 default_value: :target
911 field: current.scale
912 min: -10000
913 max: 10000
914 - name: current_meter_offset
915 description: "This sets the output offset voltage of the current sensor in millivolts."
916 default_value: :target
917 field: current.offset
918 min: -32768
919 max: 32767
920 - name: current_meter_type
921 description: "ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position."
922 default_value: "ADC"
923 field: current.type
924 table: current_sensor
925 type: uint8_t
926 - name: bat_voltage_src
927 description: "Chose between raw and sag compensated battery voltage to use for battery alarms and telemetry. Possible values are `RAW` and `SAG_COMP`"
928 default_value: "RAW"
929 field: voltageSource
930 table: bat_voltage_source
931 type: uint8_t
932 - name: cruise_power
933 description: "Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit"
934 default_value: 0
935 field: cruise_power
936 min: 0
937 max: 4294967295
938 - name: idle_power
939 description: "Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit"
940 default_value: 0
941 field: idle_power
942 min: 0
943 max: 65535
944 - name: rth_energy_margin
945 description: "Energy margin wanted after getting home (percent of battery energy capacity). Use for the remaining flight time/distance calculation"
946 default_value: 5
947 min: 0
948 max: 100
949 - name: thr_comp_weight
950 description: "Weight used for the throttle compensation based on battery voltage. See the [battery documentation](Battery.md#automatic-throttle-compensation-based-on-battery-voltage)"
951 default_value: 1
952 field: throttle_compensation_weight
953 min: 0
954 max: 2
956 - name: PG_BATTERY_PROFILES
957 type: batteryProfile_t
958 headers: ["sensors/battery_config_structs.h"]
959 value_type: BATTERY_CONFIG_VALUE
960 members:
961 - name: bat_cells
962 description: "Number of cells of the battery (0 = auto-detect), see battery documentation. 7S, 9S and 11S batteries cannot be auto-detected."
963 default_value: 0
964 field: cells
965 condition: USE_ADC
966 min: 0
967 max: 12
968 - name: vbat_cell_detect_voltage
969 description: "Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units."
970 default_value: 425
971 field: voltage.cellDetect
972 condition: USE_ADC
973 min: 100
974 max: 500
975 - name: vbat_max_cell_voltage
976 description: "Maximum voltage per cell in 0.01V units, default is 4.20V"
977 default_value: 420
978 field: voltage.cellMax
979 condition: USE_ADC
980 min: 100
981 max: 500
982 - name: vbat_min_cell_voltage
983 description: "Minimum voltage per cell, this triggers battery out alarms, in 0.01V units, default is 330 (3.3V)"
984 default_value: 330
985 field: voltage.cellMin
986 condition: USE_ADC
987 min: 100
988 max: 500
989 - name: vbat_warning_cell_voltage
990 description: "Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V)"
991 default_value: 350
992 field: voltage.cellWarning
993 condition: USE_ADC
994 min: 100
995 max: 500
996 - name: battery_capacity
997 description: "Set the battery capacity in mAh or mWh (see `battery_capacity_unit`). Used to calculate the remaining battery capacity."
998 default_value: 0
999 field: capacity.value
1000 min: 0
1001 max: 4294967295
1002 - name: battery_capacity_warning
1003 description: "If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink."
1004 default_value: 0
1005 field: capacity.warning
1006 min: 0
1007 max: 4294967295
1008 - name: battery_capacity_critical
1009 description: "If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps."
1010 default_value: 0
1011 field: capacity.critical
1012 min: 0
1013 max: 4294967295
1014 - name: battery_capacity_unit
1015 description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)."
1016 default_value: "MAH"
1017 field: capacity.unit
1018 table: bat_capacity_unit
1019 type: uint8_t
1020 - name: controlrate_profile
1021 description: "Control rate profile to switch to when the battery profile is selected, 0 to disable and keep the currently selected control rate profile"
1022 default_value: 0
1023 field: controlRateProfile
1024 min: 0
1025 max: MAX_CONTROL_RATE_PROFILE_COUNT
1027 - name: throttle_scale
1028 description: "Throttle scaling factor. `1` means no throttle scaling. `0.5` means throttle scaled down by 50%"
1029 default_value: 1.0
1030 field: motor.throttleScale
1031 min: 0
1032 max: 1
1033 - name: throttle_idle
1034 description: "The percentage of the throttle range (`max_throttle` - `min_command`) above `min_command` used for minimum / idle throttle."
1035 default_value: 15
1036 field: motor.throttleIdle
1037 min: 0
1038 max: 30
1039 - name: turtle_mode_power_factor
1040 field: motor.turtleModePowerFactor
1041 default_value: 55
1042 description: "Turtle mode power factor"
1043 condition: USE_DSHOT
1044 min: 0
1045 max: 100
1046 - name: failsafe_throttle
1047 description: "Throttle level used for landing when failsafe is enabled. See [Failsafe documentation](Failsafe.md#failsafe_throttle)."
1048 default_value: 1000
1049 min: PWM_RANGE_MIN
1050 max: PWM_RANGE_MAX
1051 - name: nav_mc_hover_thr
1052 description: "Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering."
1053 default_value: 1500
1054 field: nav.mc.hover_throttle
1055 min: 1000
1056 max: 2000
1057 - name: nav_fw_cruise_thr
1058 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 )"
1059 default_value: 1400
1060 field: nav.fw.cruise_throttle
1061 min: 1000
1062 max: 2000
1063 - name: nav_fw_min_thr
1064 description: "Minimum throttle for flying wing in GPS assisted modes"
1065 default_value: 1200
1066 field: nav.fw.min_throttle
1067 min: 1000
1068 max: 2000
1069 - name: nav_fw_max_thr
1070 description: "Maximum throttle for flying wing in GPS assisted modes"
1071 default_value: 1700
1072 field: nav.fw.max_throttle
1073 min: 1000
1074 max: 2000
1075 - name: nav_fw_pitch2thr
1076 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)"
1077 default_value: 10
1078 field: nav.fw.pitch_to_throttle
1079 min: 0
1080 max: 100
1081 - name: nav_fw_launch_thr
1082 description: "Launch throttle - throttle to be set during launch sequence (pwm units)"
1083 default_value: 1700
1084 field: nav.fw.launch_throttle
1085 min: 1000
1086 max: 2000
1087 - name: nav_fw_launch_idle_thr
1088 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)"
1089 default_value: 1000
1090 field: nav.fw.launch_idle_throttle
1091 min: 1000
1092 max: 2000
1093 - name: limit_cont_current
1094 description: "Continous current limit (dA), set to 0 to disable"
1095 condition: USE_POWER_LIMITS
1096 default_value: 0
1097 field: powerLimits.continuousCurrent
1098 max: 4000
1099 - name: limit_burst_current
1100 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"
1101 condition: USE_POWER_LIMITS
1102 default_value: 0
1103 field: powerLimits.burstCurrent
1104 max: 4000
1105 - name: limit_burst_current_time
1106 description: "Allowed current burst time (ds) during which `limit_burst_current` is allowed and after which `limit_cont_current` will be enforced"
1107 condition: USE_POWER_LIMITS
1108 default_value: 0
1109 field: powerLimits.burstCurrentTime
1110 max: 3000
1111 - name: limit_burst_current_falldown_time
1112 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`"
1113 condition: USE_POWER_LIMITS
1114 default_value: 0
1115 field: powerLimits.burstCurrentFalldownTime
1116 max: 3000
1117 - name: limit_cont_power
1118 description: "Continous power limit (dW), set to 0 to disable"
1119 condition: USE_POWER_LIMITS && USE_ADC
1120 default_value: 0
1121 field: powerLimits.continuousPower
1122 max: 40000
1123 - name: limit_burst_power
1124 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"
1125 condition: USE_POWER_LIMITS && USE_ADC
1126 default_value: 0
1127 field: powerLimits.burstPower
1128 max: 40000
1129 - name: limit_burst_power_time
1130 description: "Allowed power burst time (ds) during which `limit_burst_power` is allowed and after which `limit_cont_power` will be enforced"
1131 condition: USE_POWER_LIMITS && USE_ADC
1132 default_value: 0
1133 field: powerLimits.burstPowerTime
1134 max: 3000
1135 - name: limit_burst_power_falldown_time
1136 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`"
1137 condition: USE_POWER_LIMITS && USE_ADC
1138 default_value: 0
1139 field: powerLimits.burstPowerFalldownTime
1140 max: 3000
1142 - name: PG_MIXER_CONFIG
1143 type: mixerConfig_t
1144 members:
1145 - name: motor_direction_inverted
1146 description: "Use if you need to inverse yaw motor direction."
1147 default_value: OFF
1148 field: 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: 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: 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: appliedMixerPreset
1165 min: -1
1166 max: INT16_MAX
1167 - name: output_mode
1168 description: "Output function assignment mode. AUTO assigns outputs according to the default mapping, SERVOS assigns all outputs to servos, MOTORS assigns all outputs to motors"
1169 default_value: "AUTO"
1170 field: outputMode
1171 table: output_mode
1173 - name: PG_REVERSIBLE_MOTORS_CONFIG
1174 type: reversibleMotorsConfig_t
1175 members:
1176 - name: 3d_deadband_low
1177 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)"
1178 default_value: 1406
1179 field: deadband_low
1180 min: PWM_RANGE_MIN
1181 max: PWM_RANGE_MAX
1182 - name: 3d_deadband_high
1183 description: "High value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead)"
1184 default_value: 1514
1185 field: deadband_high
1186 min: PWM_RANGE_MIN
1187 max: PWM_RANGE_MAX
1188 - name: 3d_neutral
1189 description: "Neutral (stop) throttle value for 3D mode"
1190 default_value: 1460
1191 field: neutral
1192 min: PWM_RANGE_MIN
1193 max: PWM_RANGE_MAX
1195 - name: PG_SERVO_CONFIG
1196 type: servoConfig_t
1197 headers: ["flight/servos.h"]
1198 members:
1199 - name: servo_protocol
1200 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)"
1201 default_value: "PWM"
1202 field: servo_protocol
1203 table: servo_protocol
1204 - name: servo_center_pulse
1205 description: "Servo midpoint"
1206 default_value: 1500
1207 field: servoCenterPulse
1208 min: PWM_RANGE_MIN
1209 max: PWM_RANGE_MAX
1210 - name: servo_pwm_rate
1211 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."
1212 default_value: 50
1213 field: servoPwmRate
1214 min: 50
1215 max: 498
1216 - name: servo_lpf_hz
1217 description: "Selects the servo PWM output cutoff frequency. Value is in [Hz]"
1218 default_value: 20
1219 field: servo_lowpass_freq
1220 min: 0
1221 max: 400
1222 - name: flaperon_throw_offset
1223 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."
1224 default_value: 200
1225 min: FLAPERON_THROW_MIN
1226 max: FLAPERON_THROW_MAX
1227 - name: tri_unarmed_servo
1228 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."
1229 default_value: ON
1230 type: bool
1231 - name: servo_autotrim_rotation_limit
1232 description: "Servo midpoints are only updated when total aircraft rotation is less than this threshold [deg/s]. Only applies when using `feature FW_AUTOTRIM`."
1233 default_value: 15
1234 min: 1
1235 max: 60
1237 - name: PG_CONTROL_RATE_PROFILES
1238 type: controlRateConfig_t
1239 headers: ["fc/controlrate_profile_config_struct.h"]
1240 value_type: CONTROL_RATE_VALUE
1241 members:
1242 - name: thr_mid
1243 description: "Throttle value when the stick is set to mid-position. Used in the throttle curve calculation."
1244 default_value: 50
1245 field: throttle.rcMid8
1246 min: 0
1247 max: 100
1248 - name: thr_expo
1249 description: "Throttle exposition value"
1250 default_value: 0
1251 field: throttle.rcExpo8
1252 min: 0
1253 max: 100
1254 - name: tpa_rate
1255 description: "Throttle PID attenuation reduces influence of P on ROLL and PITCH as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate."
1256 default_value: 0
1257 field: throttle.dynPID
1258 min: 0
1259 max: 100
1260 - name: tpa_breakpoint
1261 description: "See tpa_rate."
1262 default_value: 1500
1263 field: throttle.pa_breakpoint
1264 min: PWM_RANGE_MIN
1265 max: PWM_RANGE_MAX
1266 - name: fw_tpa_time_constant
1267 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."
1268 default_value: 1500
1269 field: throttle.fixedWingTauMs
1270 min: 0
1271 max: 5000
1272 - name: rc_expo
1273 description: "Exposition value used for the PITCH/ROLL axes by all the stabilized flights modes (all but `MANUAL`)"
1274 default_value: 70
1275 field: stabilized.rcExpo8
1276 min: 0
1277 max: 100
1278 - name: rc_yaw_expo
1279 description: "Exposition value used for the YAW axis by all the stabilized flights modes (all but `MANUAL`)"
1280 default_value: 20
1281 field: stabilized.rcYawExpo8
1282 min: 0
1283 max: 100
1284 # New rates are in dps/10. That means, Rate of 20 means 200dps of rotation speed on given axis.
1285 # Rate 180 (1800dps) is max. value gyro can measure reliably
1286 - name: roll_rate
1287 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."
1288 default_value: 20
1289 field: stabilized.rates[FD_ROLL]
1290 min: ROLL_PITCH_RATE_MIN
1291 max: ROLL_PITCH_RATE_MAX
1292 - name: pitch_rate
1293 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."
1294 default_value: 20
1295 field: stabilized.rates[FD_PITCH]
1296 min: ROLL_PITCH_RATE_MIN
1297 max: ROLL_PITCH_RATE_MAX
1298 - name: yaw_rate
1299 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."
1300 default_value: 20
1301 field: stabilized.rates[FD_YAW]
1302 min: 1
1303 max: 180
1304 - name: manual_rc_expo
1305 description: "Exposition value used for the PITCH/ROLL axes by the `MANUAL` flight mode [0-100]"
1306 default_value: 35
1307 field: manual.rcExpo8
1308 min: 0
1309 max: 100
1310 - name: manual_rc_yaw_expo
1311 description: "Exposition value used for the YAW axis by the `MANUAL` flight mode [0-100]"
1312 default_value: 20
1313 field: manual.rcYawExpo8
1314 min: 0
1315 max: 100
1316 - name: manual_roll_rate
1317 description: "Servo travel multiplier for the ROLL axis in `MANUAL` flight mode [0-100]%"
1318 default_value: 100
1319 field: manual.rates[FD_ROLL]
1320 min: MANUAL_RATE_MIN
1321 max: MANUAL_RATE_MAX
1322 - name: manual_pitch_rate
1323 description: "Servo travel multiplier for the PITCH axis in `MANUAL` flight mode [0-100]%"
1324 default_value: 100
1325 field: manual.rates[FD_PITCH]
1326 min: MANUAL_RATE_MIN
1327 max: MANUAL_RATE_MAX
1328 - name: manual_yaw_rate
1329 description: "Servo travel multiplier for the YAW axis in `MANUAL` flight mode [0-100]%"
1330 default_value: 100
1331 field: manual.rates[FD_YAW]
1332 min: MANUAL_RATE_MIN
1333 max: MANUAL_RATE_MAX
1334 - name: fpv_mix_degrees
1335 field: misc.fpvCamAngleDegrees
1336 min: 0
1337 max: 50
1338 default_value: 0
1339 - name: rate_dynamics_center_sensitivity
1340 field: rateDynamics.sensitivityCenter
1341 default_value: 100
1342 min: 25
1343 max: 175
1344 description: "The center stick sensitivity for Rate Dynamics"
1345 condition: USE_RATE_DYNAMICS
1346 - name: rate_dynamics_end_sensitivity
1347 field: rateDynamics.sensitivityEnd
1348 default_value: 100
1349 min: 25
1350 max: 175
1351 description: "The end stick sensitivity for Rate Dynamics"
1352 condition: USE_RATE_DYNAMICS
1353 - name: rate_dynamics_center_correction
1354 field: rateDynamics.correctionCenter
1355 default_value: 10
1356 min: 10
1357 max: 95
1358 description: "The center stick correction for Rate Dynamics"
1359 condition: USE_RATE_DYNAMICS
1360 - name: rate_dynamics_end_correction
1361 field: rateDynamics.correctionEnd
1362 default_value: 10
1363 min: 10
1364 max: 95
1365 description: "The end stick correction for Rate Dynamics"
1366 condition: USE_RATE_DYNAMICS
1367 - name: rate_dynamics_center_weight
1368 field: rateDynamics.weightCenter
1369 default_value: 0
1370 min: 0
1371 max: 95
1372 description: "The center stick weight for Rate Dynamics"
1373 condition: USE_RATE_DYNAMICS
1374 - name: rate_dynamics_end_weight
1375 field: rateDynamics.weightEnd
1376 default_value: 0
1377 min: 0
1378 max: 95
1379 description: "The end stick weight for Rate Dynamics"
1380 condition: USE_RATE_DYNAMICS
1382 - name: PG_SERIAL_CONFIG
1383 type: serialConfig_t
1384 headers: ["io/serial.h"]
1385 members:
1386 - name: reboot_character
1387 description: "Special character used to trigger reboot"
1388 default_value: 82
1389 min: 48
1390 max: 126
1392 - name: PG_IMU_CONFIG
1393 type: imuConfig_t
1394 headers: ["flight/imu.h"]
1395 members:
1396 - name: imu_dcm_kp
1397 description: "Inertial Measurement Unit KP Gain for accelerometer measurements"
1398 default_value: 2000
1399 field: dcm_kp_acc
1400 max: UINT16_MAX
1401 - name: imu_dcm_ki
1402 description: "Inertial Measurement Unit KI Gain for accelerometer measurements"
1403 default_value: 50
1404 field: dcm_ki_acc
1405 max: UINT16_MAX
1406 - name: imu_dcm_kp_mag
1407 description: "Inertial Measurement Unit KP Gain for compass measurements"
1408 default_value: 2000
1409 field: dcm_kp_mag
1410 max: UINT16_MAX
1411 - name: imu_dcm_ki_mag
1412 description: "Inertial Measurement Unit KI Gain for compass measurements"
1413 default_value: 50
1414 field: dcm_ki_mag
1415 max: UINT16_MAX
1416 - name: small_angle
1417 description: "If the aircraft tilt angle exceed this value the copter will refuse to arm."
1418 default_value: 25
1419 min: 0
1420 max: 180
1421 - name: imu_acc_ignore_rate
1422 description: "Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy"
1423 default_value: 15
1424 field: acc_ignore_rate
1425 min: 0
1426 max: 30
1427 - name: imu_acc_ignore_slope
1428 description: "Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)"
1429 default_value: 5
1430 field: acc_ignore_slope
1431 min: 0
1432 max: 10
1433 - name: imu_gps_yaw_windcomp
1434 description: "Wind compensation in heading estimation from gps groundcourse(fixed wing only)"
1435 default_value: ON
1436 field: gps_yaw_windcomp
1437 type: bool
1438 - name: imu_inertia_comp_method
1439 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"
1440 default_value: VELNED
1441 field: inertia_comp_method
1442 table: imu_inertia_comp_method
1444 - name: PG_ARMING_CONFIG
1445 type: armingConfig_t
1446 members:
1447 - name: fixed_wing_auto_arm
1448 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."
1449 default_value: OFF
1450 type: bool
1451 - name: disarm_kill_switch
1452 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."
1453 default_value: ON
1454 type: bool
1455 - name: switch_disarm_delay
1456 description: "Delay before disarming when requested by switch (ms) [0-1000]"
1457 default_value: 250
1458 field: switchDisarmDelayMs
1459 min: 0
1460 max: 1000
1461 - name: prearm_timeout
1462 description: "Duration (ms) for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout."
1463 default_value: 10000
1464 field: prearmTimeoutMs
1465 min: 0
1466 max: 10000
1468 - name: PG_GENERAL_SETTINGS
1469 headers: ["config/general_settings.h"]
1470 type: generalSettings_t
1471 members:
1472 - name: applied_defaults
1473 description: "Internal (configurator) hint. Should not be changed manually"
1474 default_value: 0
1475 field: appliedDefaults
1476 type: uint8_t
1477 min: 0
1478 max: 99
1480 - name: PG_RPM_FILTER_CONFIG
1481 headers: ["flight/rpm_filter.h"]
1482 condition: USE_RPM_FILTER
1483 type: rpmFilterConfig_t
1484 members:
1485 - name: rpm_gyro_filter_enabled
1486 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"
1487 default_value: OFF
1488 field: gyro_filter_enabled
1489 type: bool
1490 - name: rpm_gyro_harmonics
1491 description: "Number of harmonic frequences to be covered by gyro RPM filter. Default value of `1` usually works just fine"
1492 default_value: 1
1493 field: gyro_harmonics
1494 type: uint8_t
1495 min: 1
1496 max: 3
1497 - name: rpm_gyro_min_hz
1498 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`"
1499 default_value: 100
1500 field: gyro_min_hz
1501 type: uint8_t
1502 min: 30
1503 max: 200
1504 - name: rpm_gyro_q
1505 description: "Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting"
1506 default_value: 500
1507 field: gyro_q
1508 type: uint16_t
1509 min: 1
1510 max: 3000
1511 - name: PG_GPS_CONFIG
1512 type: gpsConfig_t
1513 condition: USE_GPS
1514 members:
1515 - name: gps_provider
1516 description: "Which GPS protocol to be used, note that UBLOX is 5Hz and UBLOX7 is 10Hz (M8N)."
1517 default_value: "UBLOX"
1518 field: provider
1519 table: gps_provider
1520 type: uint8_t
1521 - name: gps_sbas_mode
1522 description: "Which SBAS mode to be used"
1523 default_value: "NONE"
1524 field: sbasMode
1525 table: gps_sbas_mode
1526 type: uint8_t
1527 - name: gps_dyn_model
1528 description: "GPS navigation model: Pedestrian, Air_1g, Air_4g. Default is AIR_1G. Use pedestrian with caution, can cause flyaways with fast flying."
1529 default_value: "AIR_1G"
1530 field: dynModel
1531 table: gps_dyn_model
1532 type: uint8_t
1533 - name: gps_auto_config
1534 description: "Enable automatic configuration of UBlox GPS receivers."
1535 default_value: ON
1536 field: autoConfig
1537 type: bool
1538 - name: gps_auto_baud
1539 description: "Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS"
1540 default_value: ON
1541 field: autoBaud
1542 type: bool
1543 - name: gps_ublox_use_galileo
1544 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]."
1545 default_value: OFF
1546 field: ubloxUseGalileo
1547 type: bool
1548 - name: gps_min_sats
1549 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."
1550 default_value: 6
1551 field: gpsMinSats
1552 min: 5
1553 max: 10
1555 - name: PG_RC_CONTROLS_CONFIG
1556 type: rcControlsConfig_t
1557 headers: ["fc/rc_controls.h"]
1558 members:
1559 - name: deadband
1560 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."
1561 default_value: 5
1562 min: 0
1563 max: 32
1564 - name: yaw_deadband
1565 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."
1566 default_value: 5
1567 min: 0
1568 max: 100
1569 - name: pos_hold_deadband
1570 description: "Stick deadband in [r/c points], applied after r/c deadband and expo. Used for adjustments in navigation modes."
1571 default_value: 10
1572 min: 2
1573 max: 250
1574 - name: control_deadband
1575 description: "Stick deadband in [r/c points], applied after r/c deadband and expo. Used to check if sticks are centered."
1576 default_value: 10
1577 min: 2
1578 max: 250
1579 - name: alt_hold_deadband
1580 description: "Defines the deadband of throttle during alt_hold [r/c points]"
1581 default_value: 50
1582 min: 10
1583 max: 250
1584 - name: 3d_deadband_throttle
1585 description: "Throttle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter."
1586 default_value: 50
1587 field: mid_throttle_deadband
1588 min: 0
1589 max: 200
1590 - name: airmode_type
1591 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."
1592 default_value: "STICK_CENTER"
1593 field: airmodeHandlingType
1594 table: airmodeHandlingType
1595 - name: airmode_throttle_threshold
1596 description: "Defines airmode THROTTLE activation threshold when `airmode_type` **THROTTLE_THRESHOLD** is used"
1597 default_value: 1150
1598 field: airmodeThrottleThreshold
1599 min: 1000
1600 max: 2000
1602 - name: PG_PID_PROFILE
1603 type: pidProfile_t
1604 headers: ["flight/pid.h"]
1605 value_type: PROFILE_VALUE
1606 members:
1607 - name: mc_p_pitch
1608 description: "Multicopter rate stabilisation P-gain for PITCH"
1609 default_value: 40
1610 field: bank_mc.pid[PID_PITCH].P
1611 min: RPYL_PID_MIN
1612 max: RPYL_PID_MAX
1613 - name: mc_i_pitch
1614 description: "Multicopter rate stabilisation I-gain for PITCH"
1615 default_value: 30
1616 field: bank_mc.pid[PID_PITCH].I
1617 min: RPYL_PID_MIN
1618 max: RPYL_PID_MAX
1619 - name: mc_d_pitch
1620 description: "Multicopter rate stabilisation D-gain for PITCH"
1621 default_value: 23
1622 field: bank_mc.pid[PID_PITCH].D
1623 min: RPYL_PID_MIN
1624 max: RPYL_PID_MAX
1625 - name: mc_cd_pitch
1626 description: "Multicopter Control Derivative gain for PITCH"
1627 default_value: 60
1628 field: bank_mc.pid[PID_PITCH].FF
1629 min: RPYL_PID_MIN
1630 max: RPYL_PID_MAX
1631 - name: mc_p_roll
1632 description: "Multicopter rate stabilisation P-gain for ROLL"
1633 default_value: 40
1634 field: bank_mc.pid[PID_ROLL].P
1635 min: RPYL_PID_MIN
1636 max: RPYL_PID_MAX
1637 - name: mc_i_roll
1638 description: "Multicopter rate stabilisation I-gain for ROLL"
1639 default_value: 30
1640 field: bank_mc.pid[PID_ROLL].I
1641 min: RPYL_PID_MIN
1642 max: RPYL_PID_MAX
1643 - name: mc_d_roll
1644 description: "Multicopter rate stabilisation D-gain for ROLL"
1645 default_value: 23
1646 field: bank_mc.pid[PID_ROLL].D
1647 min: RPYL_PID_MIN
1648 max: RPYL_PID_MAX
1649 - name: mc_cd_roll
1650 description: "Multicopter Control Derivative gain for ROLL"
1651 default_value: 60
1652 field: bank_mc.pid[PID_ROLL].FF
1653 min: RPYL_PID_MIN
1654 max: RPYL_PID_MAX
1655 - name: mc_p_yaw
1656 description: "Multicopter rate stabilisation P-gain for YAW"
1657 default_value: 85
1658 field: bank_mc.pid[PID_YAW].P
1659 min: RPYL_PID_MIN
1660 max: RPYL_PID_MAX
1661 - name: mc_i_yaw
1662 description: "Multicopter rate stabilisation I-gain for YAW"
1663 default_value: 45
1664 field: bank_mc.pid[PID_YAW].I
1665 min: RPYL_PID_MIN
1666 max: RPYL_PID_MAX
1667 - name: mc_d_yaw
1668 description: "Multicopter rate stabilisation D-gain for YAW"
1669 default_value: 0
1670 field: bank_mc.pid[PID_YAW].D
1671 min: RPYL_PID_MIN
1672 max: RPYL_PID_MAX
1673 - name: mc_cd_yaw
1674 description: "Multicopter Control Derivative gain for YAW"
1675 default_value: 60
1676 field: bank_mc.pid[PID_YAW].FF
1677 min: RPYL_PID_MIN
1678 max: RPYL_PID_MAX
1679 - name: mc_p_level
1680 description: "Multicopter attitude stabilisation P-gain"
1681 default_value: 20
1682 field: bank_mc.pid[PID_LEVEL].P
1683 min: RPYL_PID_MIN
1684 max: RPYL_PID_MAX
1685 - name: mc_i_level
1686 description: "Multicopter attitude stabilisation low-pass filter cutoff"
1687 default_value: 15
1688 field: bank_mc.pid[PID_LEVEL].I
1689 min: RPYL_PID_MIN
1690 max: RPYL_PID_MAX
1691 - name: mc_d_level
1692 description: "Multicopter attitude stabilisation HORIZON transition point"
1693 default_value: 75
1694 field: bank_mc.pid[PID_LEVEL].D
1695 min: RPYL_PID_MIN
1696 max: RPYL_PID_MAX
1697 - name: fw_p_pitch
1698 description: "Fixed-wing rate stabilisation P-gain for PITCH"
1699 default_value: 5
1700 field: bank_fw.pid[PID_PITCH].P
1701 min: RPYL_PID_MIN
1702 max: RPYL_PID_MAX
1703 - name: fw_i_pitch
1704 description: "Fixed-wing rate stabilisation I-gain for PITCH"
1705 default_value: 7
1706 field: bank_fw.pid[PID_PITCH].I
1707 min: RPYL_PID_MIN
1708 max: RPYL_PID_MAX
1709 - name: fw_d_pitch
1710 description: "Fixed wing rate stabilisation D-gain for PITCH"
1711 default_value: 0
1712 field: bank_fw.pid[PID_PITCH].D
1713 min: RPYL_PID_MIN
1714 max: RPYL_PID_MAX
1715 - name: fw_ff_pitch
1716 description: "Fixed-wing rate stabilisation FF-gain for PITCH"
1717 default_value: 50
1718 field: bank_fw.pid[PID_PITCH].FF
1719 min: RPYL_PID_MIN
1720 max: RPYL_PID_MAX
1721 - name: fw_p_roll
1722 description: "Fixed-wing rate stabilisation P-gain for ROLL"
1723 default_value: 5
1724 field: bank_fw.pid[PID_ROLL].P
1725 min: RPYL_PID_MIN
1726 max: RPYL_PID_MAX
1727 - name: fw_i_roll
1728 description: "Fixed-wing rate stabilisation I-gain for ROLL"
1729 default_value: 7
1730 field: bank_fw.pid[PID_ROLL].I
1731 min: RPYL_PID_MIN
1732 max: RPYL_PID_MAX
1733 - name: fw_d_roll
1734 description: "Fixed wing rate stabilisation D-gain for ROLL"
1735 default_value: 0
1736 field: bank_fw.pid[PID_ROLL].D
1737 min: RPYL_PID_MIN
1738 max: RPYL_PID_MAX
1739 - name: fw_ff_roll
1740 description: "Fixed-wing rate stabilisation FF-gain for ROLL"
1741 default_value: 50
1742 field: bank_fw.pid[PID_ROLL].FF
1743 min: RPYL_PID_MIN
1744 max: RPYL_PID_MAX
1745 - name: fw_p_yaw
1746 description: "Fixed-wing rate stabilisation P-gain for YAW"
1747 default_value: 6
1748 field: bank_fw.pid[PID_YAW].P
1749 min: RPYL_PID_MIN
1750 max: RPYL_PID_MAX
1751 - name: fw_i_yaw
1752 description: "Fixed-wing rate stabilisation I-gain for YAW"
1753 default_value: 10
1754 field: bank_fw.pid[PID_YAW].I
1755 min: RPYL_PID_MIN
1756 max: RPYL_PID_MAX
1757 - name: fw_d_yaw
1758 description: "Fixed wing rate stabilisation D-gain for YAW"
1759 default_value: 0
1760 field: bank_fw.pid[PID_YAW].D
1761 min: RPYL_PID_MIN
1762 max: RPYL_PID_MAX
1763 - name: fw_ff_yaw
1764 description: "Fixed-wing rate stabilisation FF-gain for YAW"
1765 default_value: 60
1766 field: bank_fw.pid[PID_YAW].FF
1767 min: RPYL_PID_MIN
1768 max: RPYL_PID_MAX
1769 - name: fw_p_level
1770 description: "Fixed-wing attitude stabilisation P-gain"
1771 default_value: 20
1772 field: bank_fw.pid[PID_LEVEL].P
1773 min: RPYL_PID_MIN
1774 max: RPYL_PID_MAX
1775 - name: fw_i_level
1776 description: "Fixed-wing attitude stabilisation low-pass filter cutoff"
1777 default_value: 5
1778 field: bank_fw.pid[PID_LEVEL].I
1779 min: RPYL_PID_MIN
1780 max: RPYL_PID_MAX
1781 - name: fw_d_level
1782 description: "Fixed-wing attitude stabilisation HORIZON transition point"
1783 default_value: 75
1784 field: bank_fw.pid[PID_LEVEL].D
1785 min: RPYL_PID_MIN
1786 max: RPYL_PID_MAX
1787 - name: max_angle_inclination_rll
1788 description: "Maximum inclination in level (angle) mode (ROLL axis). 100=10°"
1789 default_value: 300
1790 field: max_angle_inclination[FD_ROLL]
1791 min: 100
1792 max: 900
1793 - name: max_angle_inclination_pit
1794 description: "Maximum inclination in level (angle) mode (PITCH axis). 100=10°"
1795 default_value: 300
1796 field: max_angle_inclination[FD_PITCH]
1797 min: 100
1798 max: 900
1799 - name: dterm_lpf_hz
1800 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"
1801 default_value: 110
1802 min: 0
1803 max: 500
1804 - name: dterm_lpf_type
1805 description: "Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`, `PT2`, `PT3`."
1806 default_value: "PT2"
1807 field: dterm_lpf_type
1808 table: filter_type_full
1809 - name: dterm_lpf2_hz
1810 description: "Cutoff frequency for stage 2 D-term low pass filter"
1811 default_value: 0
1812 min: 0
1813 max: 500
1814 - name: dterm_lpf2_type
1815 description: "Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`, `PT2`, `PT3`."
1816 default_value: "PT1"
1817 field: dterm_lpf2_type
1818 table: filter_type_full
1819 - name: yaw_lpf_hz
1820 description: "Yaw P term low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below)"
1821 default_value: 0
1822 min: 0
1823 max: 200
1824 - name: fw_iterm_throw_limit
1825 description: "Limits max/min I-term value in stabilization PID controller in case of Fixed Wing. It solves the problem of servo saturation before take-off/throwing the airplane into the air. By default, error accumulated in I-term can not exceed 1/3 of servo throw (around 165us). Set 0 to disable completely."
1826 default_value: 165
1827 field: fixedWingItermThrowLimit
1828 min: FW_ITERM_THROW_LIMIT_MIN
1829 max: FW_ITERM_THROW_LIMIT_MAX
1830 - name: fw_reference_airspeed
1831 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."
1832 default_value: 1500
1833 field: fixedWingReferenceAirspeed
1834 min: 300
1835 max: 6000
1836 - name: fw_turn_assist_yaw_gain
1837 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"
1838 default_value: 1
1839 field: fixedWingCoordinatedYawGain
1840 min: 0
1841 max: 2
1842 - name: fw_turn_assist_pitch_gain
1843 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"
1844 default_value: 1
1845 field: fixedWingCoordinatedPitchGain
1846 min: 0
1847 max: 2
1848 - name: fw_iterm_limit_stick_position
1849 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"
1850 default_value: 0.5
1851 field: fixedWingItermLimitOnStickPosition
1852 min: 0
1853 max: 1
1854 - name: fw_yaw_iterm_freeze_bank_angle
1855 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."
1856 default_value: 0
1857 field: fixedWingYawItermBankFreeze
1858 min: 0
1859 max: 90
1860 - name: pidsum_limit
1861 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"
1862 default_value: 500
1863 field: pidSumLimit
1864 min: PID_SUM_LIMIT_MIN
1865 max: PID_SUM_LIMIT_MAX
1866 - name: pidsum_limit_yaw
1867 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"
1868 default_value: 350
1869 field: pidSumLimitYaw
1870 min: PID_SUM_LIMIT_MIN
1871 max: PID_SUM_LIMIT_MAX
1872 - name: iterm_windup
1873 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)"
1874 default_value: 50
1875 field: itermWindupPointPercent
1876 min: 0
1877 max: 90
1878 - name: rate_accel_limit_roll_pitch
1879 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."
1880 default_value: 0
1881 field: axisAccelerationLimitRollPitch
1882 max: 500000
1883 - name: rate_accel_limit_yaw
1884 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."
1885 default_value: 10000
1886 field: axisAccelerationLimitYaw
1887 max: 500000
1888 - name: heading_hold_rate_limit
1889 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."
1890 min: HEADING_HOLD_RATE_LIMIT_MIN
1891 max: HEADING_HOLD_RATE_LIMIT_MAX
1892 default_value: 90
1893 - name: nav_mc_pos_z_p
1894 description: "P gain of altitude PID controller (Multirotor)"
1895 field: bank_mc.pid[PID_POS_Z].P
1896 min: 0
1897 max: 255
1898 default_value: 50
1899 - name: nav_mc_vel_z_p
1900 description: "P gain of velocity PID controller"
1901 field: bank_mc.pid[PID_VEL_Z].P
1902 min: 0
1903 max: 255
1904 default_value: 100
1905 - name: nav_mc_vel_z_i
1906 description: "I gain of velocity PID controller"
1907 field: bank_mc.pid[PID_VEL_Z].I
1908 min: 0
1909 max: 255
1910 default_value: 50
1911 - name: nav_mc_vel_z_d
1912 description: "D gain of velocity PID controller"
1913 field: bank_mc.pid[PID_VEL_Z].D
1914 min: 0
1915 max: 255
1916 default_value: 10
1917 - name: nav_mc_pos_xy_p
1918 description: "Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity"
1919 field: bank_mc.pid[PID_POS_XY].P
1920 min: 0
1921 max: 255
1922 default_value: 65
1923 - name: nav_mc_vel_xy_p
1924 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"
1925 field: bank_mc.pid[PID_VEL_XY].P
1926 min: 0
1927 max: 255
1928 default_value: 40
1929 - name: nav_mc_vel_xy_i
1930 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"
1931 field: bank_mc.pid[PID_VEL_XY].I
1932 min: 0
1933 max: 255
1934 default_value: 15
1935 - name: nav_mc_vel_xy_d
1936 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."
1937 field: bank_mc.pid[PID_VEL_XY].D
1938 min: 0
1939 max: 255
1940 default_value: 100
1941 - name: nav_mc_vel_xy_ff
1942 field: bank_mc.pid[PID_VEL_XY].FF
1943 min: 0
1944 max: 255
1945 default_value: 40
1946 - name: nav_mc_heading_p
1947 description: "P gain of Heading Hold controller (Multirotor)"
1948 default_value: 60
1949 field: bank_mc.pid[PID_HEADING].P
1950 min: 0
1951 max: 255
1952 - name: nav_mc_vel_xy_dterm_lpf_hz
1953 field: navVelXyDTermLpfHz
1954 min: 0
1955 max: 100
1956 default_value: 2
1957 - name: nav_mc_vel_xy_dterm_attenuation
1958 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."
1959 field: navVelXyDtermAttenuation
1960 min: 0
1961 max: 100
1962 default_value: 90
1963 - name: nav_mc_vel_xy_dterm_attenuation_start
1964 description: "A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins"
1965 default_value: 10
1966 field: navVelXyDtermAttenuationStart
1967 min: 0
1968 max: 100
1969 - name: nav_mc_vel_xy_dterm_attenuation_end
1970 description: "A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum"
1971 default_value: 60
1972 field: navVelXyDtermAttenuationEnd
1973 min: 0
1974 max: 100
1975 - name: nav_fw_pos_z_p
1976 description: "P gain of altitude PID controller (Fixedwing)"
1977 default_value: 40
1978 field: bank_fw.pid[PID_POS_Z].P
1979 min: 0
1980 max: 255
1981 - name: nav_fw_pos_z_i
1982 description: "I gain of altitude PID controller (Fixedwing)"
1983 default_value: 5
1984 field: bank_fw.pid[PID_POS_Z].I
1985 min: 0
1986 max: 255
1987 - name: nav_fw_pos_z_d
1988 description: "D gain of altitude PID controller (Fixedwing)"
1989 default_value: 10
1990 field: bank_fw.pid[PID_POS_Z].D
1991 min: 0
1992 max: 255
1993 - name: nav_fw_pos_xy_p
1994 description: "P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH"
1995 default_value: 75
1996 field: bank_fw.pid[PID_POS_XY].P
1997 min: 0
1998 max: 255
1999 - name: nav_fw_pos_xy_i
2000 description: "I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero"
2001 default_value: 5
2002 field: bank_fw.pid[PID_POS_XY].I
2003 min: 0
2004 max: 255
2005 - name: nav_fw_pos_xy_d
2006 description: "D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero"
2007 default_value: 8
2008 field: bank_fw.pid[PID_POS_XY].D
2009 min: 0
2010 max: 255
2011 - name: nav_fw_heading_p
2012 description: "P gain of Heading Hold controller (Fixedwing)"
2013 default_value: 60
2014 field: bank_fw.pid[PID_HEADING].P
2015 min: 0
2016 max: 255
2017 - name: nav_fw_pos_hdg_p
2018 description: "P gain of heading PID controller. (Fixedwing, rovers, boats)"
2019 default_value: 30
2020 field: bank_fw.pid[PID_POS_HEADING].P
2021 min: 0
2022 max: 255
2023 - name: nav_fw_pos_hdg_i
2024 description: "I gain of heading trajectory PID controller. (Fixedwing, rovers, boats)"
2025 default_value: 2
2026 field: bank_fw.pid[PID_POS_HEADING].I
2027 min: 0
2028 max: 255
2029 - name: nav_fw_pos_hdg_d
2030 description: "D gain of heading trajectory PID controller. (Fixedwing, rovers, boats)"
2031 default_value: 0
2032 field: bank_fw.pid[PID_POS_HEADING].D
2033 min: 0
2034 max: 255
2035 - name: nav_fw_pos_hdg_pidsum_limit
2036 description: "Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats)"
2037 default_value: 350
2038 field: navFwPosHdgPidsumLimit
2039 min: PID_SUM_LIMIT_MIN
2040 max: PID_SUM_LIMIT_MAX
2041 - name: mc_iterm_relax
2042 field: iterm_relax
2043 table: iterm_relax
2044 default_value: RP
2045 - name: mc_iterm_relax_cutoff
2046 field: iterm_relax_cutoff
2047 min: 1
2048 max: 100
2049 default_value: 15
2050 - name: d_boost_min
2051 field: dBoostMin
2052 condition: USE_D_BOOST
2053 min: 0
2054 max: 1
2055 default_value: 0.5
2056 - name: d_boost_max
2057 field: dBoostMax
2058 condition: USE_D_BOOST
2059 min: 1
2060 max: 3
2061 default_value: 1.25
2062 - name: d_boost_max_at_acceleration
2063 field: dBoostMaxAtAlleceleration
2064 condition: USE_D_BOOST
2065 min: 1000
2066 max: 16000
2067 default_value: 7500
2068 - name: d_boost_gyro_delta_lpf_hz
2069 field: dBoostGyroDeltaLpfHz
2070 condition: USE_D_BOOST
2071 min: 10
2072 max: 250
2073 default_value: 80
2074 - name: antigravity_gain
2075 description: "Max Antigravity gain. `1` means Antigravity is disabled, `2` means Iterm is allowed to double during rapid throttle movements"
2076 default_value: 1
2077 field: antigravityGain
2078 condition: USE_ANTIGRAVITY
2079 min: 1
2080 max: 20
2081 - name: antigravity_accelerator
2082 description: ""
2083 default_value: 1
2084 field: antigravityAccelerator
2085 condition: USE_ANTIGRAVITY
2086 min: 1
2087 max: 20
2088 - name: antigravity_cutoff_lpf_hz
2089 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"
2090 default_value: 15
2091 field: antigravityCutoff
2092 condition: USE_ANTIGRAVITY
2093 min: 1
2094 max: 30
2095 - name: pid_type
2096 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`"
2097 field: pidControllerType
2098 table: pidTypeTable
2099 default_value: AUTO
2100 - name: mc_cd_lpf_hz
2101 description: "Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky"
2102 default_value: 30
2103 field: controlDerivativeLpfHz
2104 min: 0
2105 max: 200
2106 - name: fw_level_pitch_trim
2107 description: "Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level"
2108 default_value: 0
2109 field: fixedWingLevelTrim
2110 min: -10
2111 max: 10
2112 - name: smith_predictor_strength
2113 description: "The strength factor of a Smith Predictor of PID measurement. In percents"
2114 default_value: 0.5
2115 field: smithPredictorStrength
2116 condition: USE_SMITH_PREDICTOR
2117 min: 0
2118 max: 1
2119 - name: smith_predictor_delay
2120 description: "Expected delay of the gyro signal. In milliseconds"
2121 default_value: 0
2122 field: smithPredictorDelay
2123 condition: USE_SMITH_PREDICTOR
2124 min: 0
2125 max: 8
2126 - name: smith_predictor_lpf_hz
2127 description: "Cutoff frequency for the Smith Predictor Low Pass Filter"
2128 default_value: 50
2129 field: smithPredictorFilterHz
2130 condition: USE_SMITH_PREDICTOR
2131 min: 1
2132 max: 500
2133 - name: fw_level_pitch_gain
2134 description: "I-gain for the pitch trim for self-leveling flight modes. Higher values means that AUTOTRIM will be faster but might introduce oscillations"
2135 default_value: 5
2136 field: fixedWingLevelTrimGain
2137 min: 0
2138 max: 20
2140 - name: PG_PID_AUTOTUNE_CONFIG
2141 type: pidAutotuneConfig_t
2142 condition: USE_AUTOTUNE_FIXED_WING
2143 members:
2144 - name: fw_autotune_min_stick
2145 description: "Minimum stick input [%], after applying deadband and expo, to start recording the plane's response to stick input."
2146 default_value: 50
2147 field: fw_min_stick
2148 min: 0
2149 max: 100
2150 - name: fw_autotune_rate_adjustment
2151 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."
2152 default_value: "AUTO"
2153 field: fw_rate_adjustment
2154 table: autotune_rate_adjustment
2155 type: uint8_t
2156 - name: fw_autotune_max_rate_deflection
2157 description: "The target percentage of maximum mixer output used for determining the rates in `AUTO` and `LIMIT`."
2158 default_value: 80
2159 field: fw_max_rate_deflection
2160 min: 50
2161 max: 100
2163 - name: PG_POSITION_ESTIMATION_CONFIG
2164 type: positionEstimationConfig_t
2165 members:
2166 - name: inav_auto_mag_decl
2167 description: "Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored."
2168 default_value: ON
2169 field: automatic_mag_declination
2170 type: bool
2171 - name: inav_gravity_cal_tolerance
2172 description: "Unarmed gravity calibration tolerance level. Won't finish the calibration until estimated gravity error falls below this value."
2173 default_value: 5
2174 field: gravity_calibration_tolerance
2175 min: 0
2176 max: 255
2177 - name: inav_use_gps_velned
2178 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."
2179 default_value: ON
2180 field: use_gps_velned
2181 type: bool
2182 - name: inav_use_gps_no_baro
2183 field: use_gps_no_baro
2184 type: bool
2185 default_value: OFF
2186 - name: inav_allow_dead_reckoning
2187 description: "Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation"
2188 default_value: OFF
2189 field: allow_dead_reckoning
2190 type: bool
2191 - name: inav_reset_altitude
2192 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)"
2193 default_value: "FIRST_ARM"
2194 field: reset_altitude_type
2195 table: reset_type
2196 - name: inav_reset_home
2197 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"
2198 default_value: "FIRST_ARM"
2199 field: reset_home_type
2200 table: reset_type
2201 - name: inav_max_surface_altitude
2202 description: "Max allowed altitude for surface following mode. [cm]"
2203 default_value: 200
2204 field: max_surface_altitude
2205 min: 0
2206 max: 1000
2207 - name: inav_w_z_surface_p
2208 field: w_z_surface_p
2209 min: 0
2210 max: 100
2211 default_value: 3.5
2212 - name: inav_w_z_surface_v
2213 field: w_z_surface_v
2214 min: 0
2215 max: 100
2216 default_value: 6.1
2217 - name: inav_w_xy_flow_p
2218 field: w_xy_flow_p
2219 min: 0
2220 max: 100
2221 default_value: 1.0
2222 - name: inav_w_xy_flow_v
2223 field: w_xy_flow_v
2224 min: 0
2225 max: 100
2226 default_value: 2.0
2227 - name: inav_w_z_baro_p
2228 description: "Weight of barometer measurements in estimated altitude and climb rate"
2229 field: w_z_baro_p
2230 min: 0
2231 max: 10
2232 default_value: 0.35
2233 - name: inav_w_z_gps_p
2234 description: "Weight of GPS altitude measurements in estimated altitude. Setting is used only of airplanes"
2235 field: w_z_gps_p
2236 min: 0
2237 max: 10
2238 default_value: 0.2
2239 - name: inav_w_z_gps_v
2240 description: "Weight of GPS climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. If GPS doesn't support native climb rate reporting (i.e. NMEA GPS) you may consider setting this to zero"
2241 field: w_z_gps_v
2242 min: 0
2243 max: 10
2244 default_value: 0.1
2245 - name: inav_w_xy_gps_p
2246 description: "Weight of GPS coordinates in estimated UAV position and speed."
2247 default_value: 1.0
2248 field: w_xy_gps_p
2249 min: 0
2250 max: 10
2251 - name: inav_w_xy_gps_v
2252 description: "Weight of GPS velocity data in estimated UAV speed"
2253 default_value: 2.0
2254 field: w_xy_gps_v
2255 min: 0
2256 max: 10
2257 - name: inav_w_z_res_v
2258 description: "Decay coefficient for estimated climb rate when baro/GPS reference for altitude is lost"
2259 default_value: 0.5
2260 field: w_z_res_v
2261 min: 0
2262 max: 10
2263 - name: inav_w_xy_res_v
2264 description: "Decay coefficient for estimated velocity when GPS reference for position is lost"
2265 default_value: 0.5
2266 field: w_xy_res_v
2267 min: 0
2268 max: 10
2269 - name: inav_w_xyz_acc_p
2270 field: w_xyz_acc_p
2271 min: 0
2272 max: 1
2273 default_value: 1.0
2274 - name: inav_w_acc_bias
2275 description: "Weight for accelerometer drift estimation"
2276 default_value: 0.01
2277 field: w_acc_bias
2278 min: 0
2279 max: 1
2280 - name: inav_max_eph_epv
2281 description: "Maximum uncertainty value until estimated position is considered valid and is used for navigation [cm]"
2282 default_value: 1000
2283 field: max_eph_epv
2284 min: 0
2285 max: 9999
2286 - name: inav_baro_epv
2287 description: "Uncertainty value for barometric sensor [cm]"
2288 default_value: 100
2289 field: baro_epv
2290 min: 0
2291 max: 9999
2293 - name: PG_NAV_CONFIG
2294 type: navConfig_t
2295 headers: ["navigation/navigation.h"]
2296 members:
2297 - name: nav_disarm_on_landing
2298 description: "If set to ON, INAV disarms the FC after landing"
2299 default_value: ON
2300 field: general.flags.disarm_on_landing
2301 type: bool
2302 - name: nav_land_detect_sensitivity
2303 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."
2304 default_value: 5
2305 field: general.land_detect_sensitivity
2306 min: 1
2307 max: 15
2308 - name: nav_use_midthr_for_althold
2309 description: "If set to OFF, the FC remembers your throttle stick position when enabling ALTHOLD and treats it as a neutral midpoint for holding altitude"
2310 default_value: OFF
2311 field: general.flags.use_thr_mid_for_althold
2312 type: bool
2313 - name: nav_extra_arming_safety
2314 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"
2315 default_value: "ON"
2316 field: general.flags.extra_arming_safety
2317 table: nav_extra_arming_safety
2318 - name: nav_user_control_mode
2319 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."
2320 default_value: "ATTI"
2321 field: general.flags.user_control_mode
2322 table: nav_user_control_mode
2323 - name: nav_position_timeout
2324 description: "If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable)"
2325 default_value: 5
2326 field: general.pos_failure_timeout
2327 min: 0
2328 max: 10
2329 - name: nav_wp_load_on_boot
2330 description: "If set to ON, waypoints will be automatically loaded from EEPROM to the FC during startup."
2331 default_value: OFF
2332 field: general.waypoint_load_on_boot
2333 type: bool
2334 - name: nav_wp_radius
2335 description: "Waypoint radius [cm]. Waypoint would be considered reached if machine is within this radius"
2336 default_value: 100
2337 field: general.waypoint_radius
2338 min: 10
2339 max: 10000
2340 - name: nav_wp_enforce_altitude
2341 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."
2342 default_value: 0
2343 field: general.waypoint_enforce_altitude
2344 min: 0
2345 max: 2000
2346 - name: nav_wp_max_safe_distance
2347 description: "First waypoint in the mission should be closer than this value [m]. A value of 0 disables this check."
2348 default_value: 100
2349 field: general.waypoint_safe_distance
2350 min: 0
2351 max: 1500
2352 - name: nav_wp_mission_restart
2353 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."
2354 default_value: "RESUME"
2355 field: general.flags.waypoint_mission_restart
2356 table: nav_wp_mission_restart
2357 - name: nav_wp_multi_mission_index
2358 description: "Index of active mission selected from multi mission WP entry loaded in flight controller. Limited to a maximum of 9 missions."
2359 default_value: 1
2360 field: general.waypoint_multi_mission_index
2361 condition: USE_MULTI_MISSION
2362 min: 1
2363 max: 9
2364 - name: nav_fw_wp_tracking_accuracy
2365 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."
2366 default_value: 0
2367 field: fw.wp_tracking_accuracy
2368 min: 0
2369 max: 10
2370 - name: nav_fw_wp_tracking_max_angle
2371 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."
2372 default_value: 60
2373 field: fw.wp_tracking_max_angle
2374 min: 30
2375 max: 80
2376 - name: nav_fw_wp_turn_smoothing
2377 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)."
2378 default_value: "OFF"
2379 field: fw.wp_turn_smoothing
2380 table: nav_fw_wp_turn_smoothing
2381 - name: nav_auto_speed
2382 description: "Speed in fully autonomous modes (RTH, WP) [cm/s]. Used for WP mode when no specific WP speed set. [Multirotor only]"
2383 default_value: 300
2384 field: general.auto_speed
2385 min: 10
2386 max: 2000
2387 - name: nav_max_auto_speed
2388 description: "Maximum speed allowed in fully autonomous modes (RTH, WP) [cm/s] [Multirotor only]"
2389 default_value: 1000
2390 field: general.max_auto_speed
2391 min: 10
2392 max: 2000
2393 - name: nav_auto_climb_rate
2394 description: "Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]"
2395 default_value: 500
2396 field: general.max_auto_climb_rate
2397 min: 10
2398 max: 2000
2399 - name: nav_manual_speed
2400 description: "Maximum speed allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]"
2401 default_value: 500
2402 field: general.max_manual_speed
2403 min: 10
2404 max: 2000
2405 - name: nav_manual_climb_rate
2406 description: "Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]"
2407 default_value: 200
2408 field: general.max_manual_climb_rate
2409 min: 10
2410 max: 2000
2411 - name: nav_land_minalt_vspd
2412 description: "Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s]"
2413 default_value: 50
2414 field: general.land_minalt_vspd
2415 min: 50
2416 max: 500
2417 - name: nav_land_maxalt_vspd
2418 description: "Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s]"
2419 default_value: 200
2420 field: general.land_maxalt_vspd
2421 min: 100
2422 max: 2000
2423 - name: nav_land_slowdown_minalt
2424 description: "Defines at what altitude the descent velocity should start to be `nav_land_minalt_vspd` [cm]"
2425 default_value: 500
2426 field: general.land_slowdown_minalt
2427 min: 50
2428 max: 1000
2429 - name: nav_land_slowdown_maxalt
2430 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]"
2431 default_value: 2000
2432 field: general.land_slowdown_maxalt
2433 min: 500
2434 max: 4000
2435 - name: nav_emerg_landing_speed
2436 description: "Rate of descent UAV will try to maintain when doing emergency descent sequence [cm/s]"
2437 default_value: 500
2438 field: general.emerg_descent_rate
2439 min: 100
2440 max: 2000
2441 - name: nav_min_rth_distance
2442 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."
2443 default_value: 500
2444 field: general.min_rth_distance
2445 min: 0
2446 max: 5000
2447 - name: nav_overrides_motor_stop
2448 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"
2449 default_value: "ALL_NAV"
2450 field: general.flags.nav_overrides_motor_stop
2451 table: nav_overrides_motor_stop
2452 - name: nav_fw_soaring_motor_stop
2453 description: "Stops motor when Soaring mode enabled."
2454 default_value: OFF
2455 field: general.flags.soaring_motor_stop
2456 type: bool
2457 - name: nav_fw_soaring_pitch_deadband
2458 description: "Pitch Angle deadband when soaring mode enabled (deg). Angle mode inactive within deadband allowing pitch to free float whilst soaring."
2459 default_value: 5
2460 field: fw.soaring_pitch_deadband
2461 min: 0
2462 max: 15
2463 - name: nav_rth_climb_first
2464 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)"
2465 default_value: "ON"
2466 field: general.flags.rth_climb_first
2467 table: nav_rth_climb_first
2468 - name: nav_rth_climb_first_stage_mode
2469 description: "This determines how rth_climb_first_stage_altitude is used. Default is AT_LEAST."
2470 default_value: "AT_LEAST"
2471 field: general.flags.rth_climb_first_stage_mode
2472 table: nav_rth_climb_first_stage_modes
2473 - name: nav_rth_climb_first_stage_altitude
2474 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."
2475 default_value: 0
2476 field: general.rth_climb_first_stage_altitude
2477 max: 65000
2478 - name: nav_rth_climb_ignore_emerg
2479 description: "If set to ON, aircraft will execute initial climb regardless of position sensor (GPS) status."
2480 default_value: OFF
2481 field: general.flags.rth_climb_ignore_emerg
2482 type: bool
2483 - name: nav_rth_tail_first
2484 description: "If set to ON drone will return tail-first. Obviously meaningless for airplanes."
2485 default_value: OFF
2486 field: general.flags.rth_tail_first
2487 type: bool
2488 - name: nav_rth_allow_landing
2489 description: "If set to ON drone will land as a last phase of RTH."
2490 default_value: "ALWAYS"
2491 field: general.flags.rth_allow_landing
2492 table: nav_rth_allow_landing
2493 - name: nav_rth_alt_mode
2494 description: "Configure how the aircraft will manage altitude on the way home, see Navigation modes on wiki for more details"
2495 default_value: "AT_LEAST"
2496 field: general.flags.rth_alt_control_mode
2497 table: nav_rth_alt_mode
2498 - name: nav_rth_alt_control_override
2499 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)"
2500 default_value: OFF
2501 field: general.flags.rth_alt_control_override
2502 type: bool
2503 - name: nav_rth_abort_threshold
2504 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]"
2505 default_value: 50000
2506 field: general.rth_abort_threshold
2507 max: 65000
2508 min: 0
2509 - name: nav_max_terrain_follow_alt
2510 field: general.max_terrain_follow_altitude
2511 default_value: "100"
2512 description: "Max allowed above the ground altitude for terrain following mode"
2513 max: 1000
2514 default_value: 100
2515 - name: nav_max_altitude
2516 field: general.max_altitude
2517 description: "Max allowed altitude (above Home Point) that applies to all NAV modes (including Altitude Hold). 0 means limit is disabled"
2518 default_value: 0
2519 max: 65000
2520 min: 0
2521 - name: nav_rth_altitude
2522 description: "Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters)"
2523 default_value: 1000
2524 field: general.rth_altitude
2525 max: 65000
2526 - name: nav_rth_home_altitude
2527 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]"
2528 default_value: 0
2529 field: general.rth_home_altitude
2530 max: 65000
2531 - name: nav_rth_trackback_mode
2532 description: "Useage modes for RTH Trackback. OFF = disabled, ON = Normal and Failsafe RTH, FS = Failsafe RTH only."
2533 default_value: "OFF"
2534 field: general.flags.rth_trackback_mode
2535 table: rth_trackback_mode
2536 - name: nav_rth_trackback_distance
2537 description: "Maximum distance allowed for RTH trackback. Normal RTH is executed once this distance is exceeded [m]."
2538 default_value: 500
2539 field: general.rth_trackback_distance
2540 max: 2000
2541 min: 50
2542 - name: safehome_max_distance
2543 description: "In order for a safehome to be used, it must be less than this distance (in cm) from the arming point."
2544 default_value: 20000
2545 field: general.safehome_max_distance
2546 min: 0
2547 max: 65000
2548 - name: safehome_usage_mode
2549 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."
2550 default_value: "RTH"
2551 field: general.flags.safehome_usage_mode
2552 table: safehome_usage_mode
2553 - name: nav_mission_planner_reset
2554 description: "With Reset ON WP Mission Planner waypoint count can be reset to 0 by toggling the mode switch ON-OFF-ON."
2555 default_value: ON
2556 field: general.flags.mission_planner_reset
2557 type: bool
2558 - name: nav_mc_bank_angle
2559 description: "Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude"
2560 default_value: 30
2561 field: mc.max_bank_angle
2562 min: 15
2563 max: 45
2564 - name: nav_auto_disarm_delay
2565 description: "Delay before craft disarms when `nav_disarm_on_landing` is set (ms)"
2566 default_value: 1000
2567 field: general.auto_disarm_delay
2568 min: 100
2569 max: 10000
2570 - name: nav_mc_braking_speed_threshold
2571 description: "min speed in cm/s above which braking can happen"
2572 default_value: 100
2573 field: mc.braking_speed_threshold
2574 condition: USE_MR_BRAKING_MODE
2575 min: 0
2576 max: 1000
2577 - name: nav_mc_braking_disengage_speed
2578 description: "braking is disabled when speed goes below this value"
2579 default_value: 75
2580 field: mc.braking_disengage_speed
2581 condition: USE_MR_BRAKING_MODE
2582 min: 0
2583 max: 1000
2584 - name: nav_mc_braking_timeout
2585 description: "timeout in ms for braking"
2586 default_value: 2000
2587 field: mc.braking_timeout
2588 condition: USE_MR_BRAKING_MODE
2589 min: 100
2590 max: 5000
2591 - name: nav_mc_braking_boost_factor
2592 description: "acceleration factor for BOOST phase"
2593 default_value: 100
2594 field: mc.braking_boost_factor
2595 condition: USE_MR_BRAKING_MODE
2596 min: 0
2597 max: 200
2598 - name: nav_mc_braking_boost_timeout
2599 description: "how long in ms BOOST phase can happen"
2600 default_value: 750
2601 field: mc.braking_boost_timeout
2602 condition: USE_MR_BRAKING_MODE
2603 min: 0
2604 max: 5000
2605 - name: nav_mc_braking_boost_speed_threshold
2606 description: "BOOST can be enabled when speed is above this value"
2607 default_value: 150
2608 field: mc.braking_boost_speed_threshold
2609 condition: USE_MR_BRAKING_MODE
2610 min: 100
2611 max: 1000
2612 - name: nav_mc_braking_boost_disengage_speed
2613 description: "BOOST will be disabled when speed goes below this value"
2614 default_value: 100
2615 field: mc.braking_boost_disengage_speed
2616 condition: USE_MR_BRAKING_MODE
2617 min: 0
2618 max: 1000
2619 - name: nav_mc_braking_bank_angle
2620 description: "max angle that MR is allowed to bank in BOOST mode"
2621 default_value: 40
2622 field: mc.braking_bank_angle
2623 condition: USE_MR_BRAKING_MODE
2624 min: 15
2625 max: 60
2626 - name: nav_mc_pos_deceleration_time
2627 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"
2628 default_value: 120
2629 field: mc.posDecelerationTime
2630 min: 0
2631 max: 255
2632 - name: nav_mc_pos_expo
2633 description: "Expo for PosHold control"
2634 default_value: 10
2635 field: mc.posResponseExpo
2636 min: 0
2637 max: 255
2638 - name: nav_mc_wp_slowdown
2639 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."
2640 default_value: ON
2641 field: mc.slowDownForTurning
2642 type: bool
2643 - name: nav_fw_bank_angle
2644 description: "Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll"
2645 default_value: 35
2646 field: fw.max_bank_angle
2647 min: 5
2648 max: 80
2649 - name: nav_fw_climb_angle
2650 description: "Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit"
2651 default_value: 20
2652 field: fw.max_climb_angle
2653 min: 5
2654 max: 80
2655 - name: nav_fw_dive_angle
2656 description: "Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit"
2657 default_value: 15
2658 field: fw.max_dive_angle
2659 min: 5
2660 max: 80
2661 - name: nav_fw_pitch2thr_smoothing
2662 description: "How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by pitch_to_throttle_thresh."
2663 default_value: 6
2664 field: fw.pitch_to_throttle_smooth
2665 min: 0
2666 max: 9
2667 - name: fw_min_throttle_down_pitch
2668 description: "Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle (decidegrees)"
2669 default_value: 0
2670 field: fw.minThrottleDownPitchAngle
2671 min: 0
2672 max: 450
2673 - name: nav_fw_pitch2thr_threshold
2674 description: "Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees]"
2675 default_value: 50
2676 field: fw.pitch_to_throttle_thresh
2677 min: 0
2678 max: 900
2679 - name: nav_fw_loiter_radius
2680 description: "PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]"
2681 default_value: 7500
2682 field: fw.loiter_radius
2683 min: 0
2684 max: 30000
2685 - name: fw_loiter_direction
2686 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."
2687 default_value: "RIGHT"
2688 field: fw.loiter_direction
2689 table: direction
2690 - name: nav_fw_cruise_speed
2691 description: "Speed for the plane/wing at cruise throttle used for remaining flight time/distance estimation in cm/s"
2692 default_value: 0
2693 field: fw.cruise_speed
2694 min: 0
2695 max: 65535
2696 - name: nav_fw_control_smoothness
2697 description: "How smoothly the autopilot controls the airplane to correct the navigation error"
2698 default_value: 0
2699 field: fw.control_smoothness
2700 min: 0
2701 max: 9
2703 - name: nav_fw_land_dive_angle
2704 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"
2705 default_value: 2
2706 field: fw.land_dive_angle
2707 condition: NAV_FIXED_WING_LANDING
2708 min: -20
2709 max: 20
2711 - name: nav_fw_launch_velocity
2712 description: "Forward velocity threshold for swing-launch detection [cm/s]"
2713 default_value: 300
2714 field: fw.launch_velocity_thresh
2715 min: 100
2716 max: 10000
2717 - name: nav_fw_launch_accel
2718 description: "Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s"
2719 default_value: 1863
2720 field: fw.launch_accel_thresh
2721 min: 1000
2722 max: 20000
2723 - name: nav_fw_launch_max_angle
2724 description: "Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]"
2725 default_value: 45
2726 field: fw.launch_max_angle
2727 min: 5
2728 max: 180
2729 - name: nav_fw_launch_detect_time
2730 description: "Time for which thresholds have to breached to consider launch happened [ms]"
2731 default_value: 40
2732 field: fw.launch_time_thresh
2733 min: 10
2734 max: 1000
2735 - name: nav_fw_launch_idle_motor_delay
2736 description: "Delay between raising throttle and motor starting at idle throttle (ms)"
2737 default_value: 0
2738 field: fw.launch_idle_motor_timer
2739 min: 0
2740 max: 60000
2741 - name: nav_fw_launch_motor_delay
2742 description: "Delay between detected launch and launch sequence start and throttling up (ms)"
2743 default_value: 500
2744 field: fw.launch_motor_timer
2745 min: 0
2746 max: 5000
2747 - name: nav_fw_launch_spinup_time
2748 description: "Time to bring power from minimum throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller"
2749 default_value: 100
2750 field: fw.launch_motor_spinup_time
2751 min: 0
2752 max: 1000
2753 - name: nav_fw_launch_end_time
2754 description: "Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]"
2755 default_value: 3000
2756 field: fw.launch_end_time
2757 min: 0
2758 max: 5000
2759 - name: nav_fw_launch_min_time
2760 description: "Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]."
2761 default_value: 0
2762 field: fw.launch_min_time
2763 min: 0
2764 max: 60000
2765 - name: nav_fw_launch_timeout
2766 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)"
2767 default_value: 5000
2768 field: fw.launch_timeout
2769 max: 60000
2770 - name: nav_fw_launch_max_altitude
2771 description: "Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]."
2772 default_value: 0
2773 field: fw.launch_max_altitude
2774 min: 0
2775 max: 60000
2776 - name: nav_fw_launch_climb_angle
2777 description: "Climb angle (attitude of model, not climb slope) for launch sequence (degrees), is also restrained by global max_angle_inclination_pit"
2778 default_value: 18
2779 field: fw.launch_climb_angle
2780 min: 5
2781 max: 45
2782 - name: nav_fw_launch_manual_throttle
2783 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)."
2784 default_value: OFF
2785 field: fw.launch_manual_throttle
2786 type: bool
2787 - name: nav_fw_launch_abort_deadband
2788 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."
2789 default_value: 100
2790 field: fw.launch_abort_deadband
2791 min: 2
2792 max: 250
2793 - name: nav_fw_cruise_yaw_rate
2794 description: "Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps]"
2795 default_value: 20
2796 field: fw.cruise_yaw_rate
2797 min: 0
2798 max: 60
2799 - name: nav_fw_allow_manual_thr_increase
2800 description: "Enable the possibility to manually increase the throttle in auto throttle controlled modes for fixed wing"
2801 default_value: OFF
2802 field: fw.allow_manual_thr_increase
2803 type: bool
2804 - name: nav_use_fw_yaw_control
2805 description: "Enables or Disables the use of the heading PID controller on fixed wing. Heading PID controller is always enabled for rovers and boats"
2806 default_value: OFF
2807 field: fw.useFwNavYawControl
2808 type: bool
2809 - name: nav_fw_yaw_deadband
2810 description: "Deadband for heading trajectory PID controller. When heading error is below the deadband, controller assumes that vehicle is on course"
2811 default_value: 0
2812 field: fw.yawControlDeadband
2813 min: 0
2814 max: 90
2816 - name: PG_TELEMETRY_CONFIG
2817 type: telemetryConfig_t
2818 headers: ["io/serial.h", "telemetry/telemetry.h", "telemetry/frsky_d.h", "telemetry/sim.h"]
2819 condition: USE_TELEMETRY
2820 members:
2821 - name: telemetry_switch
2822 description: "Which aux channel to use to change serial output & baud rate (MSP / Telemetry). It disables automatic switching to Telemetry when armed."
2823 default_value: OFF
2824 type: bool
2825 - name: telemetry_inverted
2826 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."
2827 default_value: OFF
2828 type: bool
2829 - name: frsky_default_latitude
2830 description: "D-Series telemetry only: OpenTX needs a valid set of coordinates to show compass value. A fake value defined in this setting is sent while no fix is acquired."
2831 default_value: 0
2832 field: gpsNoFixLatitude
2833 min: -90
2834 max: 90
2835 - name: frsky_default_longitude
2836 description: "D-Series telemetry only: OpenTX needs a valid set of coordinates to show compass value. A fake value defined in this setting is sent while no fix is acquired."
2837 default_value: 0
2838 field: gpsNoFixLongitude
2839 min: -180
2840 max: 180
2841 - name: frsky_coordinates_format
2842 description: "D-Series telemetry only: FRSKY_FORMAT_DMS (default), FRSKY_FORMAT_NMEA"
2843 default_value: 0
2844 field: frsky_coordinate_format
2845 min: 0
2846 max: FRSKY_FORMAT_NMEA
2847 type: uint8_t # TODO: This seems to use an enum, we should use table:
2848 - name: frsky_unit
2849 description: "Not used? [METRIC/IMPERIAL]"
2850 default_value: "METRIC"
2851 table: frsky_unit
2852 type: uint8_t
2853 - name: frsky_vfas_precision
2854 description: "D-Series telemetry only: Set to 1 to send raw VBat value in 0.1V resolution for receivers that can handle it, or 0 (default) to use the standard method"
2855 default_value: 0
2856 min: FRSKY_VFAS_PRECISION_LOW
2857 max: FRSKY_VFAS_PRECISION_HIGH
2858 - name: frsky_pitch_roll
2859 description: "S.Port and D-Series telemetry: Send pitch and roll degrees*10 instead of raw accelerometer data"
2860 default_value: OFF
2861 type: bool
2862 - name: report_cell_voltage
2863 description: "S.Port, D-Series, and IBUS telemetry: Send the average cell voltage if set to ON"
2864 default_value: OFF
2865 type: bool
2866 - name: hott_alarm_sound_interval
2867 description: "Battery alarm delay in seconds for Hott telemetry"
2868 default_value: 5
2869 field: hottAlarmSoundInterval
2870 min: 0
2871 max: 120
2872 - name: telemetry_halfduplex
2873 description: "S.Port telemetry only: Turn UART into UNIDIR for usage on F1 and F4 target. See Telemetry.md for details"
2874 default_value: ON
2875 field: halfDuplex
2876 type: bool
2877 - name: smartport_fuel_unit
2878 description: "S.Port telemetry only: Unit of the value sent with the `FUEL` ID (FrSky D-Series always sends percent). [PERCENT/MAH/MWH]"
2879 default_value: "MAH"
2880 field: smartportFuelUnit
2881 condition: USE_TELEMETRY_SMARTPORT
2882 type: uint8_t
2883 table: smartport_fuel_unit
2884 - name: ibus_telemetry_type
2885 description: "Type compatibility ibus telemetry for transmitters. See Telemetry.md label IBUS for details."
2886 default_value: 0
2887 field: ibusTelemetryType
2888 min: 0
2889 max: 255
2890 - name: ltm_update_rate
2891 description: "Defines the LTM update rate (use of bandwidth [NORMAL/MEDIUM/SLOW]). See Telemetry.md, LTM section for details."
2892 default_value: "NORMAL"
2893 field: ltmUpdateRate
2894 condition: USE_TELEMETRY_LTM
2895 table: ltm_rates
2896 - name: sim_ground_station_number
2897 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."
2898 default_value: ""
2899 field: simGroundStationNumber
2900 condition: USE_TELEMETRY_SIM
2901 - name: sim_pin
2902 description: "PIN code for the SIM module"
2903 default_value: "0000"
2904 field: simPin
2905 condition: USE_TELEMETRY_SIM
2906 - name: sim_transmit_interval
2907 description: "Text message transmission interval in seconds for SIM module. Minimum value: 10"
2908 default_value: 60
2909 field: simTransmitInterval
2910 condition: USE_TELEMETRY_SIM
2911 type: uint16_t
2912 min: SIM_MIN_TRANSMIT_INTERVAL
2913 max: 65535
2914 - name: sim_transmit_flags
2915 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`"
2916 default_value: :SIM_TX_FLAG_FAILSAFE
2917 field: simTransmitFlags
2918 condition: USE_TELEMETRY_SIM
2919 max: 63
2920 - name: acc_event_threshold_high
2921 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."
2922 default_value: 0
2923 field: accEventThresholdHigh
2924 condition: USE_TELEMETRY_SIM
2925 type: uint16_t
2926 min: 0
2927 max: 65535
2928 - name: acc_event_threshold_low
2929 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."
2930 default_value: 0
2931 field: accEventThresholdLow
2932 condition: USE_TELEMETRY_SIM
2933 type: uint16_t
2934 min: 0
2935 max: 900
2936 - name: acc_event_threshold_neg_x
2937 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."
2938 default_value: 0
2939 field: accEventThresholdNegX
2940 condition: USE_TELEMETRY_SIM
2941 type: uint16_t
2942 min: 0
2943 max: 65535
2944 - name: sim_low_altitude
2945 description: "Threshold for low altitude warning messages sent by SIM module when the 'L' transmit flag is set in `sim_transmit_flags`."
2946 default_value: -32767
2947 field: simLowAltitude
2948 condition: USE_TELEMETRY_SIM
2949 type: int16_t
2950 min: INT16_MIN
2951 max: INT16_MAX
2952 - name: mavlink_ext_status_rate
2953 field: mavlink.extended_status_rate
2954 type: uint8_t
2955 min: 0
2956 max: 255
2957 default_value: 2
2958 - name: mavlink_rc_chan_rate
2959 field: mavlink.rc_channels_rate
2960 type: uint8_t
2961 min: 0
2962 max: 255
2963 default_value: 5
2964 - name: mavlink_pos_rate
2965 field: mavlink.position_rate
2966 type: uint8_t
2967 min: 0
2968 max: 255
2969 default_value: 2
2970 - name: mavlink_extra1_rate
2971 field: mavlink.extra1_rate
2972 type: uint8_t
2973 min: 0
2974 max: 255
2975 default_value: 10
2976 - name: mavlink_extra2_rate
2977 field: mavlink.extra2_rate
2978 type: uint8_t
2979 min: 0
2980 max: 255
2981 default_value: 2
2982 - name: mavlink_extra3_rate
2983 field: mavlink.extra3_rate
2984 type: uint8_t
2985 min: 0
2986 max: 255
2987 default_value: 1
2988 - name: mavlink_version
2989 field: mavlink.version
2990 description: "Version of MAVLink to use"
2991 type: uint8_t
2992 min: 1
2993 max: 2
2994 default_value: 2
2996 - name: PG_LED_STRIP_CONFIG
2997 type: ledStripConfig_t
2998 headers: ["common/color.h", "io/ledstrip.h"]
2999 condition: USE_LED_STRIP
3000 members:
3001 - name: ledstrip_visual_beeper
3002 description: ""
3003 default_value: OFF
3004 type: bool
3006 - name: PG_OSD_CONFIG
3007 type: osdConfig_t
3008 headers: ["io/osd.h", "drivers/osd.h"]
3009 condition: USE_OSD
3010 members:
3011 - name: osd_telemetry
3012 description: "To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST`"
3013 table: osd_telemetry
3014 field: telemetry
3015 type: uint8_t
3016 default_value: "OFF"
3017 - name: osd_video_system
3018 description: "Video system used. Possible values are `AUTO`, `PAL`, `NTSC`, `HDZERO`, 'DJIWTF', 'AVATAR' and `BF43COMPAT`"
3019 default_value: "AUTO"
3020 table: osd_video_system
3021 field: video_system
3022 type: uint8_t
3023 - name: osd_row_shiftdown
3024 description: "Number of rows to shift the OSD display (increase if top rows are cut off)"
3025 default_value: 0
3026 field: row_shiftdown
3027 min: 0
3028 max: 1
3029 - name: osd_msp_displayport_fullframe_interval
3030 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)"
3031 default_value: 10
3032 min: -1
3033 max: 600
3034 type: int16_t
3035 field: msp_displayport_fullframe_interval
3036 - name: osd_units
3037 description: "IMPERIAL, METRIC, UK"
3038 default_value: "METRIC"
3039 field: units
3040 table: osd_unit
3041 type: uint8_t
3042 - name: osd_stats_energy_unit
3043 description: "Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour)"
3044 default_value: "MAH"
3045 field: stats_energy_unit
3046 table: osd_stats_energy_unit
3047 type: uint8_t
3048 - name: osd_stats_min_voltage_unit
3049 description: "Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats."
3050 default_value: "BATTERY"
3051 field: stats_min_voltage_unit
3052 table: osd_stats_min_voltage_unit
3053 type: uint8_t
3054 - name: osd_stats_page_auto_swap_time
3055 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."
3056 default_value: 3
3057 field: stats_page_auto_swap_time
3058 min: 0
3059 max: 10
3060 - name: osd_rssi_alarm
3061 description: "Value below which to make the OSD RSSI indicator blink"
3062 default_value: 20
3063 field: rssi_alarm
3064 min: 0
3065 max: 100
3066 - name: osd_time_alarm
3067 description: "Value above which to make the OSD flight time indicator blink (minutes)"
3068 default_value: 10
3069 field: time_alarm
3070 min: 0
3071 max: 600
3072 - name: osd_alt_alarm
3073 description: "Value above which to make the OSD relative altitude indicator blink (meters)"
3074 default_value: 100
3075 field: alt_alarm
3076 min: 0
3077 max: 10000
3078 - name: osd_dist_alarm
3079 description: "Value above which to make the OSD distance from home indicator blink (meters)"
3080 default_value: 1000
3081 field: dist_alarm
3082 min: 0
3083 max: 50000
3084 - name: osd_neg_alt_alarm
3085 description: "Value below which (negative altitude) to make the OSD relative altitude indicator blink (meters)"
3086 default_value: 5
3087 field: neg_alt_alarm
3088 min: 0
3089 max: 10000
3090 - name: osd_current_alarm
3091 description: "Value above which the OSD current consumption element will start blinking. Measured in full Amperes."
3092 default_value: 0
3093 field: current_alarm
3094 min: 0
3095 max: 255
3096 - name: osd_gforce_alarm
3097 description: "Value above which the OSD g force indicator will blink (g)"
3098 default_value: 5
3099 field: gforce_alarm
3100 min: 0
3101 max: 20
3102 - name: osd_gforce_axis_alarm_min
3103 description: "Value under which the OSD axis g force indicators will blink (g)"
3104 default_value: -5
3105 field: gforce_axis_alarm_min
3106 min: -20
3107 max: 20
3108 - name: osd_gforce_axis_alarm_max
3109 description: "Value above which the OSD axis g force indicators will blink (g)"
3110 default_value: 5
3111 field: gforce_axis_alarm_max
3112 min: -20
3113 max: 20
3114 - name: osd_imu_temp_alarm_min
3115 description: "Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3116 default_value: -200
3117 field: imu_temp_alarm_min
3118 min: -550
3119 max: 1250
3120 - name: osd_imu_temp_alarm_max
3121 description: "Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3122 default_value: 600
3123 field: imu_temp_alarm_max
3124 min: -550
3125 max: 1250
3126 - name: osd_esc_temp_alarm_max
3127 description: "Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3128 default_value: 900
3129 field: esc_temp_alarm_max
3130 min: -550
3131 max: 1500
3132 - name: osd_esc_temp_alarm_min
3133 description: "Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3134 default_value: -200
3135 field: esc_temp_alarm_min
3136 min: -550
3137 max: 1500
3138 - name: osd_baro_temp_alarm_min
3139 description: "Temperature under which the baro temperature OSD element will start blinking (decidegrees centigrade)"
3140 default_value: -200
3141 field: baro_temp_alarm_min
3142 condition: USE_BARO
3143 min: -550
3144 max: 1250
3145 - name: osd_baro_temp_alarm_max
3146 description: "Temperature above which the baro temperature OSD element will start blinking (decidegrees centigrade)"
3147 default_value: 600
3148 field: baro_temp_alarm_max
3149 condition: USE_BARO
3150 min: -550
3151 max: 1250
3152 - name: osd_snr_alarm
3153 condition: USE_SERIALRX_CRSF
3154 description: "Value below which Crossfire SNR Alarm pops-up. (dB)"
3155 default_value: 4
3156 field: snr_alarm
3157 min: -20
3158 max: 10
3159 - name: osd_link_quality_alarm
3160 condition: USE_SERIALRX_CRSF
3161 description: "LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50%"
3162 default_value: 70
3163 field: link_quality_alarm
3164 min: 0
3165 max: 100
3166 - name: osd_rssi_dbm_alarm
3167 condition: USE_SERIALRX_CRSF
3168 description: "RSSI dBm indicator blinks below this value [dBm]. 0 disables this alarm"
3169 default_value: 0
3170 field: rssi_dbm_alarm
3171 min: -130
3172 max: 0
3173 - name: osd_rssi_dbm_max
3174 condition: USE_SERIALRX_CRSF
3175 description: "RSSI dBm upper end of curve. Perfect rssi (max) = 100%"
3176 default_value: -30
3177 field: rssi_dbm_max
3178 min: -50
3179 max: 0
3180 - name: osd_rssi_dbm_min
3181 condition: USE_SERIALRX_CRSF
3182 description: "RSSI dBm lower end of curve or RX sensitivity level. Worst rssi (min) = 0%"
3183 default_value: -120
3184 field: rssi_dbm_min
3185 min: -130
3186 max: 0
3187 - name: osd_temp_label_align
3188 description: "Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are `LEFT` and `RIGHT`"
3189 default_value: "LEFT"
3190 field: temp_label_align
3191 condition: USE_TEMPERATURE_SENSOR
3192 table: osd_alignment
3193 type: uint8_t
3194 - name: osd_airspeed_alarm_min
3195 condition: USE_PITOT
3196 description: "Airspeed under which the airspeed OSD element will start blinking (cm/s)"
3197 default_value: 0
3198 field: airspeed_alarm_min
3199 min: 0
3200 max: 27000 # (1000km/h * 1000 * 100 / 60 / 60)
3201 - name: osd_airspeed_alarm_max
3202 condition: USE_PITOT
3203 description: "Airspeed above which the airspeed OSD element will start blinking (cm/s)"
3204 default_value: 0
3205 field: airspeed_alarm_max
3206 min: 0
3207 max: 27000 # (1000km/h * 1000 * 100 / 60 / 60)
3208 - name: osd_ahi_reverse_roll
3209 description: "Switches the artificial horizon in the OSD to instead be a bank indicator, by reversing the direction of its movement."
3210 field: ahi_reverse_roll
3211 type: bool
3212 default_value: OFF
3213 - name: osd_ahi_max_pitch
3214 description: "Max pitch, in degrees, for OSD artificial horizon"
3215 default_value: 20
3216 field: ahi_max_pitch
3217 min: 10
3218 max: 90
3219 default_value: 20
3220 - name: osd_crosshairs_style
3221 description: "To set the visual type for the crosshair"
3222 default_value: "DEFAULT"
3223 field: crosshairs_style
3224 table: osd_crosshairs_style
3225 type: uint8_t
3226 - name: osd_crsf_lq_format
3227 description: "To select LQ format"
3228 default_value: "TYPE1"
3229 field: crsf_lq_format
3230 table: osd_crsf_lq_format
3231 type: uint8_t
3232 - name: osd_horizon_offset
3233 description: "To vertically adjust the whole OSD and AHI and scrolling bars"
3234 default_value: 0
3235 field: horizon_offset
3236 min: -2
3237 max: 2
3238 - name: osd_camera_uptilt
3239 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)."
3240 default_value: 0
3241 field: camera_uptilt
3242 min: -40
3243 max: 80
3244 - name: osd_ahi_camera_uptilt_comp
3245 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)."
3246 default_value: OFF
3247 field: ahi_camera_uptilt_comp
3248 type: bool
3249 - name: osd_camera_fov_h
3250 description: "Horizontal field of view for the camera in degres"
3251 default_value: 135
3252 field: camera_fov_h
3253 min: 60
3254 max: 150
3255 - name: osd_camera_fov_v
3256 description: "Vertical field of view for the camera in degres"
3257 default_value: 85
3258 field: camera_fov_v
3259 min: 30
3260 max: 120
3261 - name: osd_hud_margin_h
3262 description: "Left and right margins for the hud area"
3263 default_value: 3
3264 field: hud_margin_h
3265 min: 0
3266 max: 4
3267 - name: osd_hud_margin_v
3268 description: "Top and bottom margins for the hud area"
3269 default_value: 3
3270 field: hud_margin_v
3271 min: 1
3272 max: 3
3273 - name: osd_hud_homing
3274 description: "To display little arrows around the crossair showing where the home point is in the hud"
3275 default_value: OFF
3276 field: hud_homing
3277 type: bool
3278 - name: osd_hud_homepoint
3279 description: "To 3D-display the home point location in the hud"
3280 default_value: OFF
3281 field: hud_homepoint
3282 type: bool
3283 - name: osd_hud_radar_disp
3284 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"
3285 default_value: 0
3286 field: hud_radar_disp
3287 min: 0
3288 max: 4
3289 - name: osd_hud_radar_range_min
3290 description: "In meters, radar aircrafts closer than this will not be displayed in the hud"
3291 default_value: 3
3292 field: hud_radar_range_min
3293 min: 1
3294 max: 30
3295 - name: osd_hud_radar_range_max
3296 description: "In meters, radar aircrafts further away than this will not be displayed in the hud"
3297 default_value: 4000
3298 field: hud_radar_range_max
3299 min: 100
3300 max: 9990
3301 - name: osd_hud_radar_alt_difference_display_time
3302 description: "Time in seconds to display the altitude difference in radar"
3303 field: hud_radar_alt_difference_display_time
3304 min: 0
3305 max: 10
3306 default_value: 3
3307 - name: osd_hud_radar_distance_display_time
3308 description: "Time in seconds to display the distance in radar"
3309 field: hud_radar_distance_display_time
3310 min: 1
3311 max: 10
3312 default_value: 3
3313 - name: osd_hud_wp_disp
3314 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)"
3315 default_value: 0
3316 field: hud_wp_disp
3317 min: 0
3318 max: 3
3319 - name: osd_left_sidebar_scroll
3320 field: left_sidebar_scroll
3321 table: osd_sidebar_scroll
3322 type: uint8_t
3323 default_value: NONE
3324 - name: osd_right_sidebar_scroll
3325 field: right_sidebar_scroll
3326 table: osd_sidebar_scroll
3327 type: uint8_t
3328 default_value: NONE
3329 - name: osd_sidebar_scroll_arrows
3330 field: sidebar_scroll_arrows
3331 type: bool
3332 default_value: OFF
3333 - name: osd_main_voltage_decimals
3334 description: "Number of decimals for the battery voltages displayed in the OSD [1-2]."
3335 default_value: 1
3336 field: main_voltage_decimals
3337 min: 1
3338 max: 2
3339 - name: osd_coordinate_digits
3340 field: coordinate_digits
3341 min: 8
3342 max: 11
3343 default_value: 9
3345 - name: osd_estimations_wind_compensation
3346 description: "Use wind estimation for remaining flight time/distance estimation"
3347 default_value: ON
3348 condition: USE_WIND_ESTIMATOR
3349 field: estimations_wind_compensation
3350 type: bool
3352 - name: osd_failsafe_switch_layout
3353 description: "If enabled the OSD automatically switches to the first layout during failsafe"
3354 default_value: OFF
3355 type: bool
3357 - name: osd_plus_code_digits
3358 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."
3359 field: plus_code_digits
3360 default_value: 11
3361 min: 10
3362 max: 13
3363 - name: osd_plus_code_short
3364 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."
3365 field: plus_code_short
3366 default_value: "0"
3367 table: osd_plus_code_short
3369 - name: osd_ahi_style
3370 description: "Sets OSD Artificial Horizon style \"DEFAULT\" or \"LINE\" for the FrSky Graphical OSD."
3371 field: ahi_style
3372 default_value: "DEFAULT"
3373 table: osd_ahi_style
3374 type: uint8_t
3376 - name: osd_force_grid
3377 field: force_grid
3378 type: bool
3379 default_value: OFF
3380 description: Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development)
3382 - name: osd_ahi_bordered
3383 field: ahi_bordered
3384 type: bool
3385 description: Shows a border/corners around the AHI region (pixel OSD only)
3386 default_value: OFF
3388 - name: osd_ahi_width
3389 field: ahi_width
3390 max: 255
3391 description: AHI width in pixels (pixel OSD only)
3392 default_value: 132
3394 - name: osd_ahi_height
3395 field: ahi_height
3396 max: 255
3397 description: AHI height in pixels (pixel OSD only)
3398 default_value: 162
3400 - name: osd_ahi_vertical_offset
3401 field: ahi_vertical_offset
3402 min: -128
3403 max: 127
3404 description: AHI vertical offset from center (pixel OSD only)
3405 default_value: -18
3407 - name: osd_sidebar_horizontal_offset
3408 field: sidebar_horizontal_offset
3409 min: -128
3410 max: 127
3411 default_value: 0
3412 description: Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges.
3414 - name: osd_left_sidebar_scroll_step
3415 field: left_sidebar_scroll_step
3416 max: 255
3417 default_value: 0
3418 description: How many units each sidebar step represents. 0 means the default value for the scroll type.
3420 - name: osd_right_sidebar_scroll_step
3421 field: right_sidebar_scroll_step
3422 max: 255
3423 default_value: 0
3424 description: Same as left_sidebar_scroll_step, but for the right sidebar
3426 - name: osd_sidebar_height
3427 field: sidebar_height
3428 min: 0
3429 max: 5
3430 default_value: 3
3431 description: Height of sidebars in rows. 0 leaves only the level indicator arrows (Not for pixel OSD)
3433 - name: osd_ahi_pitch_interval
3434 field: ahi_pitch_interval
3435 min: 0
3436 max: 30
3437 default_value: 0
3438 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)
3440 - name: osd_home_position_arm_screen
3441 type: bool
3442 default_value: ON
3443 description: Should home position coordinates be displayed on the arming screen.
3445 - name: osd_pan_servo_index
3446 description: Index of the pan servo to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos.
3447 field: pan_servo_index
3448 min: 0
3449 max: 10
3450 default_value: 0
3452 - name: osd_pan_servo_pwm2centideg
3453 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.
3454 field: pan_servo_pwm2centideg
3455 default_value: 0
3456 min: -36
3457 max: 36
3459 - name: osd_esc_rpm_precision
3460 description: Number of characters used to display the RPM value.
3461 field: esc_rpm_precision
3462 min: 3
3463 max: 6
3464 default_value: 3
3466 - name: osd_mah_used_precision
3467 description: Number of digits used to display mAh used.
3468 field: mAh_used_precision
3469 min: 4
3470 max: 6
3471 default_value: 4
3473 - name: osd_switch_indicator_zero_name
3474 description: "Character to use for OSD switch incicator 0."
3475 field: osd_switch_indicator0_name
3476 type: string
3477 max: 5
3478 default_value: "FLAP"
3479 - name: osd_switch_indicator_one_name
3480 description: "Character to use for OSD switch incicator 1."
3481 field: osd_switch_indicator1_name
3482 type: string
3483 max: 5
3484 default_value: "GEAR"
3485 - name: osd_switch_indicator_two_name
3486 description: "Character to use for OSD switch incicator 2."
3487 field: osd_switch_indicator2_name
3488 type: string
3489 max: 5
3490 default_value: "CAM"
3491 - name: osd_switch_indicator_three_name
3492 description: "Character to use for OSD switch incicator 3."
3493 field: osd_switch_indicator3_name
3494 type: string
3495 max: 5
3496 default_value: "LIGT"
3497 - name: osd_switch_indicator_zero_channel
3498 description: "RC Channel to use for OSD switch indicator 0."
3499 field: osd_switch_indicator0_channel
3500 min: 5
3501 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
3502 default_value: 5
3503 - name: osd_switch_indicator_one_channel
3504 description: "RC Channel to use for OSD switch indicator 1."
3505 field: osd_switch_indicator1_channel
3506 min: 5
3507 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
3508 default_value: 5
3509 - name: osd_switch_indicator_two_channel
3510 description: "RC Channel to use for OSD switch indicator 2."
3511 field: osd_switch_indicator2_channel
3512 min: 5
3513 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
3514 default_value: 5
3515 - name: osd_switch_indicator_three_channel
3516 description: "RC Channel to use for OSD switch indicator 3."
3517 field: osd_switch_indicator3_channel
3518 min: 5
3519 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
3520 default_value: 5
3521 - name: osd_switch_indicators_align_left
3522 description: "Align text to left of switch indicators"
3523 field: osd_switch_indicators_align_left
3524 type: bool
3525 default_value: ON
3526 - name: osd_system_msg_display_time
3527 description: System message display cycle time for multiple messages (milliseconds).
3528 field: system_msg_display_time
3529 default_value: 1000
3530 min: 500
3531 max: 5000
3533 - name: PG_OSD_COMMON_CONFIG
3534 type: osdCommonConfig_t
3535 headers: ["io/osd_common.h"]
3536 condition: USE_OSD || USE_DJI_HD_OSD
3537 members:
3538 - name: osd_speed_source
3539 description: "Sets the speed type displayed by the DJI OSD and OSD canvas (FrSky Pixel): GROUND, 3D, AIR"
3540 default_value: "GROUND"
3541 field: speedSource
3542 table: osdSpeedSource
3543 type: uint8_t
3545 - name: PG_SYSTEM_CONFIG
3546 type: systemConfig_t
3547 headers: ["fc/config.h"]
3548 members:
3549 - name: i2c_speed
3550 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)"
3551 default_value: "400KHZ"
3552 condition: USE_I2C
3553 table: i2c_speed
3554 - name: cpu_underclock
3555 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"
3556 default_value: OFF
3557 field: cpuUnderclock
3558 condition: USE_UNDERCLOCK
3559 type: bool
3560 - name: debug_mode
3561 description: "Defines debug values exposed in debug variables (developer / debugging setting)"
3562 default_value: "NONE"
3563 table: debug_modes
3564 - name: ground_test_mode
3565 description: "For developer ground test use. Disables motors, sets heading status = Trusted on FW."
3566 condition: USE_DEV_TOOLS
3567 default_value: OFF
3568 field: groundTestMode
3569 type: bool
3570 - name: throttle_tilt_comp_str
3571 description: "Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled."
3572 default_value: 0
3573 field: throttle_tilt_compensation_strength
3574 min: 0
3575 max: 100
3576 - name: name
3577 description: "Craft name"
3578 default_value: ""
3579 field: craftName
3580 max: MAX_NAME_LENGTH
3581 - name: pilot_name
3582 description: "Pilot name"
3583 default_value: ""
3584 field: pilotName
3585 max: MAX_NAME_LENGTH
3587 - name: PG_MODE_ACTIVATION_OPERATOR_CONFIG
3588 type: modeActivationOperatorConfig_t
3589 headers: ["fc/rc_modes.h"]
3590 members:
3591 - name: mode_range_logic_operator
3592 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."
3593 default_value: "OR"
3594 field: modeActivationOperator
3595 table: aux_operator
3596 type: uint8_t
3598 - name: PG_STATS_CONFIG
3599 type: statsConfig_t
3600 headers: ["fc/stats.h"]
3601 condition: USE_STATS
3602 members:
3603 - name: stats
3604 description: "General switch of the statistics recording feature (a.k.a. odometer)"
3605 default_value: OFF
3606 field: stats_enabled
3607 type: bool
3608 - name: stats_total_time
3609 description: "Total flight time [in seconds]. The value is updated on every disarm when \"stats\" are enabled."
3610 default_value: 0
3611 max: INT32_MAX
3612 - name: stats_total_dist
3613 description: "Total flight distance [in meters]. The value is updated on every disarm when \"stats\" are enabled."
3614 default_value: 0
3615 max: INT32_MAX
3616 - name: stats_total_energy
3617 description: "Total energy consumption [in mWh]. The value is updated on every disarm when \"stats\" are enabled."
3618 max: INT32_MAX
3619 condition: USE_ADC
3620 default_value: 0
3622 - name: PG_TIME_CONFIG
3623 type: timeConfig_t
3624 headers: ["common/time.h"]
3625 members:
3626 - name: tz_offset
3627 description: "Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs"
3628 default_value: 0
3629 min: -720
3630 max: 840
3631 - name: tz_automatic_dst
3632 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`."
3633 default_value: "OFF"
3634 type: uint8_t
3635 table: tz_automatic_dst
3637 - name: PG_DISPLAY_CONFIG
3638 type: displayConfig_t
3639 headers: ["drivers/display.h"]
3640 members:
3641 - name: display_force_sw_blink
3642 description: "OFF = OSD hardware blink / ON = OSD software blink. If OSD warning text/values are invisible, try setting this to ON"
3643 default_value: OFF
3644 field: force_sw_blink
3645 type: bool
3647 - name: PG_VTX_CONFIG
3648 type: vtxConfig_t
3649 headers: ["io/vtx_control.h"]
3650 condition: USE_VTX_CONTROL
3651 members:
3652 - name: vtx_halfduplex
3653 description: "Use half duplex UART to communicate with the VTX, using only a TX pin in the FC."
3654 default_value: ON
3655 field: halfDuplex
3656 type: bool
3657 - name: vtx_smartaudio_early_akk_workaround
3658 description: "Enable workaround for early AKK SAudio-enabled VTX bug."
3659 default_value: ON
3660 field: smartAudioEarlyAkkWorkaroundEnable
3661 type: bool
3662 - name: vtx_smartaudio_alternate_softserial_method
3663 description: "Enable the alternate softserial method. This is the method used in INAV 3.0 and ealier."
3664 default_value: ON
3665 field: smartAudioAltSoftSerialMethod
3666 type: bool
3667 - name: vtx_softserial_shortstop
3668 description: "Enable the 3x shorter stopbit on softserial. Need for some IRC Tramp VTXes."
3669 default_value: OFF
3670 field: softSerialShortStop
3671 type: bool
3672 - name: vtx_smartaudio_stopbits
3673 description: "Set stopbit count for serial (TBS Sixty9 SmartAudio 2.1 require value of 1 bit)"
3674 default_value: 2
3675 field: smartAudioStopBits
3676 min: 1
3677 max: 2
3679 - name: PG_VTX_SETTINGS_CONFIG
3680 type: vtxSettingsConfig_t
3681 headers: ["drivers/vtx_common.h", "io/vtx.h"]
3682 condition: USE_VTX_SMARTAUDIO || USE_VTX_TRAMP
3683 members:
3684 - name: vtx_band
3685 description: "Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race."
3686 default_value: 1
3687 field: band
3688 min: VTX_SETTINGS_NO_BAND
3689 max: VTX_SETTINGS_MAX_BAND
3690 - name: vtx_channel
3691 description: "Channel to use within the configured `vtx_band`. Valid values are [1, 8]."
3692 default_value: 1
3693 field: channel
3694 min: VTX_SETTINGS_MIN_CHANNEL
3695 max: VTX_SETTINGS_MAX_CHANNEL
3696 - name: vtx_power
3697 description: "VTX RF power level to use. The exact number of mw depends on the VTX hardware."
3698 default_value: 1
3699 field: power
3700 min: VTX_SETTINGS_MIN_POWER
3701 max: VTX_SETTINGS_MAX_POWER
3702 - name: vtx_low_power_disarm
3703 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."
3704 default_value: "OFF"
3705 field: lowPowerDisarm
3706 table: vtx_low_power_disarm
3707 type: uint8_t
3708 - name: vtx_pit_mode_chan
3709 field: pitModeChan
3710 min: VTX_SETTINGS_MIN_CHANNEL
3711 max: VTX_SETTINGS_MAX_CHANNEL
3712 default_value: 1
3713 - name: vtx_max_power_override
3714 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"
3715 default_value: 0
3716 field: maxPowerOverride
3717 min: 0
3718 max: 10000
3719 - name: vtx_frequency_group
3720 field: frequencyGroup
3721 description: "VTx Frequency group to use. Frequency groups: FREQUENCYGROUP_5G8: 5.8GHz, FREQUENCYGROUP_2G4: 2.4GHz, FREQUENCYGROUP_1G3: 1.3GHz."
3722 table: vtx_frequency_groups
3723 min: 0
3724 max: 2
3725 default_value: FREQUENCYGROUP_5G8
3727 - name: PG_PINIOBOX_CONFIG
3728 type: pinioBoxConfig_t
3729 headers: ["io/piniobox.h"]
3730 condition: USE_PINIOBOX
3731 members:
3732 - name: pinio_box1
3733 field: permanentId[0]
3734 description: "Mode assignment for PINIO#1"
3735 default_value: "target specific"
3736 min: 0
3737 max: 255
3738 default_value: :BOX_PERMANENT_ID_NONE
3739 type: uint8_t
3740 - name: pinio_box2
3741 field: permanentId[1]
3742 default_value: "target specific"
3743 description: "Mode assignment for PINIO#1"
3744 min: 0
3745 max: 255
3746 default_value: :BOX_PERMANENT_ID_NONE
3747 type: uint8_t
3748 - name: pinio_box3
3749 field: permanentId[2]
3750 default_value: "target specific"
3751 description: "Mode assignment for PINIO#1"
3752 min: 0
3753 max: 255
3754 default_value: :BOX_PERMANENT_ID_NONE
3755 type: uint8_t
3756 - name: pinio_box4
3757 field: permanentId[3]
3758 default_value: "target specific"
3759 description: "Mode assignment for PINIO#1"
3760 min: 0
3761 max: 255
3762 default_value: :BOX_PERMANENT_ID_NONE
3763 type: uint8_t
3765 - name: PG_LOG_CONFIG
3766 type: logConfig_t
3767 headers: ["common/log.h"]
3768 condition: USE_LOG
3769 members:
3770 - name: log_level
3771 field: level
3772 table: log_level
3773 description: "Defines serial debugging log level. See `docs/development/serial_printf_debugging.md` for usage."
3774 default_value: "ERROR"
3775 - name: log_topics
3776 field: topics
3777 min: 0
3778 max: UINT32_MAX
3779 description: "Defines serial debugging log topic. See `docs/development/serial_printf_debugging.md` for usage."
3780 default_value: 0
3782 - name: PG_ESC_SENSOR_CONFIG
3783 type: escSensorConfig_t
3784 headers: ["sensors/esc_sensor.h"]
3785 condition: USE_ESC_SENSOR
3786 members:
3787 - name: esc_sensor_listen_only
3788 default_value: OFF
3789 description: "Enable when BLHeli32 Auto Telemetry function is used. Disable in every other case"
3790 field: listenOnly
3791 type: bool
3792 default_value: OFF
3794 - name: PG_SMARTPORT_MASTER_CONFIG
3795 type: smartportMasterConfig_t
3796 headers: ["io/smartport_master.h"]
3797 condition: USE_SMARTPORT_MASTER
3798 members:
3799 - name: smartport_master_halfduplex
3800 field: halfDuplex
3801 type: bool
3802 default_value: ON
3803 - name: smartport_master_inverted
3804 field: inverted
3805 type: bool
3806 default_value: OFF
3808 - name: PG_DJI_OSD_CONFIG
3809 type: djiOsdConfig_t
3810 headers: ["io/osd_dji_hd.h"]
3811 condition: USE_DJI_HD_OSD
3812 members:
3813 - name: dji_workarounds
3814 description: "Enables workarounds for different versions of MSP protocol used"
3815 field: proto_workarounds
3816 min: 0
3817 max: UINT8_MAX
3818 default_value: 1
3819 - name: dji_use_name_for_messages
3820 description: "Re-purpose the craft name field for messages."
3821 default_value: ON
3822 field: use_name_for_messages
3823 type: bool
3824 - name: dji_esc_temp_source
3825 description: "Re-purpose the ESC temperature field for IMU/BARO temperature"
3826 default_value: "ESC"
3827 field: esc_temperature_source
3828 table: djiOsdTempSource
3829 type: uint8_t
3830 - name: dji_message_speed_source
3831 description: "Sets the speed type displayed by the DJI OSD in craft name: GROUND, 3D, AIR"
3832 default_value: "3D"
3833 field: messageSpeedSource
3834 table: osdSpeedSource
3835 type: uint8_t
3836 - name: dji_rssi_source
3837 description: "Source of the DJI RSSI field: RSSI, CRSF_LQ"
3838 default_value: "RSSI"
3839 field: rssi_source
3840 table: djiRssiSource
3841 type: uint8_t
3842 - name: dji_use_adjustments
3843 description: "Show inflight adjustments in craft name field"
3844 default_value: OFF
3845 type: bool
3846 field: useAdjustments
3847 - name: dji_cn_alternating_duration
3848 description: "Alternating duration of craft name elements, in tenths of a second"
3849 default_value: 30
3850 min: 1
3851 max: 150
3852 field: craftNameAlternatingDuration
3853 type: uint8_t
3855 - name: PG_BEEPER_CONFIG
3856 type: beeperConfig_t
3857 headers: [ "fc/config.h" ]
3858 members:
3859 - name: dshot_beeper_enabled
3860 description: "Whether using DShot motors as beepers is enabled"
3861 default_value: ON
3862 field: dshot_beeper_enabled
3863 type: bool
3864 - name: dshot_beeper_tone
3865 description: "Sets the DShot beeper tone"
3866 min: 1
3867 max: 5
3868 default_value: 1
3869 field: dshot_beeper_tone
3870 type: uint8_t
3871 - name: beeper_pwm_mode
3872 field: pwmMode
3873 type: bool
3874 default_value: OFF
3875 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"
3877 - name: PG_POWER_LIMITS_CONFIG
3878 type: powerLimitsConfig_t
3879 headers: ["flight/power_limits.h"]
3880 condition: USE_POWER_LIMITS
3881 members:
3882 - name: limit_pi_p
3883 description: "Throttle attenuation PI control P term"
3884 default_value: 100
3885 field: piP
3886 max: 10000
3887 - name: limit_pi_i
3888 description: "Throttle attenuation PI control I term"
3889 default_value: 100
3890 field: piI
3891 max: 10000
3892 - name: limit_attn_filter_cutoff
3893 description: "Throttle attenuation PI control output filter cutoff frequency"
3894 default_value: 1.2
3895 field: attnFilterCutoff
3896 max: 100