| blob | 9778aa038c0f70b752dbf41d5f090cc6873cc788 |
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", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "FAKE"]
8 enum: accelerationSensor_e
9 - name: rangefinder_hardware
10 values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE", "VL53L1X", "US42"]
11 enum: rangefinderType_e
12 - name: secondary_imu_hardware
13 values: ["NONE", "BNO055", "BNO055_SERIAL"]
14 enum: secondaryImuType_e
15 - name: mag_hardware
16 values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", FAKE"]
17 enum: magSensor_e
18 - name: opflow_hardware
19 values: ["NONE", "CXOF", "MSP", "FAKE"]
20 enum: opticalFlowSensor_e
21 - name: baro_hardware
22 values: ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "LPS25H", "SPL06", "BMP388", "DPS310", "MSP", "FAKE"]
23 enum: baroSensor_e
24 - name: pitot_hardware
25 values: ["NONE", "AUTO", "MS4525", "ADC", "VIRTUAL", "FAKE", "MSP"]
26 enum: pitotSensor_e
27 - name: receiver_type
28 values: ["NONE", "PPM", "SERIAL", "MSP", "SPI", "UNUSED"]
29 enum: rxReceiverType_e
30 - name: serial_rx
31 values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST", "MAVLINK"]
32 - name: rx_spi_protocol
33 values: ["ELERES"]
34 enum: rx_spi_protocol_e
35 - name: blackbox_device
36 values: ["SERIAL", "SPIFLASH", "SDCARD"]
37 - name: motor_pwm_protocol
38 values: ["STANDARD", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600", "DSHOT1200", "SERIALSHOT"]
39 - name: servo_protocol
40 values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
41 - name: failsafe_procedure
42 values: ["SET-THR", "DROP", "RTH", "NONE"]
43 - name: current_sensor
44 values: ["NONE", "ADC", "VIRTUAL", "ESC"]
45 enum: currentSensor_e
46 - name: voltage_sensor
47 values: ["NONE", "ADC", "ESC"]
48 enum: voltageSensor_e
49 - name: gps_provider
50 values: ["NMEA", "UBLOX", "UNUSED", "NAZA", "UBLOX7", "MTK", "MSP"]
51 enum: gpsProvider_e
52 - name: gps_sbas_mode
53 values: ["AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN", "NONE"]
54 enum: sbasMode_e
55 - name: gps_dyn_model
56 values: ["PEDESTRIAN", "AIR_1G", "AIR_4G"]
57 enum: gpsDynModel_e
58 - name: reset_type
59 values: ["NEVER", "FIRST_ARM", "EACH_ARM"]
60 - name: direction
61 values: ["RIGHT", "LEFT", "YAW"]
62 - name: nav_user_control_mode
63 values: ["ATTI", "CRUISE"]
64 - name: nav_rth_alt_mode
65 values: ["CURRENT", "EXTRA", "FIXED", "MAX", "AT_LEAST", "AT_LEAST_LINEAR_DESCENT"]
66 - name: osd_unit
67 values: ["IMPERIAL", "METRIC", "UK"]
68 enum: osd_unit_e
69 - name: osd_stats_energy_unit
70 values: ["MAH", "WH"]
71 enum: osd_stats_energy_unit_e
72 - name: osd_stats_min_voltage_unit
73 values: ["BATTERY", "CELL"]
74 enum: osd_stats_min_voltage_unit_e
75 - name: osd_video_system
76 values: ["AUTO", "PAL", "NTSC"]
77 enum: videoSystem_e
78 - name: osd_telemetry
79 values: ["OFF", "ON","TEST"]
80 enum: osd_telemetry_e
81 - name: osd_alignment
82 values: ["LEFT", "RIGHT"]
83 enum: osd_alignment_e
84 - name: frsky_unit
85 values: ["METRIC", "IMPERIAL"]
86 enum: frskyUnit_e
87 - name: ltm_rates
88 values: ["NORMAL", "MEDIUM", "SLOW"]
89 - name: i2c_speed
90 values: ["400KHZ", "800KHZ", "100KHZ", "200KHZ"]
91 - name: debug_modes
92 values: ["NONE", "GYRO", "AGL", "FLOW_RAW",
93 "FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
94 "VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
95 "ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
96 "IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2", "ALTITUDE",
97 "SMITH_COMPENSATOR"]
98 - name: async_mode
99 values: ["NONE", "GYRO", "ALL"]
100 - name: aux_operator
101 values: ["OR", "AND"]
102 enum: modeActivationOperator_e
103 - name: osd_crosshairs_style
104 values: ["DEFAULT", "AIRCRAFT", "TYPE3", "TYPE4", "TYPE5", "TYPE6", "TYPE7"]
105 enum: osd_crosshairs_style_e
106 - name: osd_sidebar_scroll
107 values: ["NONE", "ALTITUDE", "GROUND_SPEED", "HOME_DISTANCE"]
108 enum: osd_sidebar_scroll_e
109 - name: nav_rth_allow_landing
110 values: ["NEVER", "ALWAYS", "FS_ONLY"]
111 enum: navRTHAllowLanding_e
112 - name: bat_capacity_unit
113 values: ["MAH", "MWH"]
114 enum: batCapacityUnit_e
115 - name: bat_voltage_source
116 values: ["RAW", "SAG_COMP"]
117 enum: batVoltageSource_e
118 - name: smartport_fuel_unit
119 values: ["PERCENT", "MAH", "MWH"]
120 enum: smartportFuelUnit_e
121 - name: platform_type
122 values: ["MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT"]
123 enum: flyingPlatformType_e
124 - name: tz_automatic_dst
125 values: ["OFF", "EU", "USA"]
126 enum: tz_automatic_dst_e
127 - name: vtx_low_power_disarm
128 values: ["OFF", "ON", "UNTIL_FIRST_ARM"]
129 enum: vtxLowerPowerDisarm_e
130 - name: filter_type
131 values: ["PT1", "BIQUAD"]
132 - name: log_level
133 values: ["ERROR", "WARNING", "INFO", "VERBOSE", "DEBUG"]
134 - name: iterm_relax
135 values: ["OFF", "RP", "RPY"]
136 enum: itermRelax_e
137 - name: airmodeHandlingType
138 values: ["STICK_CENTER", "THROTTLE_THRESHOLD", "STICK_CENTER_ONCE"]
139 - name: nav_extra_arming_safety
140 values: ["OFF", "ON", "ALLOW_BYPASS"]
141 enum: navExtraArmingSafety_e
142 - name: rssi_source
143 values: ["NONE", "AUTO", "ADC", "CHANNEL", "PROTOCOL", "MSP"]
144 enum: rssiSource_e
145 - name: dynamicFilterRangeTable
146 values: ["HIGH", "MEDIUM", "LOW"]
147 enum: dynamicFilterRange_e
148 - name: pidTypeTable
149 values: ["NONE", "PID", "PIFF", "AUTO"]
150 enum: pidType_e
151 - name: osd_ahi_style
152 values: ["DEFAULT", "LINE"]
153 enum: osd_ahi_style_e
154 - name: tristate
155 enum: tristate_e
156 values: ["AUTO", "ON", "OFF"]
157 - name: osd_crsf_lq_format
158 enum: osd_crsf_lq_format_e
159 values: ["TYPE1", "TYPE2"]
160 - name: off_on
161 values: ["OFF", "ON"]
162 - name: djiOsdTempSource
163 values: ["ESC", "IMU", "BARO"]
164 enum: djiOsdTempSource_e
165 - name: djiOsdSpeedSource
166 values: ["GROUND", "3D", "AIR"]
167 enum: djiOsdSpeedSource_e
168 - name: nav_overrides_motor_stop
169 enum: navOverridesMotorStop_e
170 values: ["OFF_ALWAYS", "OFF", "AUTO_ONLY", "ALL_NAV"]
171 - name: osd_plus_code_short
172 values: ["0", "2", "4", "6"]
173 - name: safehome_usage_mode
174 values: ["OFF", "RTH", "RTH_FS"]
175 enum: safehomeUsageMode_e
176 - name: nav_rth_climb_first
177 enum: navRTHClimbFirst_e
178 values: ["OFF", "ON", "ON_FW_SPIRAL"]
180 constants:
181 RPYL_PID_MIN: 0
182 RPYL_PID_MAX: 200
184 MANUAL_RATE_MIN: 0
185 MANUAL_RATE_MAX: 100
187 ROLL_PITCH_RATE_MIN: 6
188 ROLL_PITCH_RATE_MAX: 180
190 groups:
191 - name: PG_GYRO_CONFIG
192 type: gyroConfig_t
193 headers: ["sensors/gyro.h"]
194 members:
195 - name: looptime
196 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."
197 default_value: 1000
198 max: 9000
199 - name: align_gyro
200 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."
201 default_value: "DEFAULT"
202 field: gyro_align
203 type: uint8_t
204 table: alignment
205 - name: gyro_hardware_lpf
206 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."
207 default_value: "256HZ"
208 field: gyro_lpf
209 table: gyro_lpf
210 - name: gyro_lpf_hz
211 description: "Software-based filter to remove mechanical vibrations from the gyro signal. Value is cutoff frequency (Hz). For larger frames with bigger props set to lower value."
212 default_value: 60
213 field: gyro_soft_lpf_hz
214 max: 200
215 - name: gyro_lpf_type
216 description: "Specifies the type of the software LPF of the gyro signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds."
217 default_value: "BIQUAD"
218 field: gyro_soft_lpf_type
219 table: filter_type
220 - name: moron_threshold
221 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."
222 default_value: 32
223 field: gyroMovementCalibrationThreshold
224 max: 128
225 - name: gyro_notch_hz
226 field: gyro_notch_hz
227 max: 500
228 default_value: 0
229 - name: gyro_notch_cutoff
230 field: gyro_notch_cutoff
231 min: 1
232 max: 500
233 default_value: 1
234 - name: gyro_stage2_lowpass_hz
235 description: "Software based second stage lowpass filter for gyro. Value is cutoff frequency (Hz)"
236 default_value: 0
237 field: gyro_stage2_lowpass_hz
238 min: 0
239 max: 500
240 - name: gyro_stage2_lowpass_type
241 description: "Defines the type of stage 2 gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
242 default_value: BIQUAD
243 field: gyro_stage2_lowpass_type
244 table: filter_type
245 - name: gyro_use_dyn_lpf
246 description: "Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position."
247 default_value: OFF
248 field: useDynamicLpf
249 type: bool
250 - name: gyro_dyn_lpf_min_hz
251 description: "Minimum frequency of the gyro Dynamic LPF"
252 default_value: 200
253 field: gyroDynamicLpfMinHz
254 min: 40
255 max: 400
256 - name: gyro_dyn_lpf_max_hz
257 description: "Maximum frequency of the gyro Dynamic LPF"
258 default_value: 500
259 field: gyroDynamicLpfMaxHz
260 min: 40
261 max: 1000
262 - name: gyro_dyn_lpf_curve_expo
263 description: "Expo value for the throttle-to-frequency mapping for Dynamic LPF"
264 default_value: 5
265 field: gyroDynamicLpfCurveExpo
266 min: 1
267 max: 10
268 - name: dynamic_gyro_notch_enabled
269 description: "Enable/disable dynamic gyro notch also known as Matrix Filter"
270 default_value: OFF
271 field: dynamicGyroNotchEnabled
272 condition: USE_DYNAMIC_FILTERS
273 type: bool
274 - name: dynamic_gyro_notch_range
275 description: "Range for dynamic gyro notches. `MEDIUM` for 5\", `HIGH` for 3\" and `MEDIUM`/`LOW` for 7\" and bigger propellers"
276 default_value: "MEDIUM"
277 field: dynamicGyroNotchRange
278 condition: USE_DYNAMIC_FILTERS
279 table: dynamicFilterRangeTable
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\" multirors. 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: 150
290 field: dynamicGyroNotchMinHz
291 condition: USE_DYNAMIC_FILTERS
292 min: 30
293 max: 1000
294 - name: gyro_to_use
295 condition: USE_DUAL_GYRO
296 min: 0
297 max: 1
298 default_value: 0
300 - name: PG_ADC_CHANNEL_CONFIG
301 type: adcChannelConfig_t
302 headers: ["fc/config.h"]
303 condition: USE_ADC
304 members:
305 - name: vbat_adc_channel
306 description: "ADC channel to use for battery voltage sensor. Defaults to board VBAT input (if available). 0 = disabled"
307 default_value: :target
308 field: adcFunctionChannel[ADC_BATTERY]
309 min: ADC_CHN_NONE
310 max: ADC_CHN_MAX
311 - name: rssi_adc_channel
312 description: "ADC channel to use for analog RSSI input. Defaults to board RSSI input (if available). 0 = disabled"
313 default_value: :target
314 field: adcFunctionChannel[ADC_RSSI]
315 min: ADC_CHN_NONE
316 max: ADC_CHN_MAX
317 - name: current_adc_channel
318 description: "ADC channel to use for analog current sensor input. Defaults to board CURRENT sensor input (if available). 0 = disabled"
319 default_value: :target
320 field: adcFunctionChannel[ADC_CURRENT]
321 min: ADC_CHN_NONE
322 max: ADC_CHN_MAX
323 - name: airspeed_adc_channel
324 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"
325 default_value: :target
326 field: adcFunctionChannel[ADC_AIRSPEED]
327 min: ADC_CHN_NONE
328 max: ADC_CHN_MAX
330 - name: PG_ACCELEROMETER_CONFIG
331 type: accelerometerConfig_t
332 headers: ["sensors/acceleration.h"]
333 members:
334 - name: acc_notch_hz
335 min: 0
336 max: 255
337 default_value: 0
338 - name: acc_notch_cutoff
339 min: 1
340 max: 255
341 default_value: 1
342 - name: align_acc
343 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."
344 default_value: "DEFAULT"
345 field: acc_align
346 type: uint8_t
347 table: alignment
348 - name: acc_hardware
349 description: "Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
350 default_value: "AUTO"
351 table: acc_hardware
352 - name: acc_lpf_hz
353 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."
354 default_value: 15
355 min: 0
356 max: 200
357 - name: acc_lpf_type
358 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."
359 default_value: "BIQUAD"
360 field: acc_soft_lpf_type
361 table: filter_type
362 - name: acczero_x
363 description: "Calculated value after '6 position avanced calibration'. See Wiki page."
364 default_value: 0
365 field: accZero.raw[X]
366 min: INT16_MIN
367 max: INT16_MAX
368 - name: acczero_y
369 description: "Calculated value after '6 position avanced calibration'. See Wiki page."
370 default_value: 0
371 field: accZero.raw[Y]
372 min: INT16_MIN
373 max: INT16_MAX
374 - name: acczero_z
375 description: "Calculated value after '6 position avanced calibration'. See Wiki page."
376 default_value: 0
377 field: accZero.raw[Z]
378 min: INT16_MIN
379 max: INT16_MAX
380 - name: accgain_x
381 description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
382 default_value: 4096
383 field: accGain.raw[X]
384 min: 1
385 max: 8192
386 - name: accgain_y
387 description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
388 default_value: 4096
389 field: accGain.raw[Y]
390 min: 1
391 max: 8192
392 - name: accgain_z
393 description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
394 default_value: 4096
395 field: accGain.raw[Z]
396 min: 1
397 max: 8192
399 - name: PG_RANGEFINDER_CONFIG
400 type: rangefinderConfig_t
401 headers: ["sensors/rangefinder.h"]
402 condition: USE_RANGEFINDER
403 members:
404 - name: rangefinder_hardware
405 table: rangefinder_hardware
406 description: "Selection of rangefinder hardware."
407 default_value: "NONE"
408 - name: rangefinder_median_filter
409 description: "3-point median filtering for rangefinder readouts"
410 default_value: OFF
411 field: use_median_filtering
412 type: bool
414 - name: PG_OPFLOW_CONFIG
415 type: opticalFlowConfig_t
416 headers: ["sensors/opflow.h"]
417 condition: USE_OPFLOW
418 members:
419 - name: opflow_hardware
420 description: "Selection of OPFLOW hardware."
421 default_value: NONE
422 table: opflow_hardware
423 - name: opflow_scale
424 min: 0
425 max: 10000
426 default_value: 10.5
427 - name: align_opflow
428 description: "Optical flow module alignment (default CW0_DEG_FLIP)"
429 default_value: CW0FLIP
430 field: opflow_align
431 type: uint8_t
432 table: alignment
434 - name: PG_SECONDARY_IMU
435 type: secondaryImuConfig_t
436 headers: ["flight/secondary_imu.h"]
437 condition: USE_SECONDARY_IMU
438 members:
439 - name: imu2_hardware
440 description: "Selection of a Secondary IMU hardware type. NONE disables this functionality"
441 default_value: "NONE"
442 field: hardwareType
443 table: secondary_imu_hardware
444 - name: imu2_use_for_osd_heading
445 description: "If set to ON, Secondary IMU data will be used for Analog OSD heading"
446 default_value: OFF
447 field: useForOsdHeading
448 type: bool
449 - name: imu2_use_for_osd_ahi
450 description: "If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon"
451 field: useForOsdAHI
452 default_value: OFF
453 type: bool
454 - name: imu2_use_for_stabilized
455 description: "If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH)"
456 field: useForStabilized
457 default_value: OFF
458 type: bool
459 - name: imu2_align_roll
460 description: "Roll alignment for Secondary IMU. 1/10 of a degree"
461 field: rollDeciDegrees
462 default_value: 0
463 min: -1800
464 max: 3600
465 - name: imu2_align_pitch
466 description: "Pitch alignment for Secondary IMU. 1/10 of a degree"
467 field: pitchDeciDegrees
468 default_value: 0
469 min: -1800
470 max: 3600
471 - name: imu2_align_yaw
472 description: "Yaw alignment for Secondary IMU. 1/10 of a degree"
473 field: yawDeciDegrees
474 default_value: 0
475 min: -1800
476 max: 3600
477 - name: imu2_gain_acc_x
478 description: "Secondary IMU ACC calibration data"
479 field: calibrationOffsetAcc[X]
480 default_value: 0
481 min: INT16_MIN
482 max: INT16_MAX
483 - name: imu2_gain_acc_y
484 field: calibrationOffsetAcc[Y]
485 description: "Secondary IMU ACC calibration data"
486 default_value: 0
487 min: INT16_MIN
488 max: INT16_MAX
489 - name: imu2_gain_acc_z
490 field: calibrationOffsetAcc[Z]
491 description: "Secondary IMU ACC calibration data"
492 default_value: 0
493 min: INT16_MIN
494 max: INT16_MAX
495 - name: imu2_gain_mag_x
496 field: calibrationOffsetMag[X]
497 description: "Secondary IMU MAG calibration data"
498 default_value: 0
499 min: INT16_MIN
500 max: INT16_MAX
501 - name: imu2_gain_mag_y
502 field: calibrationOffsetMag[Y]
503 description: "Secondary IMU MAG calibration data"
504 default_value: 0
505 min: INT16_MIN
506 max: INT16_MAX
507 - name: imu2_gain_mag_z
508 field: calibrationOffsetMag[Z]
509 description: "Secondary IMU MAG calibration data"
510 default_value: 0
511 min: INT16_MIN
512 max: INT16_MAX
513 - name: imu2_radius_acc
514 field: calibrationRadiusAcc
515 description: "Secondary IMU MAG calibration data"
516 default_value: 0
517 min: INT16_MIN
518 max: INT16_MAX
519 - name: imu2_radius_mag
520 field: calibrationRadiusMag
521 description: "Secondary IMU MAG calibration data"
522 default_value: 0
523 min: INT16_MIN
524 max: INT16_MAX
526 - name: PG_COMPASS_CONFIG
527 type: compassConfig_t
528 headers: ["sensors/compass.h"]
529 condition: USE_MAG
530 members:
531 - name: align_mag
532 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."
533 default_value: "DEFAULT"
534 field: mag_align
535 type: uint8_t
536 table: alignment
537 - name: mag_hardware
538 description: "Selection of mag hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
539 default_value: "AUTO"
540 table: mag_hardware
541 - name: mag_declination
542 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."
543 default_value: 0
544 min: -18000
545 max: 18000
546 - name: magzero_x
547 description: "Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed."
548 default_value: :zero
549 field: magZero.raw[X]
550 min: INT16_MIN
551 max: INT16_MAX
552 - name: magzero_y
553 description: "Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed."
554 default_value: :zero
555 field: magZero.raw[Y]
556 min: INT16_MIN
557 max: INT16_MAX
558 - name: magzero_z
559 description: "Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed."
560 default_value: :zero
561 field: magZero.raw[Z]
562 min: INT16_MIN
563 max: INT16_MAX
564 - name: maggain_x
565 description: "Magnetometer calibration X gain. If 1024, no calibration or calibration failed"
566 default_value: 1024
567 field: magGain[X]
568 min: INT16_MIN
569 max: INT16_MAX
570 - name: maggain_y
571 description: "Magnetometer calibration Y gain. If 1024, no calibration or calibration failed"
572 default_value: 1024
573 field: magGain[Y]
574 min: INT16_MIN
575 max: INT16_MAX
576 - name: maggain_z
577 description: "Magnetometer calibration Z gain. If 1024, no calibration or calibration failed"
578 default_value: 1024
579 field: magGain[Z]
580 min: INT16_MIN
581 max: INT16_MAX
582 - name: mag_calibration_time
583 description: "Adjust how long time the Calibration of mag will last."
584 default_value: 30
585 field: magCalibrationTimeLimit
586 min: 20
587 max: 120
588 - name: mag_to_use
589 description: "Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target"
590 condition: USE_DUAL_MAG
591 min: 0
592 max: 1
593 default_value: 0
594 - name: align_mag_roll
595 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."
596 default_value: 0
597 field: rollDeciDegrees
598 min: -1800
599 max: 3600
600 - name: align_mag_pitch
601 description: "Same as align_mag_roll, but for the pitch axis."
602 default_value: 0
603 field: pitchDeciDegrees
604 min: -1800
605 max: 3600
606 - name: align_mag_yaw
607 description: "Same as align_mag_roll, but for the yaw axis."
608 default_value: 0
609 field: yawDeciDegrees
610 min: -1800
611 max: 3600
613 - name: PG_BAROMETER_CONFIG
614 type: barometerConfig_t
615 headers: ["sensors/barometer.h"]
616 condition: USE_BARO
617 members:
618 - name: baro_hardware
619 description: "Selection of baro hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
620 default_value: "AUTO"
621 table: baro_hardware
622 - name: baro_median_filter
623 description: "3-point median filtering for barometer readouts. No reason to change this setting"
624 default_value: ON
625 field: use_median_filtering
626 type: bool
627 - name: baro_cal_tolerance
628 description: "Baro calibration tolerance in cm. The default should allow the noisiest baro to complete calibration [cm]."
629 default_value: 150
630 field: baro_calibration_tolerance
631 min: 0
632 max: 1000
634 - name: PG_PITOTMETER_CONFIG
635 type: pitotmeterConfig_t
636 headers: ["sensors/pitotmeter.h"]
637 condition: USE_PITOT
638 members:
639 - name: pitot_hardware
640 description: "Selection of pitot hardware."
641 default_value: "NONE"
642 table: pitot_hardware
643 - name: pitot_lpf_milli_hz
644 min: 0
645 max: 10000
646 default_value: 350
647 - name: pitot_scale
648 min: 0
649 max: 100
650 default_value: 1.0
652 - name: PG_RX_CONFIG
653 type: rxConfig_t
654 headers: ["rx/rx.h", "rx/spektrum.h"]
655 members:
656 - name: receiver_type
657 description: "Selection of receiver (RX) type. Additional configuration of a `serialrx_provider` and a UART will be needed for `SERIAL`"
658 default_value: :target
659 field: receiverType
660 table: receiver_type
661 - name: min_check
662 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."
663 default_value: 1100
664 field: mincheck
665 min: PWM_RANGE_MIN
666 max: PWM_RANGE_MAX
667 - name: max_check
668 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."
669 default_value: 1900
670 field: maxcheck
671 min: PWM_RANGE_MIN
672 max: PWM_RANGE_MAX
673 - name: rssi_source
674 description: "Source of RSSI input. Possible values: `NONE`, `AUTO`, `ADC`, `CHANNEL`, `PROTOCOL`, `MSP`"
675 default_value: "AUTO"
676 field: rssi_source
677 table: rssi_source
678 - name: rssi_channel
679 description: "RX channel containing the RSSI signal"
680 default_value: 0
681 min: 0
682 max: MAX_SUPPORTED_RC_CHANNEL_COUNT
683 - name: rssi_min
684 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)."
685 default_value: 0
686 field: rssiMin
687 min: RSSI_VISIBLE_VALUE_MIN
688 max: RSSI_VISIBLE_VALUE_MAX
689 - name: rssi_max
690 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."
691 default_value: 100
692 field: rssiMax
693 min: RSSI_VISIBLE_VALUE_MIN
694 max: RSSI_VISIBLE_VALUE_MAX
695 - name: sbus_sync_interval
696 field: sbusSyncInterval
697 min: 500
698 max: 10000
699 default_value: 3000
700 - name: rc_filter_frequency
701 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"
702 default_value: 50
703 field: rcFilterFrequency
704 min: 0
705 max: 100
706 - name: serialrx_provider
707 description: "When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section."
708 default_value: :target
709 condition: USE_SERIAL_RX
710 table: serial_rx
711 - name: serialrx_inverted
712 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)."
713 default_value: OFF
714 condition: USE_SERIAL_RX
715 type: bool
716 - name: rx_spi_protocol
717 condition: USE_RX_SPI
718 table: rx_spi_protocol
719 default_value: :target
720 - name: rx_spi_id
721 condition: USE_RX_SPI
722 min: 0
723 max: 0
724 default_value: :zero
725 - name: rx_spi_rf_channel_count
726 condition: USE_RX_SPI
727 min: 0
728 max: 8
729 default_value: :zero
730 - name: spektrum_sat_bind
731 description: "0 = disabled. Used to bind the spektrum satellite to RX"
732 condition: USE_SPEKTRUM_BIND
733 min: SPEKTRUM_SAT_BIND_DISABLED
734 max: SPEKTRUM_SAT_BIND_MAX
735 default_value: :SPEKTRUM_SAT_BIND_DISABLED
736 - name: srxl2_unit_id
737 condition: USE_SERIALRX_SRXL2
738 min: 0
739 max: 15
740 default_value: 1
741 - name: srxl2_baud_fast
742 condition: USE_SERIALRX_SRXL2
743 type: bool
744 default_value: ON
745 - name: rx_min_usec
746 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."
747 default_value: 885
748 min: PWM_PULSE_MIN
749 max: PWM_PULSE_MAX
750 - name: rx_max_usec
751 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."
752 default_value: 2115
753 min: PWM_PULSE_MIN
754 max: PWM_PULSE_MAX
755 - name: serialrx_halfduplex
756 description: "Allow serial receiver to operate on UART TX pin. With some receivers will allow control and telemetry over a single wire."
757 default_value: "AUTO"
758 field: halfDuplex
759 table: tristate
760 - name: msp_override_channels
761 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."
762 default_value: 0
763 field: mspOverrideChannels
764 condition: USE_MSP_RC_OVERRIDE
765 min: 0
766 max: 65535
768 - name: PG_BLACKBOX_CONFIG
769 type: blackboxConfig_t
770 headers: ["blackbox/blackbox.h"]
771 condition: USE_BLACKBOX
772 members:
773 - name: blackbox_rate_num
774 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"
775 default_value: 1
776 field: rate_num
777 min: 1
778 max: 65535
779 - name: blackbox_rate_denom
780 description: "Blackbox logging rate denominator. See blackbox_rate_num."
781 default_value: 1
782 field: rate_denom
783 min: 1
784 max: 65535
785 - name: blackbox_device
786 description: "Selection of where to write blackbox data"
787 default_value: :target
788 field: device
789 table: blackbox_device
790 - name: sdcard_detect_inverted
791 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."
792 default_value: :target
793 field: invertedCardDetection
794 condition: USE_SDCARD
795 type: bool
797 - name: PG_MOTOR_CONFIG
798 type: motorConfig_t
799 headers: ["flight/mixer.h"]
800 members:
801 - name: max_throttle
802 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."
803 default_value: 1850
804 field: maxthrottle
805 min: PWM_RANGE_MIN
806 max: PWM_RANGE_MAX
807 - name: min_command
808 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."
809 default_value: 1000
810 field: mincommand
811 min: 0
812 max: PWM_RANGE_MAX
813 - name: motor_pwm_rate
814 description: "Output frequency (in Hz) for motor pins. Default is 400Hz for motor with motor_pwm_protocol set to STANDARD. For *SHOT (e.g. ONESHOT125) values of 1000 and 2000 have been tested by the development team and are supported. It may be possible to use higher values. For BRUSHED values of 8000 and above should be used. Setting to 8000 will use brushed mode at 8kHz switching frequency. Up to 32kHz is supported for brushed. Default is 16000 for boards with brushed motors. Note, that in brushed mode, minthrottle is offset to zero. For brushed mode, set max_throttle to 2000."
815 default_value: 400
816 field: motorPwmRate
817 min: 50
818 max: 32000
819 - name: motor_accel_time
820 description: "Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000]"
821 default_value: 0
822 field: motorAccelTimeMs
823 min: 0
824 max: 1000
825 - name: motor_decel_time
826 description: "Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000]"
827 default_value: 0
828 field: motorDecelTimeMs
829 min: 0
830 max: 1000
831 - name: motor_pwm_protocol
832 description: "Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED"
833 default_value: "ONESHOT125"
834 field: motorPwmProtocol
835 table: motor_pwm_protocol
836 - name: throttle_scale
837 description: "Throttle scaling factor. `1` means no throttle scaling. `0.5` means throttle scaled down by 50%"
838 default_value: 1.0
839 field: throttleScale
840 min: 0
841 max: 1
842 - name: throttle_idle
843 description: "The percentage of the throttle range (`max_throttle` - `min_command`) above `min_command` used for minimum / idle throttle."
844 default_value: 15
845 field: throttleIdle
846 min: 0
847 max: 30
848 - name: motor_poles
849 field: motorPoleCount
850 description: "The number of motor poles. Required to compute motor RPM"
851 min: 4
852 max: 255
853 default_value: 14
854 - name: flip_over_after_crash_power_factor
855 field: flipOverAfterPowerFactor
856 default_value: 65
857 description: "flip over after crash power factor"
858 condition: "USE_DSHOT"
859 min: 0
860 max: 100
862 - name: PG_FAILSAFE_CONFIG
863 type: failsafeConfig_t
864 headers: ["flight/failsafe.h"]
865 members:
866 - name: failsafe_delay
867 description: "Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay)."
868 default_value: 5
869 min: 0
870 max: 200
871 - name: failsafe_recovery_delay
872 description: "Time in deciseconds to wait before aborting failsafe when signal is recovered. See [Failsafe documentation](Failsafe.md#failsafe_recovery_delay)."
873 default_value: 5
874 min: 0
875 max: 200
876 - name: failsafe_off_delay
877 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)."
878 default_value: 200
879 min: 0
880 max: 200
881 - name: failsafe_throttle
882 description: "Throttle level used for landing when failsafe is enabled. See [Failsafe documentation](Failsafe.md#failsafe_throttle)."
883 default_value: 1000
884 min: PWM_RANGE_MIN
885 max: PWM_RANGE_MAX
886 - name: failsafe_throttle_low_delay
887 description: "If failsafe activated when throttle is low for this much time - bypass failsafe and disarm, in 10th of seconds. 0 = No timeout"
888 default_value: 0
889 min: 0
890 max: 300
891 - name: failsafe_procedure
892 description: "What failsafe procedure to initiate in Stage 2. See [Failsafe documentation](Failsafe.md#failsafe_throttle)."
893 default_value: "SET-THR"
894 table: failsafe_procedure
895 - name: failsafe_stick_threshold
896 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."
897 default_value: 50
898 field: failsafe_stick_motion_threshold
899 min: 0
900 max: 500
901 - name: failsafe_fw_roll_angle
902 description: "Amount of banking when `SET-THR` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll"
903 default_value: -200
904 min: -800
905 max: 800
906 - name: failsafe_fw_pitch_angle
907 description: "Amount of dive/climb when `SET-THR` failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb"
908 default_value: 100
909 min: -800
910 max: 800
911 - name: failsafe_fw_yaw_rate
912 description: "Requested yaw rate to execute when `SET-THR` failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn"
913 default_value: -45
914 min: -1000
915 max: 1000
916 - name: failsafe_min_distance
917 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."
918 default_value: 0
919 min: 0
920 max: 65000
921 - name: failsafe_min_distance_procedure
922 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)."
923 default_value: "DROP"
924 table: failsafe_procedure
925 - name: failsafe_mission
926 description: "If set to `OFF` the failsafe procedure won't be triggered and the mission will continue if the FC is in WP (automatic mission) mode"
927 default_value: ON
928 type: bool
930 - name: PG_LIGHTS_CONFIG
931 type: lightsConfig_t
932 headers: ["io/lights.h"]
933 condition: USE_LIGHTS
934 members:
935 - name: failsafe_lights
936 description: "Enable or disable the lights when the `FAILSAFE` flight mode is enabled. The target needs to be compiled with `USE_LIGHTS` [ON/OFF]."
937 default_value: ON
938 field: failsafe.enabled
939 type: bool
940 - name: failsafe_lights_flash_period
941 description: "Time in milliseconds between two flashes when `failsafe_lights` is ON and `FAILSAFE` flight mode is enabled [40-65535]."
942 default_value: 1000
943 field: failsafe.flash_period
944 min: 40
945 max: 65535
946 - name: failsafe_lights_flash_on_time
947 description: "Flash lights ON time in milliseconds when `failsafe_lights` is ON and `FAILSAFE` flight mode is enabled. [20-65535]."
948 default_value: 100
949 field: failsafe.flash_on_time
950 min: 20
951 max: 65535
953 - name: PG_BOARD_ALIGNMENT
954 type: boardAlignment_t
955 headers: ["sensors/boardalignment.h"]
956 members:
957 - name: align_board_roll
958 description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
959 default_value: :zero
960 field: rollDeciDegrees
961 min: -1800
962 max: 3600
963 - name: align_board_pitch
964 description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
965 default_value: :zero
966 field: pitchDeciDegrees
967 min: -1800
968 max: 3600
969 - name: align_board_yaw
970 description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
971 default_value: :zero
972 field: yawDeciDegrees
973 min: -1800
974 max: 3600
976 - name: PG_BATTERY_METERS_CONFIG
977 type: batteryMetersConfig_t
978 headers: ["sensors/battery.h"]
979 members:
980 - name: vbat_meter_type
981 description: "Vbat voltage source. Possible values: `NONE`, `ADC`, `ESC`. `ESC` required ESC telemetry enebled and running"
982 condition: USE_ADC
983 default_value: ADC
984 field: voltage.type
985 table: voltage_sensor
986 type: uint8_t
987 - name: vbat_scale
988 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."
989 default_value: :target
990 field: voltage.scale
991 condition: USE_ADC
992 min: VBAT_SCALE_MIN
993 max: VBAT_SCALE_MAX
994 - name: current_meter_scale
995 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."
996 default_value: :target
997 field: current.scale
998 min: -10000
999 max: 10000
1000 - name: current_meter_offset
1001 description: "This sets the output offset voltage of the current sensor in millivolts."
1002 default_value: :target
1003 field: current.offset
1004 min: -32768
1005 max: 32767
1006 - name: current_meter_type
1007 description: "ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position."
1008 default_value: "ADC"
1009 field: current.type
1010 table: current_sensor
1011 type: uint8_t
1012 - name: bat_voltage_src
1013 description: "Chose between raw and sag compensated battery voltage to use for battery alarms and telemetry. Possible values are `RAW` and `SAG_COMP`"
1014 default_value: "RAW"
1015 field: voltageSource
1016 table: bat_voltage_source
1017 type: uint8_t
1018 - name: cruise_power
1019 description: "Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit"
1020 default_value: 0
1021 field: cruise_power
1022 min: 0
1023 max: 4294967295
1024 - name: idle_power
1025 description: "Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit"
1026 default_value: 0
1027 field: idle_power
1028 min: 0
1029 max: 65535
1030 - name: rth_energy_margin
1031 description: "Energy margin wanted after getting home (percent of battery energy capacity). Use for the remaining flight time/distance calculation"
1032 default_value: 5
1033 min: 0
1034 max: 100
1035 - name: thr_comp_weight
1036 description: "Weight used for the throttle compensation based on battery voltage. See the [battery documentation](Battery.md#automatic-throttle-compensation-based-on-battery-voltage)"
1037 default_value: 1
1038 field: throttle_compensation_weight
1039 min: 0
1040 max: 2
1042 - name: PG_BATTERY_PROFILES
1043 type: batteryProfile_t
1044 headers: ["sensors/battery.h"]
1045 value_type: BATTERY_CONFIG_VALUE
1046 members:
1047 - name: bat_cells
1048 description: "Number of cells of the battery (0 = auto-detect), see battery documentation. 7S, 9S and 11S batteries cannot be auto-detected."
1049 default_value: 0
1050 field: cells
1051 condition: USE_ADC
1052 min: 0
1053 max: 12
1054 - name: vbat_cell_detect_voltage
1055 description: "Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units."
1056 default_value: 425
1057 field: voltage.cellDetect
1058 condition: USE_ADC
1059 min: 100
1060 max: 500
1061 - name: vbat_max_cell_voltage
1062 description: "Maximum voltage per cell in 0.01V units, default is 4.20V"
1063 default_value: 420
1064 field: voltage.cellMax
1065 condition: USE_ADC
1066 min: 100
1067 max: 500
1068 - name: vbat_min_cell_voltage
1069 description: "Minimum voltage per cell, this triggers battery out alarms, in 0.01V units, default is 330 (3.3V)"
1070 default_value: 330
1071 field: voltage.cellMin
1072 condition: USE_ADC
1073 min: 100
1074 max: 500
1075 - name: vbat_warning_cell_voltage
1076 description: "Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V)"
1077 default_value: 350
1078 field: voltage.cellWarning
1079 condition: USE_ADC
1080 min: 100
1081 max: 500
1082 - name: battery_capacity
1083 description: "Set the battery capacity in mAh or mWh (see `battery_capacity_unit`). Used to calculate the remaining battery capacity."
1084 default_value: 0
1085 field: capacity.value
1086 min: 0
1087 max: 4294967295
1088 - name: battery_capacity_warning
1089 description: "If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink."
1090 default_value: 0
1091 field: capacity.warning
1092 min: 0
1093 max: 4294967295
1094 - name: battery_capacity_critical
1095 description: "If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps."
1096 default_value: 0
1097 field: capacity.critical
1098 min: 0
1099 max: 4294967295
1100 - name: battery_capacity_unit
1101 description: "Unit used for `battery_capacity`, `battery_capacity_warning` and `battery_capacity_critical` [MAH/MWH] (milliAmpere hour / milliWatt hour)."
1102 default_value: "MAH"
1103 field: capacity.unit
1104 table: bat_capacity_unit
1105 type: uint8_t
1107 - name: PG_MIXER_CONFIG
1108 type: mixerConfig_t
1109 members:
1110 - name: motor_direction_inverted
1111 description: "Use if you need to inverse yaw motor direction."
1112 default_value: OFF
1113 field: motorDirectionInverted
1114 type: bool
1115 - name: platform_type
1116 description: "Defines UAV platform type. Allowed values: \"MULTIROTOR\", \"AIRPLANE\", \"HELICOPTER\", \"TRICOPTER\", \"ROVER\", \"BOAT\". Currently only MULTIROTOR, AIRPLANE and TRICOPTER types are implemented"
1117 default_value: "MULTIROTOR"
1118 field: platformType
1119 type: uint8_t
1120 table: platform_type
1121 - name: has_flaps
1122 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"
1123 default_value: OFF
1124 field: hasFlaps
1125 type: bool
1126 - name: model_preview_type
1127 description: "ID of mixer preset applied in a Configurator. **Do not modify manually**. Used only for backup/restore reasons."
1128 default_value: -1
1129 field: appliedMixerPreset
1130 min: -1
1131 max: INT16_MAX
1132 - name: fw_min_throttle_down_pitch
1133 description: "Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle (decidegrees)"
1134 default_value: 0
1135 field: fwMinThrottleDownPitchAngle
1136 min: 0
1137 max: 450
1139 - name: PG_REVERSIBLE_MOTORS_CONFIG
1140 type: reversibleMotorsConfig_t
1141 members:
1142 - name: 3d_deadband_low
1143 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)"
1144 default_value: 1406
1145 field: deadband_low
1146 min: PWM_RANGE_MIN
1147 max: PWM_RANGE_MAX
1148 - name: 3d_deadband_high
1149 description: "High value of throttle deadband for 3D mode (when stick is in the deadband range, the value in 3d_neutral is used instead)"
1150 default_value: 1514
1151 field: deadband_high
1152 min: PWM_RANGE_MIN
1153 max: PWM_RANGE_MAX
1154 - name: 3d_neutral
1155 description: "Neutral (stop) throttle value for 3D mode"
1156 default_value: 1460
1157 field: neutral
1158 min: PWM_RANGE_MIN
1159 max: PWM_RANGE_MAX
1161 - name: PG_SERVO_CONFIG
1162 type: servoConfig_t
1163 headers: ["flight/servos.h"]
1164 members:
1165 - name: servo_protocol
1166 description: "An option to chose the protocol/option that would be used to output servo data. Possible options `PWM` (FC servo outputs), `SERVO_DRIVER` (I2C PCA9685 peripheral), `SBUS` (S.Bus protocol output via a configured serial port)"
1167 default_value: "PWM"
1168 field: servo_protocol
1169 table: servo_protocol
1170 - name: servo_center_pulse
1171 description: "Servo midpoint"
1172 default_value: 1500
1173 field: servoCenterPulse
1174 min: PWM_RANGE_MIN
1175 max: PWM_RANGE_MAX
1176 - name: servo_pwm_rate
1177 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."
1178 default_value: 50
1179 field: servoPwmRate
1180 min: 50
1181 max: 498
1182 - name: servo_lpf_hz
1183 description: "Selects the servo PWM output cutoff frequency. Value is in [Hz]"
1184 default_value: 20
1185 field: servo_lowpass_freq
1186 min: 0
1187 max: 400
1188 - name: flaperon_throw_offset
1189 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."
1190 default_value: 200
1191 min: FLAPERON_THROW_MIN
1192 max: FLAPERON_THROW_MAX
1193 - name: tri_unarmed_servo
1194 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."
1195 default_value: ON
1196 type: bool
1198 - name: PG_CONTROL_RATE_PROFILES
1199 type: controlRateConfig_t
1200 headers: ["fc/controlrate_profile.h"]
1201 value_type: CONTROL_RATE_VALUE
1202 members:
1203 - name: thr_mid
1204 description: "Throttle value when the stick is set to mid-position. Used in the throttle curve calculation."
1205 default_value: 50
1206 field: throttle.rcMid8
1207 min: 0
1208 max: 100
1209 - name: thr_expo
1210 description: "Throttle exposition value"
1211 default_value: 0
1212 field: throttle.rcExpo8
1213 min: 0
1214 max: 100
1215 - name: tpa_rate
1216 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."
1217 default_value: 0
1218 field: throttle.dynPID
1219 min: 0
1220 max: 100
1221 - name: tpa_breakpoint
1222 description: "See tpa_rate."
1223 default_value: 1500
1224 field: throttle.pa_breakpoint
1225 min: PWM_RANGE_MIN
1226 max: PWM_RANGE_MAX
1227 - name: fw_tpa_time_constant
1228 description: "TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups"
1229 default_value: 0
1230 field: throttle.fixedWingTauMs
1231 min: 0
1232 max: 5000
1233 - name: rc_expo
1234 description: "Exposition value used for the PITCH/ROLL axes by all the stabilized flights modes (all but `MANUAL`)"
1235 default_value: 70
1236 field: stabilized.rcExpo8
1237 min: 0
1238 max: 100
1239 - name: rc_yaw_expo
1240 description: "Exposition value used for the YAW axis by all the stabilized flights modes (all but `MANUAL`)"
1241 default_value: 20
1242 field: stabilized.rcYawExpo8
1243 min: 0
1244 max: 100
1245 # New rates are in dps/10. That means, Rate of 20 means 200dps of rotation speed on given axis.
1246 # Rate 180 (1800dps) is max. value gyro can measure reliably
1247 - name: roll_rate
1248 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."
1249 default_value: 20
1250 field: stabilized.rates[FD_ROLL]
1251 min: ROLL_PITCH_RATE_MIN
1252 max: ROLL_PITCH_RATE_MAX
1253 - name: pitch_rate
1254 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."
1255 default_value: 20
1256 field: stabilized.rates[FD_PITCH]
1257 min: ROLL_PITCH_RATE_MIN
1258 max: ROLL_PITCH_RATE_MAX
1259 - name: yaw_rate
1260 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."
1261 default_value: 20
1262 field: stabilized.rates[FD_YAW]
1263 min: 2
1264 max: 180
1265 - name: manual_rc_expo
1266 description: "Exposition value used for the PITCH/ROLL axes by the `MANUAL` flight mode [0-100]"
1267 default_value: 70
1268 field: manual.rcExpo8
1269 min: 0
1270 max: 100
1271 - name: manual_rc_yaw_expo
1272 description: "Exposition value used for the YAW axis by the `MANUAL` flight mode [0-100]"
1273 default_value: 20
1274 field: manual.rcYawExpo8
1275 min: 0
1276 max: 100
1277 - name: manual_roll_rate
1278 description: "Servo travel multiplier for the ROLL axis in `MANUAL` flight mode [0-100]%"
1279 default_value: 100
1280 field: manual.rates[FD_ROLL]
1281 min: MANUAL_RATE_MIN
1282 max: MANUAL_RATE_MAX
1283 - name: manual_pitch_rate
1284 description: "Servo travel multiplier for the PITCH axis in `MANUAL` flight mode [0-100]%"
1285 default_value: 100
1286 field: manual.rates[FD_PITCH]
1287 min: MANUAL_RATE_MIN
1288 max: MANUAL_RATE_MAX
1289 - name: manual_yaw_rate
1290 description: "Servo travel multiplier for the YAW axis in `MANUAL` flight mode [0-100]%"
1291 default_value: 100
1292 field: manual.rates[FD_YAW]
1293 min: MANUAL_RATE_MIN
1294 max: MANUAL_RATE_MAX
1295 - name: fpv_mix_degrees
1296 field: misc.fpvCamAngleDegrees
1297 min: 0
1298 max: 50
1299 default_value: 0
1301 - name: PG_SERIAL_CONFIG
1302 type: serialConfig_t
1303 headers: ["io/serial.h"]
1304 members:
1305 - name: reboot_character
1306 description: "Special character used to trigger reboot"
1307 default_value: 82
1308 min: 48
1309 max: 126
1311 - name: PG_IMU_CONFIG
1312 type: imuConfig_t
1313 headers: ["flight/imu.h"]
1314 members:
1315 - name: imu_dcm_kp
1316 description: "Inertial Measurement Unit KP Gain for accelerometer measurements"
1317 default_value: 2500
1318 field: dcm_kp_acc
1319 max: UINT16_MAX
1320 - name: imu_dcm_ki
1321 description: "Inertial Measurement Unit KI Gain for accelerometer measurements"
1322 default_value: 50
1323 field: dcm_ki_acc
1324 max: UINT16_MAX
1325 - name: imu_dcm_kp_mag
1326 description: "Inertial Measurement Unit KP Gain for compass measurements"
1327 default_value: 10000
1328 field: dcm_kp_mag
1329 max: UINT16_MAX
1330 - name: imu_dcm_ki_mag
1331 description: "Inertial Measurement Unit KI Gain for compass measurements"
1332 default_value: 0
1333 field: dcm_ki_mag
1334 max: UINT16_MAX
1335 - name: small_angle
1336 description: "If the aircraft tilt angle exceed this value the copter will refuse to arm."
1337 default_value: 25
1338 min: 0
1339 max: 180
1340 - name: imu_acc_ignore_rate
1341 description: "Total gyro rotation rate threshold [deg/s] to consider accelerometer trustworthy on airplanes"
1342 default_value: 0
1343 field: acc_ignore_rate
1344 min: 0
1345 max: 20
1346 - name: imu_acc_ignore_slope
1347 description: "Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight)"
1348 default_value: 0
1349 field: acc_ignore_slope
1350 min: 0
1351 max: 5
1353 - name: PG_ARMING_CONFIG
1354 type: armingConfig_t
1355 members:
1356 - name: fixed_wing_auto_arm
1357 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."
1358 default_value: OFF
1359 type: bool
1360 - name: disarm_kill_switch
1361 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."
1362 default_value: ON
1363 type: bool
1364 - name: switch_disarm_delay
1365 description: "Delay before disarming when requested by switch (ms) [0-1000]"
1366 default_value: 250
1367 field: switchDisarmDelayMs
1368 min: 0
1369 max: 1000
1370 - name: prearm_timeout
1371 description: "Duration (ms) for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout."
1372 default_value: 10000
1373 field: prearmTimeoutMs
1374 min: 0
1375 max: 10000
1377 - name: PG_GENERAL_SETTINGS
1378 headers: ["config/general_settings.h"]
1379 type: generalSettings_t
1380 members:
1381 - name: applied_defaults
1382 description: "Internal (configurator) hint. Should not be changed manually"
1383 default_value: 0
1384 field: appliedDefaults
1385 type: uint8_t
1386 min: 0
1387 max: 3
1389 - name: PG_RPM_FILTER_CONFIG
1390 headers: ["flight/rpm_filter.h"]
1391 condition: USE_RPM_FILTER
1392 type: rpmFilterConfig_t
1393 members:
1394 - name: rpm_gyro_filter_enabled
1395 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"
1396 default_value: OFF
1397 field: gyro_filter_enabled
1398 type: bool
1399 - name: rpm_gyro_harmonics
1400 description: "Number of harmonic frequences to be covered by gyro RPM filter. Default value of `1` usually works just fine"
1401 default_value: 1
1402 field: gyro_harmonics
1403 type: uint8_t
1404 min: 1
1405 max: 3
1406 - name: rpm_gyro_min_hz
1407 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`"
1408 default_value: 100
1409 field: gyro_min_hz
1410 type: uint8_t
1411 min: 30
1412 max: 200
1413 - name: rpm_gyro_q
1414 description: "Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting"
1415 default_value: 500
1416 field: gyro_q
1417 type: uint16_t
1418 min: 1
1419 max: 3000
1420 - name: PG_GPS_CONFIG
1421 type: gpsConfig_t
1422 condition: USE_GPS
1423 members:
1424 - name: gps_provider
1425 description: "Which GPS protocol to be used, note that UBLOX is 5Hz and UBLOX7 is 10Hz (M8N)."
1426 default_value: "UBLOX"
1427 field: provider
1428 table: gps_provider
1429 type: uint8_t
1430 - name: gps_sbas_mode
1431 description: "Which SBAS mode to be used"
1432 default_value: "NONE"
1433 field: sbasMode
1434 table: gps_sbas_mode
1435 type: uint8_t
1436 - name: gps_dyn_model
1437 description: "GPS navigation model: Pedestrian, Air_1g, Air_4g. Default is AIR_1G. Use pedestrian with caution, can cause flyaways with fast flying."
1438 default_value: "AIR_1G"
1439 field: dynModel
1440 table: gps_dyn_model
1441 type: uint8_t
1442 - name: gps_auto_config
1443 description: "Enable automatic configuration of UBlox GPS receivers."
1444 default_value: ON
1445 field: autoConfig
1446 type: bool
1447 - name: gps_auto_baud
1448 description: "Automatic configuration of GPS baudrate(The specified baudrate in configured in ports will be used) when used with UBLOX GPS. When used with NAZA/DJI it will automatic detect GPS baudrate and change to it, ignoring the selected baudrate set in ports"
1449 default_value: ON
1450 field: autoBaud
1451 type: bool
1452 - name: gps_ublox_use_galileo
1453 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]."
1454 default_value: OFF
1455 field: ubloxUseGalileo
1456 type: bool
1457 - name: gps_min_sats
1458 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."
1459 default_value: 6
1460 field: gpsMinSats
1461 min: 5
1462 max: 10
1464 - name: PG_RC_CONTROLS_CONFIG
1465 type: rcControlsConfig_t
1466 headers: ["fc/rc_controls.h"]
1467 members:
1468 - name: deadband
1469 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."
1470 default_value: 5
1471 min: 0
1472 max: 32
1473 - name: yaw_deadband
1474 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."
1475 default_value: 5
1476 min: 0
1477 max: 100
1478 - name: pos_hold_deadband
1479 description: "Stick deadband in [r/c points], applied after r/c deadband and expo"
1480 default_value: 10
1481 min: 2
1482 max: 250
1483 - name: alt_hold_deadband
1484 description: "Defines the deadband of throttle during alt_hold [r/c points]"
1485 default_value: 50
1486 min: 10
1487 max: 250
1488 - name: 3d_deadband_throttle
1489 description: "Throttle signal will be held to a fixed value when throttle is centered with an error margin defined in this parameter."
1490 default_value: 50
1491 field: mid_throttle_deadband
1492 min: 0
1493 max: 200
1494 - name: airmode_type
1495 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."
1496 default_value: "STICK_CENTER"
1497 field: airmodeHandlingType
1498 table: airmodeHandlingType
1499 - name: airmode_throttle_threshold
1500 description: "Defines airmode THROTTLE activation threshold when `airmode_type` **THROTTLE_THRESHOLD** is used"
1501 default_value: 1300
1502 field: airmodeThrottleThreshold
1503 min: 1000
1504 max: 2000
1506 - name: PG_PID_PROFILE
1507 type: pidProfile_t
1508 headers: ["flight/pid.h"]
1509 value_type: PROFILE_VALUE
1510 members:
1511 - name: mc_p_pitch
1512 description: "Multicopter rate stabilisation P-gain for PITCH"
1513 default_value: 40
1514 field: bank_mc.pid[PID_PITCH].P
1515 min: RPYL_PID_MIN
1516 max: RPYL_PID_MAX
1517 - name: mc_i_pitch
1518 description: "Multicopter rate stabilisation I-gain for PITCH"
1519 default_value: 30
1520 field: bank_mc.pid[PID_PITCH].I
1521 min: RPYL_PID_MIN
1522 max: RPYL_PID_MAX
1523 - name: mc_d_pitch
1524 description: "Multicopter rate stabilisation D-gain for PITCH"
1525 default_value: 23
1526 field: bank_mc.pid[PID_PITCH].D
1527 min: RPYL_PID_MIN
1528 max: RPYL_PID_MAX
1529 - name: mc_cd_pitch
1530 description: "Multicopter Control Derivative gain for PITCH"
1531 default_value: 60
1532 field: bank_mc.pid[PID_PITCH].FF
1533 min: RPYL_PID_MIN
1534 max: RPYL_PID_MAX
1535 - name: mc_p_roll
1536 description: "Multicopter rate stabilisation P-gain for ROLL"
1537 default_value: 40
1538 field: bank_mc.pid[PID_ROLL].P
1539 min: RPYL_PID_MIN
1540 max: RPYL_PID_MAX
1541 - name: mc_i_roll
1542 description: "Multicopter rate stabilisation I-gain for ROLL"
1543 default_value: 30
1544 field: bank_mc.pid[PID_ROLL].I
1545 min: RPYL_PID_MIN
1546 max: RPYL_PID_MAX
1547 - name: mc_d_roll
1548 description: "Multicopter rate stabilisation D-gain for ROLL"
1549 default_value: 23
1550 field: bank_mc.pid[PID_ROLL].D
1551 min: RPYL_PID_MIN
1552 max: RPYL_PID_MAX
1553 - name: mc_cd_roll
1554 description: "Multicopter Control Derivative gain for ROLL"
1555 default_value: 60
1556 field: bank_mc.pid[PID_ROLL].FF
1557 min: RPYL_PID_MIN
1558 max: RPYL_PID_MAX
1559 - name: mc_p_yaw
1560 description: "Multicopter rate stabilisation P-gain for YAW"
1561 default_value: 85
1562 field: bank_mc.pid[PID_YAW].P
1563 min: RPYL_PID_MIN
1564 max: RPYL_PID_MAX
1565 - name: mc_i_yaw
1566 description: "Multicopter rate stabilisation I-gain for YAW"
1567 default_value: 45
1568 field: bank_mc.pid[PID_YAW].I
1569 min: RPYL_PID_MIN
1570 max: RPYL_PID_MAX
1571 - name: mc_d_yaw
1572 description: "Multicopter rate stabilisation D-gain for YAW"
1573 default_value: 0
1574 field: bank_mc.pid[PID_YAW].D
1575 min: RPYL_PID_MIN
1576 max: RPYL_PID_MAX
1577 - name: mc_cd_yaw
1578 description: "Multicopter Control Derivative gain for YAW"
1579 default_value: 60
1580 field: bank_mc.pid[PID_YAW].FF
1581 min: RPYL_PID_MIN
1582 max: RPYL_PID_MAX
1583 - name: mc_p_level
1584 description: "Multicopter attitude stabilisation P-gain"
1585 default_value: 20
1586 field: bank_mc.pid[PID_LEVEL].P
1587 min: RPYL_PID_MIN
1588 max: RPYL_PID_MAX
1589 - name: mc_i_level
1590 description: "Multicopter attitude stabilisation low-pass filter cutoff"
1591 default_value: 15
1592 field: bank_mc.pid[PID_LEVEL].I
1593 min: RPYL_PID_MIN
1594 max: RPYL_PID_MAX
1595 - name: mc_d_level
1596 description: "Multicopter attitude stabilisation HORIZON transition point"
1597 default_value: 75
1598 field: bank_mc.pid[PID_LEVEL].D
1599 min: RPYL_PID_MIN
1600 max: RPYL_PID_MAX
1601 - name: fw_p_pitch
1602 description: "Fixed-wing rate stabilisation P-gain for PITCH"
1603 default_value: 5
1604 field: bank_fw.pid[PID_PITCH].P
1605 min: RPYL_PID_MIN
1606 max: RPYL_PID_MAX
1607 - name: fw_i_pitch
1608 description: "Fixed-wing rate stabilisation I-gain for PITCH"
1609 default_value: 7
1610 field: bank_fw.pid[PID_PITCH].I
1611 min: RPYL_PID_MIN
1612 max: RPYL_PID_MAX
1613 - name: fw_d_pitch
1614 description: "Fixed wing rate stabilisation D-gain for PITCH"
1615 default_value: 0
1616 field: bank_fw.pid[PID_PITCH].D
1617 min: RPYL_PID_MIN
1618 max: RPYL_PID_MAX
1619 - name: fw_ff_pitch
1620 description: "Fixed-wing rate stabilisation FF-gain for PITCH"
1621 default_value: 50
1622 field: bank_fw.pid[PID_PITCH].FF
1623 min: RPYL_PID_MIN
1624 max: RPYL_PID_MAX
1625 - name: fw_p_roll
1626 description: "Fixed-wing rate stabilisation P-gain for ROLL"
1627 default_value: 5
1628 field: bank_fw.pid[PID_ROLL].P
1629 min: RPYL_PID_MIN
1630 max: RPYL_PID_MAX
1631 - name: fw_i_roll
1632 description: "Fixed-wing rate stabilisation I-gain for ROLL"
1633 default_value: 7
1634 field: bank_fw.pid[PID_ROLL].I
1635 min: RPYL_PID_MIN
1636 max: RPYL_PID_MAX
1637 - name: fw_d_roll
1638 description: "Fixed wing rate stabilisation D-gain for ROLL"
1639 default_value: 0
1640 field: bank_fw.pid[PID_ROLL].D
1641 min: RPYL_PID_MIN
1642 max: RPYL_PID_MAX
1643 - name: fw_ff_roll
1644 description: "Fixed-wing rate stabilisation FF-gain for ROLL"
1645 default_value: 50
1646 field: bank_fw.pid[PID_ROLL].FF
1647 min: RPYL_PID_MIN
1648 max: RPYL_PID_MAX
1649 - name: fw_p_yaw
1650 description: "Fixed-wing rate stabilisation P-gain for YAW"
1651 default_value: 6
1652 field: bank_fw.pid[PID_YAW].P
1653 min: RPYL_PID_MIN
1654 max: RPYL_PID_MAX
1655 - name: fw_i_yaw
1656 description: "Fixed-wing rate stabilisation I-gain for YAW"
1657 default_value: 10
1658 field: bank_fw.pid[PID_YAW].I
1659 min: RPYL_PID_MIN
1660 max: RPYL_PID_MAX
1661 - name: fw_d_yaw
1662 description: "Fixed wing rate stabilisation D-gain for YAW"
1663 default_value: 0
1664 field: bank_fw.pid[PID_YAW].D
1665 min: RPYL_PID_MIN
1666 max: RPYL_PID_MAX
1667 - name: fw_ff_yaw
1668 description: "Fixed-wing rate stabilisation FF-gain for YAW"
1669 default_value: 60
1670 field: bank_fw.pid[PID_YAW].FF
1671 min: RPYL_PID_MIN
1672 max: RPYL_PID_MAX
1673 - name: fw_p_level
1674 description: "Fixed-wing attitude stabilisation P-gain"
1675 default_value: 20
1676 field: bank_fw.pid[PID_LEVEL].P
1677 min: RPYL_PID_MIN
1678 max: RPYL_PID_MAX
1679 - name: fw_i_level
1680 description: "Fixed-wing attitude stabilisation low-pass filter cutoff"
1681 default_value: 5
1682 field: bank_fw.pid[PID_LEVEL].I
1683 min: RPYL_PID_MIN
1684 max: RPYL_PID_MAX
1685 - name: fw_d_level
1686 description: "Fixed-wing attitude stabilisation HORIZON transition point"
1687 default_value: 75
1688 field: bank_fw.pid[PID_LEVEL].D
1689 min: RPYL_PID_MIN
1690 max: RPYL_PID_MAX
1691 - name: max_angle_inclination_rll
1692 description: "Maximum inclination in level (angle) mode (ROLL axis). 100=10°"
1693 default_value: 300
1694 field: max_angle_inclination[FD_ROLL]
1695 min: 100
1696 max: 900
1697 - name: max_angle_inclination_pit
1698 description: "Maximum inclination in level (angle) mode (PITCH axis). 100=10°"
1699 default_value: 300
1700 field: max_angle_inclination[FD_PITCH]
1701 min: 100
1702 max: 900
1703 - name: dterm_lpf_hz
1704 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"
1705 default_value: 40
1706 min: 0
1707 max: 500
1708 - name: dterm_lpf_type
1709 description: "Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
1710 default_value: "BIQUAD"
1711 field: dterm_lpf_type
1712 table: filter_type
1713 - name: dterm_lpf2_hz
1714 description: "Cutoff frequency for stage 2 D-term low pass filter"
1715 default_value: 0
1716 min: 0
1717 max: 500
1718 - name: dterm_lpf2_type
1719 description: "Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
1720 default_value: "BIQUAD"
1721 field: dterm_lpf2_type
1722 table: filter_type
1723 - name: yaw_lpf_hz
1724 description: "Yaw low pass filter cutoff frequency. Should be disabled (set to `0`) on small multirotors (7 inches and below)"
1725 default_value: 0
1726 min: 0
1727 max: 200
1728 - name: fw_iterm_throw_limit
1729 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."
1730 default_value: 165
1731 field: fixedWingItermThrowLimit
1732 min: FW_ITERM_THROW_LIMIT_MIN
1733 max: FW_ITERM_THROW_LIMIT_MAX
1734 - name: fw_loiter_direction
1735 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."
1736 default_value: "RIGHT"
1737 field: loiter_direction
1738 condition: USE_NAV
1739 table: direction
1740 - name: fw_reference_airspeed
1741 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."
1742 default_value: 1500
1743 field: fixedWingReferenceAirspeed
1744 min: 300
1745 max: 6000
1746 - name: fw_turn_assist_yaw_gain
1747 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"
1748 default_value: 1
1749 field: fixedWingCoordinatedYawGain
1750 min: 0
1751 max: 2
1752 - name: fw_turn_assist_pitch_gain
1753 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"
1754 default_value: 1
1755 field: fixedWingCoordinatedPitchGain
1756 min: 0
1757 max: 2
1758 - name: fw_iterm_limit_stick_position
1759 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"
1760 default_value: 0.5
1761 field: fixedWingItermLimitOnStickPosition
1762 min: 0
1763 max: 1
1764 - name: fw_yaw_iterm_freeze_bank_angle
1765 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."
1766 default_value: 0
1767 field: fixedWingYawItermBankFreeze
1768 min: 0
1769 max: 90
1770 - name: pidsum_limit
1771 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"
1772 default_value: 500
1773 field: pidSumLimit
1774 min: PID_SUM_LIMIT_MIN
1775 max: PID_SUM_LIMIT_MAX
1776 - name: pidsum_limit_yaw
1777 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"
1778 default_value: 350
1779 field: pidSumLimitYaw
1780 min: PID_SUM_LIMIT_MIN
1781 max: PID_SUM_LIMIT_MAX
1782 - name: iterm_windup
1783 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)"
1784 default_value: 50
1785 field: itermWindupPointPercent
1786 min: 0
1787 max: 90
1788 - name: rate_accel_limit_roll_pitch
1789 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."
1790 default_value: 0
1791 field: axisAccelerationLimitRollPitch
1792 max: 500000
1793 - name: rate_accel_limit_yaw
1794 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."
1795 default_value: 10000
1796 field: axisAccelerationLimitYaw
1797 max: 500000
1798 - name: heading_hold_rate_limit
1799 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."
1800 min: HEADING_HOLD_RATE_LIMIT_MIN
1801 max: HEADING_HOLD_RATE_LIMIT_MAX
1802 default_value: 90
1804 - name: nav_mc_pos_z_p
1805 description: "P gain of altitude PID controller (Multirotor)"
1806 field: bank_mc.pid[PID_POS_Z].P
1807 condition: USE_NAV
1808 min: 0
1809 max: 255
1810 default_value: 50
1811 - name: nav_mc_vel_z_p
1812 description: "P gain of velocity PID controller"
1813 field: bank_mc.pid[PID_VEL_Z].P
1814 condition: USE_NAV
1815 min: 0
1816 max: 255
1817 default_value: 100
1818 - name: nav_mc_vel_z_i
1819 description: "I gain of velocity PID controller"
1820 field: bank_mc.pid[PID_VEL_Z].I
1821 condition: USE_NAV
1822 min: 0
1823 max: 255
1824 default_value: 50
1825 - name: nav_mc_vel_z_d
1826 description: "D gain of velocity PID controller"
1827 default_value: 10
1828 field: bank_mc.pid[PID_VEL_Z].D
1829 condition: USE_NAV
1830 min: 0
1831 max: 255
1832 default_value: 10
1833 - name: nav_mc_pos_xy_p
1834 description: "Controls how fast the drone will fly towards the target position. This is a multiplier to convert displacement to target velocity"
1835 field: bank_mc.pid[PID_POS_XY].P
1836 condition: USE_NAV
1837 min: 0
1838 max: 255
1839 default_value: 65
1840 - name: nav_mc_vel_xy_p
1841 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"
1842 field: bank_mc.pid[PID_VEL_XY].P
1843 condition: USE_NAV
1844 min: 0
1845 max: 255
1846 default_value: 40
1847 - name: nav_mc_vel_xy_i
1848 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"
1849 field: bank_mc.pid[PID_VEL_XY].I
1850 condition: USE_NAV
1851 min: 0
1852 max: 255
1853 default_value: 15
1854 - name: nav_mc_vel_xy_d
1855 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."
1856 field: bank_mc.pid[PID_VEL_XY].D
1857 condition: USE_NAV
1858 min: 0
1859 max: 255
1860 default_value: 100
1861 - name: nav_mc_vel_xy_ff
1862 field: bank_mc.pid[PID_VEL_XY].FF
1863 condition: USE_NAV
1864 min: 0
1865 max: 255
1866 default_value: 40
1867 - name: nav_mc_heading_p
1868 description: "P gain of Heading Hold controller (Multirotor)"
1869 default_value: 60
1870 field: bank_mc.pid[PID_HEADING].P
1871 condition: USE_NAV
1872 min: 0
1873 max: 255
1874 - name: nav_mc_vel_xy_dterm_lpf_hz
1875 field: navVelXyDTermLpfHz
1876 min: 0
1877 max: 100
1878 default_value: 2
1879 - name: nav_mc_vel_xy_dterm_attenuation
1880 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."
1881 field: navVelXyDtermAttenuation
1882 min: 0
1883 max: 100
1884 default_value: 90
1885 - name: nav_mc_vel_xy_dterm_attenuation_start
1886 description: "A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins"
1887 default_value: 10
1888 field: navVelXyDtermAttenuationStart
1889 min: 0
1890 max: 100
1891 - name: nav_mc_vel_xy_dterm_attenuation_end
1892 description: "A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum"
1893 default_value: 60
1894 field: navVelXyDtermAttenuationEnd
1895 min: 0
1896 max: 100
1897 - name: nav_fw_pos_z_p
1898 description: "P gain of altitude PID controller (Fixedwing)"
1899 default_value: 40
1900 field: bank_fw.pid[PID_POS_Z].P
1901 condition: USE_NAV
1902 min: 0
1903 max: 255
1904 - name: nav_fw_pos_z_i
1905 description: "I gain of altitude PID controller (Fixedwing)"
1906 default_value: 5
1907 field: bank_fw.pid[PID_POS_Z].I
1908 condition: USE_NAV
1909 min: 0
1910 max: 255
1911 - name: nav_fw_pos_z_d
1912 description: "D gain of altitude PID controller (Fixedwing)"
1913 default_value: 10
1914 field: bank_fw.pid[PID_POS_Z].D
1915 condition: USE_NAV
1916 min: 0
1917 max: 255
1918 - name: nav_fw_pos_xy_p
1919 description: "P gain of 2D trajectory PID controller. Play with this to get a straight line between waypoints or a straight RTH"
1920 default_value: 75
1921 field: bank_fw.pid[PID_POS_XY].P
1922 condition: USE_NAV
1923 min: 0
1924 max: 255
1925 - name: nav_fw_pos_xy_i
1926 description: "I gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero"
1927 default_value: 5
1928 field: bank_fw.pid[PID_POS_XY].I
1929 condition: USE_NAV
1930 min: 0
1931 max: 255
1932 - name: nav_fw_pos_xy_d
1933 description: "D gain of 2D trajectory PID controller. Too high and there will be overshoot in trajectory. Better start tuning with zero"
1934 default_value: 8
1935 field: bank_fw.pid[PID_POS_XY].D
1936 condition: USE_NAV
1937 min: 0
1938 max: 255
1939 - name: nav_fw_heading_p
1940 description: "P gain of Heading Hold controller (Fixedwing)"
1941 default_value: 60
1942 field: bank_fw.pid[PID_HEADING].P
1943 condition: USE_NAV
1944 min: 0
1945 max: 255
1946 - name: nav_fw_pos_hdg_p
1947 description: "P gain of heading PID controller. (Fixedwing, rovers, boats)"
1948 default_value: 30
1949 field: bank_fw.pid[PID_POS_HEADING].P
1950 condition: USE_NAV
1951 min: 0
1952 max: 255
1953 - name: nav_fw_pos_hdg_i
1954 description: "I gain of heading trajectory PID controller. (Fixedwing, rovers, boats)"
1955 default_value: 2
1956 field: bank_fw.pid[PID_POS_HEADING].I
1957 condition: USE_NAV
1958 min: 0
1959 max: 255
1960 - name: nav_fw_pos_hdg_d
1961 description: "D gain of heading trajectory PID controller. (Fixedwing, rovers, boats)"
1962 default_value: 0
1963 field: bank_fw.pid[PID_POS_HEADING].D
1964 condition: USE_NAV
1965 min: 0
1966 max: 255
1967 - name: nav_fw_pos_hdg_pidsum_limit
1968 description: "Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats)"
1969 default_value: 350
1970 field: navFwPosHdgPidsumLimit
1971 min: PID_SUM_LIMIT_MIN
1972 max: PID_SUM_LIMIT_MAX
1973 - name: mc_iterm_relax
1974 field: iterm_relax
1975 table: iterm_relax
1976 default_value: RP
1977 - name: mc_iterm_relax_cutoff
1978 field: iterm_relax_cutoff
1979 min: 1
1980 max: 100
1981 default_value: 15
1982 - name: d_boost_factor
1983 field: dBoostFactor
1984 condition: USE_D_BOOST
1985 min: 1
1986 max: 3
1987 default_value: 1.25
1988 - name: d_boost_max_at_acceleration
1989 field: dBoostMaxAtAlleceleration
1990 condition: USE_D_BOOST
1991 min: 1000
1992 max: 16000
1993 default_value: 7500
1994 - name: d_boost_gyro_delta_lpf_hz
1995 field: dBoostGyroDeltaLpfHz
1996 condition: USE_D_BOOST
1997 min: 10
1998 max: 250
1999 default_value: 80
2000 - name: antigravity_gain
2001 description: "Max Antigravity gain. `1` means Antigravity is disabled, `2` means Iterm is allowed to double during rapid throttle movements"
2002 default_value: 1
2003 field: antigravityGain
2004 condition: USE_ANTIGRAVITY
2005 min: 1
2006 max: 20
2007 - name: antigravity_accelerator
2008 description: ""
2009 default_value: 1
2010 field: antigravityAccelerator
2011 condition: USE_ANTIGRAVITY
2012 min: 1
2013 max: 20
2014 - name: antigravity_cutoff_lpf_hz
2015 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"
2016 default_value: 15
2017 field: antigravityCutoff
2018 condition: USE_ANTIGRAVITY
2019 min: 1
2020 max: 30
2021 - name: pid_type
2022 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`"
2023 field: pidControllerType
2024 table: pidTypeTable
2025 default_value: AUTO
2026 - name: mc_cd_lpf_hz
2027 description: "Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive, jerky"
2028 default_value: 30
2029 field: controlDerivativeLpfHz
2030 min: 0
2031 max: 200
2032 - name: setpoint_kalman_enabled
2033 description: "Enable Kalman filter on the PID controller setpoint"
2034 default_value: OFF
2035 condition: USE_GYRO_KALMAN
2036 field: kalmanEnabled
2037 type: bool
2038 - name: setpoint_kalman_q
2039 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"
2040 default_value: 100
2041 field: kalman_q
2042 condition: USE_GYRO_KALMAN
2043 min: 1
2044 max: 16000
2045 - name: setpoint_kalman_w
2046 description: "Window size for the setpoint Kalman filter. Wider the window, more samples are used to compute variance. In general, wider window results in smoother filter response"
2047 default_value: 4
2048 field: kalman_w
2049 condition: USE_GYRO_KALMAN
2050 min: 1
2051 max: 40
2052 - name: setpoint_kalman_sharpness
2053 description: "Dynamic factor for the setpoint Kalman filter. In general, the higher the value, the more dynamic Kalman filter gets"
2054 default_value: 100
2055 field: kalman_sharpness
2056 condition: USE_GYRO_KALMAN
2057 min: 1
2058 max: 16000
2059 - name: fw_level_pitch_trim
2060 description: "Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level"
2061 default_value: 0
2062 field: fixedWingLevelTrim
2063 min: -10
2064 max: 10
2065 - name: smith_predictor_strength
2066 description: "The strength factor of a Smith Predictor of PID measurement. In percents"
2067 default_value: 0.5
2068 field: smithPredictorStrength
2069 condition: USE_SMITH_PREDICTOR
2070 min: 0
2071 max: 1
2072 - name: smith_predictor_delay
2073 description: "Expected delay of the gyro signal. In milliseconds"
2074 default_value: 0
2075 field: smithPredictorDelay
2076 condition: USE_SMITH_PREDICTOR
2077 min: 0
2078 max: 8
2079 - name: smith_predictor_lpf_hz
2080 description: "Cutoff frequency for the Smith Predictor Low Pass Filter"
2081 default_value: 50
2082 field: smithPredictorFilterHz
2083 condition: USE_SMITH_PREDICTOR
2084 min: 1
2085 max: 500
2087 - name: PG_PID_AUTOTUNE_CONFIG
2088 type: pidAutotuneConfig_t
2089 condition: USE_AUTOTUNE_FIXED_WING
2090 members:
2091 - name: fw_autotune_overshoot_time
2092 description: "Time [ms] to detect sustained overshoot"
2093 default_value: 100
2094 field: fw_overshoot_time
2095 min: 50
2096 max: 500
2097 - name: fw_autotune_undershoot_time
2098 description: "Time [ms] to detect sustained undershoot"
2099 default_value: 200
2100 field: fw_undershoot_time
2101 min: 50
2102 max: 500
2103 - name: fw_autotune_threshold
2104 description: "Threshold [%] of max rate to consider overshoot/undershoot detection"
2105 default_value: 50
2106 field: fw_max_rate_threshold
2107 min: 0
2108 max: 100
2109 - name: fw_autotune_ff_to_p_gain
2110 description: "FF to P gain (strength relationship) [%]"
2111 default_value: 10
2112 field: fw_ff_to_p_gain
2113 min: 0
2114 max: 100
2115 - name: fw_autotune_ff_to_i_tc
2116 description: "FF to I time (defines time for I to reach the same level of response as FF) [ms]"
2117 default_value: 600
2118 field: fw_ff_to_i_time_constant
2119 min: 100
2120 max: 5000
2122 - name: PG_POSITION_ESTIMATION_CONFIG
2123 type: positionEstimationConfig_t
2124 condition: USE_NAV
2125 members:
2126 - name: inav_auto_mag_decl
2127 description: "Automatic setting of magnetic declination based on GPS position. When used manual magnetic declination is ignored."
2128 default_value: ON
2129 field: automatic_mag_declination
2130 type: bool
2131 - name: inav_gravity_cal_tolerance
2132 description: "Unarmed gravity calibration tolerance level. Won't finish the calibration until estimated gravity error falls below this value."
2133 default_value: 5
2134 field: gravity_calibration_tolerance
2135 min: 0
2136 max: 255
2137 - name: inav_use_gps_velned
2138 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."
2139 default_value: ON
2140 field: use_gps_velned
2141 type: bool
2142 - name: inav_use_gps_no_baro
2143 field: use_gps_no_baro
2144 type: bool
2145 default_value: OFF
2146 - name: inav_allow_dead_reckoning
2147 description: "Defines if inav will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation"
2148 default_value: OFF
2149 field: allow_dead_reckoning
2150 type: bool
2151 - name: inav_reset_altitude
2152 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)"
2153 default_value: "FIRST_ARM"
2154 field: reset_altitude_type
2155 table: reset_type
2156 - name: inav_reset_home
2157 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"
2158 default_value: "FIRST_ARM"
2159 field: reset_home_type
2160 table: reset_type
2161 - name: inav_max_surface_altitude
2162 description: "Max allowed altitude for surface following mode. [cm]"
2163 default_value: 200
2164 field: max_surface_altitude
2165 min: 0
2166 max: 1000
2167 - name: inav_w_z_surface_p
2168 field: w_z_surface_p
2169 min: 0
2170 max: 100
2171 default_value: 3.5
2172 - name: inav_w_z_surface_v
2173 field: w_z_surface_v
2174 min: 0
2175 max: 100
2176 default_value: 6.1
2177 - name: inav_w_xy_flow_p
2178 field: w_xy_flow_p
2179 min: 0
2180 max: 100
2181 default_value: 1.0
2182 - name: inav_w_xy_flow_v
2183 field: w_xy_flow_v
2184 min: 0
2185 max: 100
2186 default_value: 2.0
2187 - name: inav_w_z_baro_p
2188 description: "Weight of barometer measurements in estimated altitude and climb rate"
2189 field: w_z_baro_p
2190 min: 0
2191 max: 10
2192 default_value: 0.35
2193 - name: inav_w_z_gps_p
2194 description: "Weight of GPS altitude measurements in estimated altitude. Setting is used only of airplanes"
2195 field: w_z_gps_p
2196 min: 0
2197 max: 10
2198 default_value: 0.2
2199 - name: inav_w_z_gps_v
2200 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"
2201 field: w_z_gps_v
2202 min: 0
2203 max: 10
2204 default_value: 0.1
2205 - name: inav_w_xy_gps_p
2206 description: "Weight of GPS coordinates in estimated UAV position and speed."
2207 default_value: 1.0
2208 field: w_xy_gps_p
2209 min: 0
2210 max: 10
2211 - name: inav_w_xy_gps_v
2212 description: "Weight of GPS velocity data in estimated UAV speed"
2213 default_value: 2.0
2214 field: w_xy_gps_v
2215 min: 0
2216 max: 10
2217 - name: inav_w_z_res_v
2218 description: "Decay coefficient for estimated climb rate when baro/GPS reference for altitude is lost"
2219 default_value: 0.5
2220 field: w_z_res_v
2221 min: 0
2222 max: 10
2223 - name: inav_w_xy_res_v
2224 description: "Decay coefficient for estimated velocity when GPS reference for position is lost"
2225 default_value: 0.5
2226 field: w_xy_res_v
2227 min: 0
2228 max: 10
2229 - name: inav_w_xyz_acc_p
2230 field: w_xyz_acc_p
2231 min: 0
2232 max: 1
2233 default_value: 1.0
2234 - name: inav_w_acc_bias
2235 description: "Weight for accelerometer drift estimation"
2236 default_value: 0.01
2237 field: w_acc_bias
2238 min: 0
2239 max: 1
2240 - name: inav_max_eph_epv
2241 description: "Maximum uncertainty value until estimated position is considered valid and is used for navigation [cm]"
2242 default_value: 1000
2243 field: max_eph_epv
2244 min: 0
2245 max: 9999
2246 - name: inav_baro_epv
2247 description: "Uncertainty value for barometric sensor [cm]"
2248 default_value: 100
2249 field: baro_epv
2250 min: 0
2251 max: 9999
2253 - name: PG_NAV_CONFIG
2254 type: navConfig_t
2255 headers: ["navigation/navigation.h"]
2256 condition: USE_NAV
2257 members:
2258 - name: nav_disarm_on_landing
2259 description: "If set to ON, iNav disarms the FC after landing"
2260 default_value: OFF
2261 field: general.flags.disarm_on_landing
2262 type: bool
2263 - name: nav_use_midthr_for_althold
2264 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"
2265 default_value: OFF
2266 field: general.flags.use_thr_mid_for_althold
2267 type: bool
2268 - name: nav_extra_arming_safety
2269 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"
2270 default_value: "ON"
2271 field: general.flags.extra_arming_safety
2272 table: nav_extra_arming_safety
2273 - name: nav_user_control_mode
2274 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."
2275 default_value: "ATTI"
2276 field: general.flags.user_control_mode
2277 table: nav_user_control_mode
2278 - name: nav_position_timeout
2279 description: "If GPS fails wait for this much seconds before switching to emergency landing mode (0 - disable)"
2280 default_value: 5
2281 field: general.pos_failure_timeout
2282 min: 0
2283 max: 10
2284 - name: nav_wp_radius
2285 description: "Waypoint radius [cm]. Waypoint would be considered reached if machine is within this radius"
2286 default_value: 100
2287 field: general.waypoint_radius
2288 min: 10
2289 max: 10000
2290 - name: nav_wp_safe_distance
2291 description: "First waypoint in the mission should be closer than this value [cm]. A value of 0 disables this check."
2292 default_value: 10000
2293 field: general.waypoint_safe_distance
2294 max: 65000
2295 - name: nav_auto_speed
2296 description: "Maximum velocity firmware is allowed in full auto modes (RTH, WP) [cm/s] [Multirotor only]"
2297 default_value: 300
2298 field: general.max_auto_speed
2299 min: 10
2300 max: 2000
2301 - name: nav_auto_climb_rate
2302 description: "Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s]"
2303 default_value: 500
2304 field: general.max_auto_climb_rate
2305 min: 10
2306 max: 2000
2307 - name: nav_manual_speed
2308 description: "Maximum velocity firmware is allowed when processing pilot input for POSHOLD/CRUISE control mode [cm/s] [Multirotor only]"
2309 default_value: 500
2310 field: general.max_manual_speed
2311 min: 10
2312 max: 2000
2313 - name: nav_manual_climb_rate
2314 description: "Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s]"
2315 default_value: 200
2316 field: general.max_manual_climb_rate
2317 min: 10
2318 max: 2000
2319 - name: nav_land_minalt_vspd
2320 description: "Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s]"
2321 default_value: 50
2322 field: general.land_minalt_vspd
2323 min: 50
2324 max: 500
2325 - name: nav_land_maxalt_vspd
2326 description: "Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s]"
2327 default_value: 200
2328 field: general.land_maxalt_vspd
2329 min: 100
2330 max: 2000
2331 - name: nav_land_slowdown_minalt
2332 description: "Defines at what altitude the descent velocity should start to be `nav_land_minalt_vspd` [cm]"
2333 default_value: 500
2334 field: general.land_slowdown_minalt
2335 min: 50
2336 max: 1000
2337 - name: nav_land_slowdown_maxalt
2338 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]"
2339 default_value: 2000
2340 field: general.land_slowdown_maxalt
2341 min: 500
2342 max: 4000
2343 - name: nav_emerg_landing_speed
2344 description: "Rate of descent UAV will try to maintain when doing emergency descent sequence [cm/s]"
2345 default_value: 500
2346 field: general.emerg_descent_rate
2347 min: 100
2348 max: 2000
2349 - name: nav_min_rth_distance
2350 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."
2351 default_value: 500
2352 field: general.min_rth_distance
2353 min: 0
2354 max: 5000
2355 - name: nav_overrides_motor_stop
2356 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"
2357 default_value: "ALL_NAV"
2358 field: general.flags.nav_overrides_motor_stop
2359 table: nav_overrides_motor_stop
2360 - name: nav_rth_climb_first
2361 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)"
2362 default_value: "ON"
2363 field: general.flags.rth_climb_first
2364 table: nav_rth_climb_first
2365 - name: nav_rth_climb_ignore_emerg
2366 description: "If set to ON, aircraft will execute initial climb regardless of position sensor (GPS) status."
2367 default_value: OFF
2368 field: general.flags.rth_climb_ignore_emerg
2369 type: bool
2370 - name: nav_rth_tail_first
2371 description: "If set to ON drone will return tail-first. Obviously meaningless for airplanes."
2372 default_value: OFF
2373 field: general.flags.rth_tail_first
2374 type: bool
2375 - name: nav_rth_allow_landing
2376 description: "If set to ON drone will land as a last phase of RTH."
2377 default_value: "ALWAYS"
2378 field: general.flags.rth_allow_landing
2379 table: nav_rth_allow_landing
2380 - name: nav_rth_alt_mode
2381 description: "Configure how the aircraft will manage altitude on the way home, see Navigation modes on wiki for more details"
2382 default_value: "AT_LEAST"
2383 field: general.flags.rth_alt_control_mode
2384 table: nav_rth_alt_mode
2385 - name: nav_rth_alt_control_override
2386 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)"
2387 default_value: OFF
2388 field: general.flags.rth_alt_control_override
2389 type: bool
2390 - name: nav_rth_abort_threshold
2391 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. [cm]"
2392 default_value: 50000
2393 field: general.rth_abort_threshold
2394 max: 65000
2395 - name: nav_max_terrain_follow_alt
2396 field: general.max_terrain_follow_altitude
2397 default_value: "100"
2398 description: "Max allowed above the ground altitude for terrain following mode"
2399 max: 1000
2400 default_value: 100
2401 - name: nav_rth_altitude
2402 description: "Used in EXTRA, FIXED and AT_LEAST rth alt modes [cm] (Default 1000 means 10 meters)"
2403 default_value: 1000
2404 field: general.rth_altitude
2405 max: 65000
2406 - name: nav_rth_home_altitude
2407 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]"
2408 default_value: 0
2409 field: general.rth_home_altitude
2410 max: 65000
2411 - name: safehome_max_distance
2412 description: "In order for a safehome to be used, it must be less than this distance (in cm) from the arming point."
2413 default_value: 20000
2414 field: general.safehome_max_distance
2415 min: 0
2416 max: 65000
2417 - name: safehome_usage_mode
2418 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."
2419 default_value: "RTH"
2420 field: general.flags.safehome_usage_mode
2421 table: safehome_usage_mode
2422 - name: nav_mc_bank_angle
2423 description: "Maximum banking angle (deg) that multicopter navigation is allowed to set. Machine must be able to satisfy this angle without loosing altitude"
2424 default_value: 30
2425 field: mc.max_bank_angle
2426 min: 15
2427 max: 45
2428 - name: nav_mc_hover_thr
2429 description: "Multicopter hover throttle hint for altitude controller. Should be set to approximate throttle value when drone is hovering."
2430 default_value: 1500
2431 field: mc.hover_throttle
2432 min: 1000
2433 max: 2000
2434 - name: nav_mc_auto_disarm_delay
2435 description: "Delay before multi-rotor disarms when `nav_disarm_on_landing` is set (m/s)"
2436 default_value: 2000
2437 field: mc.auto_disarm_delay
2438 min: 100
2439 max: 10000
2440 - name: nav_mc_braking_speed_threshold
2441 description: "min speed in cm/s above which braking can happen"
2442 default_value: 100
2443 field: mc.braking_speed_threshold
2444 condition: USE_MR_BRAKING_MODE
2445 min: 0
2446 max: 1000
2447 - name: nav_mc_braking_disengage_speed
2448 description: "braking is disabled when speed goes below this value"
2449 default_value: 75
2450 field: mc.braking_disengage_speed
2451 condition: USE_MR_BRAKING_MODE
2452 min: 0
2453 max: 1000
2454 - name: nav_mc_braking_timeout
2455 description: "timeout in ms for braking"
2456 default_value: 2000
2457 field: mc.braking_timeout
2458 condition: USE_MR_BRAKING_MODE
2459 min: 100
2460 max: 5000
2461 - name: nav_mc_braking_boost_factor
2462 description: "acceleration factor for BOOST phase"
2463 default_value: 100
2464 field: mc.braking_boost_factor
2465 condition: USE_MR_BRAKING_MODE
2466 min: 0
2467 max: 200
2468 - name: nav_mc_braking_boost_timeout
2469 description: "how long in ms BOOST phase can happen"
2470 default_value: 750
2471 field: mc.braking_boost_timeout
2472 condition: USE_MR_BRAKING_MODE
2473 min: 0
2474 max: 5000
2475 - name: nav_mc_braking_boost_speed_threshold
2476 description: "BOOST can be enabled when speed is above this value"
2477 default_value: 150
2478 field: mc.braking_boost_speed_threshold
2479 condition: USE_MR_BRAKING_MODE
2480 min: 100
2481 max: 1000
2482 - name: nav_mc_braking_boost_disengage_speed
2483 description: "BOOST will be disabled when speed goes below this value"
2484 default_value: 100
2485 field: mc.braking_boost_disengage_speed
2486 condition: USE_MR_BRAKING_MODE
2487 min: 0
2488 max: 1000
2489 - name: nav_mc_braking_bank_angle
2490 description: "max angle that MR is allowed to bank in BOOST mode"
2491 default_value: 40
2492 field: mc.braking_bank_angle
2493 condition: USE_MR_BRAKING_MODE
2494 min: 15
2495 max: 60
2496 - name: nav_mc_pos_deceleration_time
2497 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"
2498 default_value: 120
2499 field: mc.posDecelerationTime
2500 condition: USE_NAV
2501 min: 0
2502 max: 255
2503 - name: nav_mc_pos_expo
2504 description: "Expo for PosHold control"
2505 default_value: 10
2506 field: mc.posResponseExpo
2507 condition: USE_NAV
2508 min: 0
2509 max: 255
2510 - name: nav_mc_wp_slowdown
2511 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."
2512 default_value: ON
2513 field: mc.slowDownForTurning
2514 type: bool
2515 - name: nav_fw_cruise_thr
2516 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 )"
2517 default_value: 1400
2518 field: fw.cruise_throttle
2519 min: 1000
2520 max: 2000
2521 - name: nav_fw_min_thr
2522 description: "Minimum throttle for flying wing in GPS assisted modes"
2523 default_value: 1200
2524 field: fw.min_throttle
2525 min: 1000
2526 max: 2000
2527 - name: nav_fw_max_thr
2528 description: "Maximum throttle for flying wing in GPS assisted modes"
2529 default_value: 1700
2530 field: fw.max_throttle
2531 min: 1000
2532 max: 2000
2533 - name: nav_fw_bank_angle
2534 description: "Max roll angle when rolling / turning in GPS assisted modes, is also restrained by global max_angle_inclination_rll"
2535 default_value: 35
2536 field: fw.max_bank_angle
2537 min: 5
2538 max: 80
2539 - name: nav_fw_climb_angle
2540 description: "Max pitch angle when climbing in GPS assisted modes, is also restrained by global max_angle_inclination_pit"
2541 default_value: 20
2542 field: fw.max_climb_angle
2543 min: 5
2544 max: 80
2545 - name: nav_fw_dive_angle
2546 description: "Max negative pitch angle when diving in GPS assisted modes, is also restrained by global max_angle_inclination_pit"
2547 default_value: 15
2548 field: fw.max_dive_angle
2549 min: 5
2550 max: 80
2551 - name: nav_fw_pitch2thr
2552 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)"
2553 default_value: 10
2554 field: fw.pitch_to_throttle
2555 min: 0
2556 max: 100
2557 - name: nav_fw_pitch2thr_smoothing
2558 description: "How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by pitch_to_throttle_thresh."
2559 default_value: 6
2560 field: fw.pitch_to_throttle_smooth
2561 min: 0
2562 max: 9
2563 - name: nav_fw_pitch2thr_threshold
2564 description: "Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees]"
2565 default_value: 50
2566 field: fw.pitch_to_throttle_thresh
2567 min: 0
2568 max: 900
2569 - name: nav_fw_loiter_radius
2570 description: "PosHold radius. 3000 to 7500 is a good value (30-75m) [cm]"
2571 default_value: 7500
2572 field: fw.loiter_radius
2573 min: 0
2574 max: 30000
2575 - name: nav_fw_cruise_speed
2576 description: "Speed for the plane/wing at cruise throttle used for remaining flight time/distance estimation in cm/s"
2577 default_value: 0
2578 field: fw.cruise_speed
2579 min: 0
2580 max: 65535
2581 - name: nav_fw_control_smoothness
2582 description: "How smoothly the autopilot controls the airplane to correct the navigation error"
2583 default_value: 0
2584 field: fw.control_smoothness
2585 min: 0
2586 max: 9
2588 - name: nav_fw_land_dive_angle
2589 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"
2590 default_value: 2
2591 field: fw.land_dive_angle
2592 condition: NAV_FIXED_WING_LANDING
2593 min: -20
2594 max: 20
2596 - name: nav_fw_launch_velocity
2597 description: "Forward velocity threshold for swing-launch detection [cm/s]"
2598 default_value: 300
2599 field: fw.launch_velocity_thresh
2600 min: 100
2601 max: 10000
2602 - name: nav_fw_launch_accel
2603 description: "Forward acceleration threshold for bungee launch of throw launch [cm/s/s], 1G = 981 cm/s/s"
2604 default_value: 1863
2605 field: fw.launch_accel_thresh
2606 min: 1000
2607 max: 20000
2608 - name: nav_fw_launch_max_angle
2609 description: "Max tilt angle (pitch/roll combined) to consider launch successful. Set to 180 to disable completely [deg]"
2610 default_value: 45
2611 field: fw.launch_max_angle
2612 min: 5
2613 max: 180
2614 - name: nav_fw_launch_detect_time
2615 description: "Time for which thresholds have to breached to consider launch happened [ms]"
2616 default_value: 40
2617 field: fw.launch_time_thresh
2618 min: 10
2619 max: 1000
2620 - name: nav_fw_launch_thr
2621 description: "Launch throttle - throttle to be set during launch sequence (pwm units)"
2622 default_value: 1700
2623 field: fw.launch_throttle
2624 min: 1000
2625 max: 2000
2626 - name: nav_fw_launch_idle_thr
2627 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)"
2628 default_value: 1000
2629 field: fw.launch_idle_throttle
2630 min: 1000
2631 max: 2000
2632 - name: nav_fw_launch_motor_delay
2633 description: "Delay between detected launch and launch sequence start and throttling up (ms)"
2634 default_value: 500
2635 field: fw.launch_motor_timer
2636 min: 0
2637 max: 5000
2638 - name: nav_fw_launch_spinup_time
2639 description: "Time to bring power from minimum throttle to nav_fw_launch_thr - to avoid big stress on ESC and large torque from propeller"
2640 default_value: 100
2641 field: fw.launch_motor_spinup_time
2642 min: 0
2643 max: 1000
2644 - name: nav_fw_launch_end_time
2645 description: "Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]"
2646 default_value: 3000
2647 field: fw.launch_end_time
2648 min: 0
2649 max: 5000
2650 - name: nav_fw_launch_min_time
2651 description: "Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]."
2652 default_value: 0
2653 field: fw.launch_min_time
2654 min: 0
2655 max: 60000
2656 - name: nav_fw_launch_timeout
2657 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)"
2658 default_value: 5000
2659 field: fw.launch_timeout
2660 max: 60000
2661 - name: nav_fw_launch_max_altitude
2662 description: "Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]."
2663 default_value: 0
2664 field: fw.launch_max_altitude
2665 min: 0
2666 max: 60000
2667 - name: nav_fw_launch_climb_angle
2668 description: "Climb angle for launch sequence (degrees), is also restrained by global max_angle_inclination_pit"
2669 default_value: 18
2670 field: fw.launch_climb_angle
2671 min: 5
2672 max: 45
2673 - name: nav_fw_cruise_yaw_rate
2674 description: "Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps]"
2675 default_value: 20
2676 field: fw.cruise_yaw_rate
2677 min: 0
2678 max: 60
2679 - name: nav_fw_allow_manual_thr_increase
2680 description: "Enable the possibility to manually increase the throttle in auto throttle controlled modes for fixed wing"
2681 default_value: OFF
2682 field: fw.allow_manual_thr_increase
2683 type: bool
2684 - name: nav_use_fw_yaw_control
2685 description: "Enables or Disables the use of the heading PID controller on fixed wing. Heading PID controller is always enabled for rovers and boats"
2686 default_value: OFF
2687 field: fw.useFwNavYawControl
2688 type: bool
2689 - name: nav_fw_yaw_deadband
2690 description: "Deadband for heading trajectory PID controller. When heading error is below the deadband, controller assumes that vehicle is on course"
2691 default_value: 0
2692 field: fw.yawControlDeadband
2693 min: 0
2694 max: 90
2696 - name: PG_TELEMETRY_CONFIG
2697 type: telemetryConfig_t
2698 headers: ["io/serial.h", "telemetry/telemetry.h", "telemetry/frsky_d.h", "telemetry/sim.h"]
2699 condition: USE_TELEMETRY
2700 members:
2701 - name: telemetry_switch
2702 description: "Which aux channel to use to change serial output & baud rate (MSP / Telemetry). It disables automatic switching to Telemetry when armed."
2703 default_value: OFF
2704 type: bool
2705 - name: telemetry_inverted
2706 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."
2707 default_value: OFF
2708 type: bool
2709 - name: frsky_default_latitude
2710 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."
2711 default_value: 0
2712 field: gpsNoFixLatitude
2713 min: -90
2714 max: 90
2715 - name: frsky_default_longitude
2716 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."
2717 default_value: 0
2718 field: gpsNoFixLongitude
2719 min: -180
2720 max: 180
2721 - name: frsky_coordinates_format
2722 description: "D-Series telemetry only: FRSKY_FORMAT_DMS (default), FRSKY_FORMAT_NMEA"
2723 default_value: 0
2724 field: frsky_coordinate_format
2725 min: 0
2726 max: FRSKY_FORMAT_NMEA
2727 type: uint8_t # TODO: This seems to use an enum, we should use table:
2728 - name: frsky_unit
2729 description: "Not used? [METRIC/IMPERIAL]"
2730 default_value: "METRIC"
2731 table: frsky_unit
2732 type: uint8_t
2733 - name: frsky_vfas_precision
2734 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"
2735 default_value: 0
2736 min: FRSKY_VFAS_PRECISION_LOW
2737 max: FRSKY_VFAS_PRECISION_HIGH
2738 - name: frsky_pitch_roll
2739 description: "S.Port and D-Series telemetry: Send pitch and roll degrees*10 instead of raw accelerometer data"
2740 default_value: OFF
2741 type: bool
2742 - name: report_cell_voltage
2743 description: "S.Port, D-Series, and IBUS telemetry: Send the average cell voltage if set to ON"
2744 default_value: OFF
2745 type: bool
2746 - name: hott_alarm_sound_interval
2747 description: "Battery alarm delay in seconds for Hott telemetry"
2748 default_value: 5
2749 field: hottAlarmSoundInterval
2750 min: 0
2751 max: 120
2752 - name: telemetry_halfduplex
2753 description: "S.Port telemetry only: Turn UART into UNIDIR for usage on F1 and F4 target. See Telemetry.md for details"
2754 default_value: ON
2755 field: halfDuplex
2756 type: bool
2757 - name: smartport_fuel_unit
2758 description: "S.Port telemetry only: Unit of the value sent with the `FUEL` ID (FrSky D-Series always sends percent). [PERCENT/MAH/MWH]"
2759 default_value: "MAH"
2760 field: smartportFuelUnit
2761 condition: USE_TELEMETRY_SMARTPORT
2762 type: uint8_t
2763 table: smartport_fuel_unit
2764 - name: ibus_telemetry_type
2765 description: "Type compatibility ibus telemetry for transmitters. See Telemetry.md label IBUS for details."
2766 default_value: 0
2767 field: ibusTelemetryType
2768 min: 0
2769 max: 255
2770 - name: ltm_update_rate
2771 description: "Defines the LTM update rate (use of bandwidth [NORMAL/MEDIUM/SLOW]). See Telemetry.md, LTM section for details."
2772 default_value: "NORMAL"
2773 field: ltmUpdateRate
2774 condition: USE_TELEMETRY_LTM
2775 table: ltm_rates
2776 - name: sim_ground_station_number
2777 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."
2778 default_value: ""
2779 field: simGroundStationNumber
2780 condition: USE_TELEMETRY_SIM
2781 - name: sim_pin
2782 description: "PIN code for the SIM module"
2783 default_value: "0000"
2784 field: simPin
2785 condition: USE_TELEMETRY_SIM
2786 - name: sim_transmit_interval
2787 description: "Text message transmission interval in seconds for SIM module. Minimum value: 10"
2788 default_value: 60
2789 field: simTransmitInterval
2790 condition: USE_TELEMETRY_SIM
2791 type: uint16_t
2792 min: SIM_MIN_TRANSMIT_INTERVAL
2793 max: 65535
2794 - name: sim_transmit_flags
2795 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`"
2796 default_value: :SIM_TX_FLAG_FAILSAFE
2797 field: simTransmitFlags
2798 condition: USE_TELEMETRY_SIM
2799 max: 63
2800 - name: acc_event_threshold_high
2801 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."
2802 default_value: 0
2803 field: accEventThresholdHigh
2804 condition: USE_TELEMETRY_SIM
2805 type: uint16_t
2806 min: 0
2807 max: 65535
2808 - name: acc_event_threshold_low
2809 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."
2810 default_value: 0
2811 field: accEventThresholdLow
2812 condition: USE_TELEMETRY_SIM
2813 type: uint16_t
2814 min: 0
2815 max: 900
2816 - name: acc_event_threshold_neg_x
2817 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."
2818 default_value: 0
2819 field: accEventThresholdNegX
2820 condition: USE_TELEMETRY_SIM
2821 type: uint16_t
2822 min: 0
2823 max: 65535
2824 - name: sim_low_altitude
2825 description: "Threshold for low altitude warning messages sent by SIM module when the 'L' transmit flag is set in `sim_transmit_flags`."
2826 default_value: -32767
2827 field: simLowAltitude
2828 condition: USE_TELEMETRY_SIM
2829 type: int16_t
2830 min: INT16_MIN
2831 max: INT16_MAX
2832 - name: mavlink_ext_status_rate
2833 field: mavlink.extended_status_rate
2834 type: uint8_t
2835 min: 0
2836 max: 255
2837 default_value: 2
2838 - name: mavlink_rc_chan_rate
2839 field: mavlink.rc_channels_rate
2840 type: uint8_t
2841 min: 0
2842 max: 255
2843 default_value: 5
2844 - name: mavlink_pos_rate
2845 field: mavlink.position_rate
2846 type: uint8_t
2847 min: 0
2848 max: 255
2849 default_value: 2
2850 - name: mavlink_extra1_rate
2851 field: mavlink.extra1_rate
2852 type: uint8_t
2853 min: 0
2854 max: 255
2855 default_value: 10
2856 - name: mavlink_extra2_rate
2857 field: mavlink.extra2_rate
2858 type: uint8_t
2859 min: 0
2860 max: 255
2861 default_value: 2
2862 - name: mavlink_extra3_rate
2863 field: mavlink.extra3_rate
2864 type: uint8_t
2865 min: 0
2866 max: 255
2867 default_value: 1
2868 - name: mavlink_version
2869 field: mavlink.version
2870 description: "Version of MAVLink to use"
2871 type: uint8_t
2872 min: 1
2873 max: 2
2874 default_value: 2
2875 - name: PG_ELERES_CONFIG
2876 type: eleresConfig_t
2877 headers: ["rx/eleres.h"]
2878 condition: USE_RX_ELERES
2879 members:
2880 - name: eleres_freq
2881 field: eleresFreq
2882 min: 415
2883 max: 450
2884 default_value: 435
2885 - name: eleres_telemetry_en
2886 field: eleresTelemetryEn
2887 type: bool
2888 default_value: OFF
2889 - name: eleres_telemetry_power
2890 field: eleresTelemetryPower
2891 min: 0
2892 max: 7
2893 default_value: 7
2894 - name: eleres_loc_en
2895 field: eleresLocEn
2896 type: bool
2897 default_value: OFF
2898 - name: eleres_loc_power
2899 field: eleresLocPower
2900 min: 0
2901 max: 7
2902 default_value: 7
2903 - name: eleres_loc_delay
2904 field: eleresLocDelay
2905 min: 30
2906 max: 1800
2907 default_value: 240
2908 - name: eleres_signature
2909 field: eleresSignature
2910 max: UINT32_MAX
2911 default_value: :zero
2913 - name: PG_LED_STRIP_CONFIG
2914 type: ledStripConfig_t
2915 headers: ["common/color.h", "io/ledstrip.h"]
2916 condition: USE_LED_STRIP
2917 members:
2918 - name: ledstrip_visual_beeper
2919 description: ""
2920 default_value: OFF
2921 type: bool
2923 - name: PG_OSD_CONFIG
2924 type: osdConfig_t
2925 headers: ["io/osd.h", "drivers/osd.h"]
2926 condition: USE_OSD
2927 members:
2928 - name: osd_telemetry
2929 description: "To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST`"
2930 table: osd_telemetry
2931 field: telemetry
2932 type: uint8_t
2933 default_value: "OFF"
2934 - name: osd_video_system
2935 description: "Video system used. Possible values are `AUTO`, `PAL` and `NTSC`"
2936 default_value: "AUTO"
2937 table: osd_video_system
2938 field: video_system
2939 type: uint8_t
2940 - name: osd_row_shiftdown
2941 description: "Number of rows to shift the OSD display (increase if top rows are cut off)"
2942 default_value: 0
2943 field: row_shiftdown
2944 min: 0
2945 max: 1
2946 - name: osd_units
2947 description: "IMPERIAL, METRIC, UK"
2948 default_value: "METRIC"
2949 field: units
2950 table: osd_unit
2951 type: uint8_t
2952 - name: osd_stats_energy_unit
2953 description: "Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour)"
2954 default_value: "MAH"
2955 field: stats_energy_unit
2956 table: osd_stats_energy_unit
2957 type: uint8_t
2958 - name: osd_stats_min_voltage_unit
2959 description: "Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats."
2960 default_value: "BATTERY"
2961 field: stats_min_voltage_unit
2962 table: osd_stats_min_voltage_unit
2963 type: uint8_t
2964 - name: osd_stats_page_auto_swap_time
2965 description: "Auto swap display time interval between disarm stats pages (seconds)."
2966 default_value: 3
2967 field: stats_page_auto_swap_time
2968 min: 1
2969 max: 10
2970 - name: osd_rssi_alarm
2971 description: "Value below which to make the OSD RSSI indicator blink"
2972 default_value: 20
2973 field: rssi_alarm
2974 min: 0
2975 max: 100
2976 - name: osd_time_alarm
2977 description: "Value above which to make the OSD flight time indicator blink (minutes)"
2978 default_value: 10
2979 field: time_alarm
2980 min: 0
2981 max: 600
2982 - name: osd_alt_alarm
2983 description: "Value above which to make the OSD relative altitude indicator blink (meters)"
2984 default_value: 100
2985 field: alt_alarm
2986 min: 0
2987 max: 10000
2988 - name: osd_dist_alarm
2989 description: "Value above which to make the OSD distance from home indicator blink (meters)"
2990 default_value: 1000
2991 field: dist_alarm
2992 min: 0
2993 max: 50000
2994 - name: osd_neg_alt_alarm
2995 description: "Value below which (negative altitude) to make the OSD relative altitude indicator blink (meters)"
2996 default_value: 5
2997 field: neg_alt_alarm
2998 min: 0
2999 max: 10000
3000 - name: osd_current_alarm
3001 description: "Value above which the OSD current consumption element will start blinking. Measured in full Amperes."
3002 default_value: 0
3003 field: current_alarm
3004 min: 0
3005 max: 255
3006 - name: osd_gforce_alarm
3007 description: "Value above which the OSD g force indicator will blink (g)"
3008 default_value: 5
3009 field: gforce_alarm
3010 min: 0
3011 max: 20
3012 - name: osd_gforce_axis_alarm_min
3013 description: "Value under which the OSD axis g force indicators will blink (g)"
3014 default_value: -5
3015 field: gforce_axis_alarm_min
3016 min: -20
3017 max: 20
3018 - name: osd_gforce_axis_alarm_max
3019 description: "Value above which the OSD axis g force indicators will blink (g)"
3020 default_value: 5
3021 field: gforce_axis_alarm_max
3022 min: -20
3023 max: 20
3024 - name: osd_imu_temp_alarm_min
3025 description: "Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3026 default_value: -200
3027 field: imu_temp_alarm_min
3028 min: -550
3029 max: 1250
3030 - name: osd_imu_temp_alarm_max
3031 description: "Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3032 default_value: 600
3033 field: imu_temp_alarm_max
3034 min: -550
3035 max: 1250
3036 - name: osd_esc_temp_alarm_max
3037 description: "Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3038 default_value: 900
3039 field: esc_temp_alarm_max
3040 min: -550
3041 max: 1500
3042 - name: osd_esc_temp_alarm_min
3043 description: "Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)"
3044 default_value: -200
3045 field: esc_temp_alarm_min
3046 min: -550
3047 max: 1500
3048 - name: osd_baro_temp_alarm_min
3049 description: "Temperature under which the baro temperature OSD element will start blinking (decidegrees centigrade)"
3050 default_value: -200
3051 field: baro_temp_alarm_min
3052 condition: USE_BARO
3053 min: -550
3054 max: 1250
3055 - name: osd_baro_temp_alarm_max
3056 description: "Temperature above which the baro temperature OSD element will start blinking (decidegrees centigrade)"
3057 default_value: 600
3058 field: baro_temp_alarm_max
3059 condition: USE_BARO
3060 min: -550
3061 max: 1250
3062 - name: osd_snr_alarm
3063 condition: USE_SERIALRX_CRSF
3064 description: "Value below which Crossfire SNR Alarm pops-up. (dB)"
3065 default_value: 4
3066 field: snr_alarm
3067 min: -20
3068 max: 10
3069 - name: osd_link_quality_alarm
3070 condition: USE_SERIALRX_CRSF
3071 description: "LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50%"
3072 default_value: 70
3073 field: link_quality_alarm
3074 min: 0
3075 max: 100
3076 - name: osd_temp_label_align
3077 description: "Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are `LEFT` and `RIGHT`"
3078 default_value: "LEFT"
3079 field: temp_label_align
3080 condition: USE_TEMPERATURE_SENSOR
3081 table: osd_alignment
3082 type: uint8_t
3084 - name: osd_ahi_reverse_roll
3085 field: ahi_reverse_roll
3086 type: bool
3087 default_value: OFF
3088 - name: osd_ahi_max_pitch
3089 description: "Max pitch, in degrees, for OSD artificial horizon"
3090 default_value: 20
3091 field: ahi_max_pitch
3092 min: 10
3093 max: 90
3094 default_value: 20
3095 - name: osd_crosshairs_style
3096 description: "To set the visual type for the crosshair"
3097 default_value: "DEFAULT"
3098 field: crosshairs_style
3099 table: osd_crosshairs_style
3100 type: uint8_t
3101 - name: osd_crsf_lq_format
3102 description: "To select LQ format"
3103 default_value: "TYPE1"
3104 field: crsf_lq_format
3105 table: osd_crsf_lq_format
3106 type: uint8_t
3107 - name: osd_horizon_offset
3108 description: "To vertically adjust the whole OSD and AHI and scrolling bars"
3109 default_value: 0
3110 field: horizon_offset
3111 min: -2
3112 max: 2
3113 - name: osd_camera_uptilt
3114 description: "Set the camera uptilt for the FPV camera in degres, positive is up, negative is down, relative to the horizontal"
3115 default_value: 0
3116 field: camera_uptilt
3117 min: -40
3118 max: 80
3119 - name: osd_camera_fov_h
3120 description: "Horizontal field of view for the camera in degres"
3121 default_value: 135
3122 field: camera_fov_h
3123 min: 60
3124 max: 150
3125 - name: osd_camera_fov_v
3126 description: "Vertical field of view for the camera in degres"
3127 default_value: 85
3128 field: camera_fov_v
3129 min: 30
3130 max: 120
3131 - name: osd_hud_margin_h
3132 description: "Left and right margins for the hud area"
3133 default_value: 3
3134 field: hud_margin_h
3135 min: 0
3136 max: 4
3137 - name: osd_hud_margin_v
3138 description: "Top and bottom margins for the hud area"
3139 default_value: 3
3140 field: hud_margin_v
3141 min: 1
3142 max: 3
3143 - name: osd_hud_homing
3144 description: "To display little arrows around the crossair showing where the home point is in the hud"
3145 default_value: OFF
3146 field: hud_homing
3147 type: bool
3148 - name: osd_hud_homepoint
3149 description: "To 3D-display the home point location in the hud"
3150 default_value: OFF
3151 field: hud_homepoint
3152 type: bool
3153 - name: osd_hud_radar_disp
3154 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"
3155 default_value: 0
3156 field: hud_radar_disp
3157 min: 0
3158 max: 4
3159 - name: osd_hud_radar_range_min
3160 description: "In meters, radar aircrafts closer than this will not be displayed in the hud"
3161 default_value: 3
3162 field: hud_radar_range_min
3163 min: 1
3164 max: 30
3165 - name: osd_hud_radar_range_max
3166 description: "In meters, radar aircrafts further away than this will not be displayed in the hud"
3167 default_value: 4000
3168 field: hud_radar_range_max
3169 min: 100
3170 max: 9990
3171 - name: osd_hud_radar_nearest
3172 description: "To display an extra bar of informations at the bottom of the hud area for the closest radar aircraft found, if closest than the set value, in meters. Shows relative altitude (meters or feet, with an up or down arrow to indicate if above or below), speed (in m/s or f/s), and absolute heading (in °, 0 is north, 90 is east, 180 is south, 270 is west). Set to 0 (zero) to disable."
3173 default_value: 0
3174 field: hud_radar_nearest
3175 min: 0
3176 max: 4000
3177 - name: osd_hud_wp_disp
3178 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)"
3179 default_value: 0
3180 field: hud_wp_disp
3182 min: 0
3183 max: 3
3184 - name: osd_left_sidebar_scroll
3185 field: left_sidebar_scroll
3186 table: osd_sidebar_scroll
3187 type: uint8_t
3188 default_value: NONE
3189 - name: osd_right_sidebar_scroll
3190 field: right_sidebar_scroll
3191 table: osd_sidebar_scroll
3192 type: uint8_t
3193 default_value: NONE
3194 - name: osd_sidebar_scroll_arrows
3195 field: sidebar_scroll_arrows
3196 type: bool
3197 default_value: OFF
3198 - name: osd_main_voltage_decimals
3199 description: "Number of decimals for the battery voltages displayed in the OSD [1-2]."
3200 default_value: 1
3201 field: main_voltage_decimals
3202 min: 1
3203 max: 2
3204 - name: osd_coordinate_digits
3205 field: coordinate_digits
3206 min: 8
3207 max: 11
3208 default_value: 9
3210 - name: osd_estimations_wind_compensation
3211 description: "Use wind estimation for remaining flight time/distance estimation"
3212 default_value: ON
3213 condition: USE_WIND_ESTIMATOR
3214 field: estimations_wind_compensation
3215 type: bool
3217 - name: osd_failsafe_switch_layout
3218 description: "If enabled the OSD automatically switches to the first layout during failsafe"
3219 default_value: OFF
3220 type: bool
3222 - name: osd_plus_code_digits
3223 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."
3224 field: plus_code_digits
3225 default_value: 11
3226 min: 10
3227 max: 13
3228 - name: osd_plus_code_short
3229 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."
3230 field: plus_code_short
3231 default_value: "0"
3232 table: osd_plus_code_short
3234 - name: osd_ahi_style
3235 description: "Sets OSD Artificial Horizon style \"DEFAULT\" or \"LINE\" for the FrSky Graphical OSD."
3236 field: ahi_style
3237 default_value: "DEFAULT"
3238 table: osd_ahi_style
3239 type: uint8_t
3241 - name: osd_force_grid
3242 field: force_grid
3243 type: bool
3244 default_value: OFF
3245 description: Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development)
3247 - name: osd_ahi_bordered
3248 field: ahi_bordered
3249 type: bool
3250 description: Shows a border/corners around the AHI region (pixel OSD only)
3251 default_value: OFF
3253 - name: osd_ahi_width
3254 field: ahi_width
3255 max: 255
3256 description: AHI width in pixels (pixel OSD only)
3257 default_value: 132
3259 - name: osd_ahi_height
3260 field: ahi_height
3261 max: 255
3262 description: AHI height in pixels (pixel OSD only)
3263 default_value: 162
3265 - name: osd_ahi_vertical_offset
3266 field: ahi_vertical_offset
3267 min: -128
3268 max: 127
3269 description: AHI vertical offset from center (pixel OSD only)
3270 default_value: -18
3272 - name: osd_sidebar_horizontal_offset
3273 field: sidebar_horizontal_offset
3274 min: -128
3275 max: 127
3276 default_value: 0
3277 description: Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges.
3279 - name: osd_left_sidebar_scroll_step
3280 field: left_sidebar_scroll_step
3281 max: 255
3282 default_value: 0
3283 description: How many units each sidebar step represents. 0 means the default value for the scroll type.
3285 - name: osd_right_sidebar_scroll_step
3286 field: right_sidebar_scroll_step
3287 max: 255
3288 default_value: 0
3289 description: Same as left_sidebar_scroll_step, but for the right sidebar
3291 - name: osd_home_position_arm_screen
3292 type: bool
3293 default_value: ON
3294 description: Should home position coordinates be displayed on the arming screen.
3296 - name: osd_pan_servo_index
3297 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.
3298 field: pan_servo_index
3299 min: 0
3300 max: 10
3301 default_value: 0
3303 - name: osd_pan_servo_pwm2centideg
3304 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.
3305 field: pan_servo_pwm2centideg
3306 default_value: 0
3307 min: -36
3308 max: 36
3311 - name: PG_SYSTEM_CONFIG
3312 type: systemConfig_t
3313 headers: ["fc/config.h"]
3314 members:
3315 - name: i2c_speed
3316 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)"
3317 default_value: "400KHZ"
3318 condition: USE_I2C
3319 table: i2c_speed
3320 - name: cpu_underclock
3321 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"
3322 default_value: OFF
3323 field: cpuUnderclock
3324 condition: USE_UNDERCLOCK
3325 type: bool
3326 - name: debug_mode
3327 description: "Defines debug values exposed in debug variables (developer / debugging setting)"
3328 default_value: "NONE"
3329 table: debug_modes
3330 - name: throttle_tilt_comp_str
3331 description: "Can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled."
3332 default_value: 0
3333 field: throttle_tilt_compensation_strength
3334 min: 0
3335 max: 100
3336 - name: name
3337 description: "Craft name"
3338 default_value: ""
3340 - name: PG_MODE_ACTIVATION_OPERATOR_CONFIG
3341 type: modeActivationOperatorConfig_t
3342 headers: ["fc/rc_modes.h"]
3343 members:
3344 - name: mode_range_logic_operator
3345 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."
3346 default_value: "OR"
3347 field: modeActivationOperator
3348 table: aux_operator
3349 type: uint8_t
3351 - name: PG_STATS_CONFIG
3352 type: statsConfig_t
3353 headers: ["fc/stats.h"]
3354 condition: USE_STATS
3355 members:
3356 - name: stats
3357 description: "General switch of the statistics recording feature (a.k.a. odometer)"
3358 default_value: OFF
3359 field: stats_enabled
3360 type: bool
3361 - name: stats_total_time
3362 description: "Total flight time [in seconds]. The value is updated on every disarm when \"stats\" are enabled."
3363 default_value: 0
3364 max: INT32_MAX
3365 - name: stats_total_dist
3366 description: "Total flight distance [in meters]. The value is updated on every disarm when \"stats\" are enabled."
3367 default_value: 0
3368 max: INT32_MAX
3369 - name: stats_total_energy
3370 max: INT32_MAX
3371 condition: USE_ADC
3372 default_value: 0
3374 - name: PG_TIME_CONFIG
3375 type: timeConfig_t
3376 headers: ["common/time.h"]
3377 members:
3378 - name: tz_offset
3379 description: "Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs"
3380 default_value: 0
3381 min: -1440
3382 max: 1440
3383 - name: tz_automatic_dst
3384 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`."
3385 default_value: "OFF"
3386 type: uint8_t
3387 table: tz_automatic_dst
3389 - name: PG_DISPLAY_CONFIG
3390 type: displayConfig_t
3391 headers: ["drivers/display.h"]
3392 members:
3393 - name: display_force_sw_blink
3394 description: "OFF = OSD hardware blink / ON = OSD software blink. If OSD warning text/values are invisible, try setting this to ON"
3395 default_value: OFF
3396 field: force_sw_blink
3397 type: bool
3399 - name: PG_VTX_CONFIG
3400 type: vtxConfig_t
3401 headers: ["io/vtx_control.h"]
3402 condition: USE_VTX_CONTROL
3403 members:
3404 - name: vtx_halfduplex
3405 description: "Use half duplex UART to communicate with the VTX, using only a TX pin in the FC."
3406 default_value: ON
3407 field: halfDuplex
3408 type: bool
3409 - name: vtx_smartaudio_early_akk_workaround
3410 description: "Enable workaround for early AKK SAudio-enabled VTX bug."
3411 default_value: ON
3412 field: smartAudioEarlyAkkWorkaroundEnable
3413 type: bool
3415 - name: PG_VTX_SETTINGS_CONFIG
3416 type: vtxSettingsConfig_t
3417 headers: ["drivers/vtx_common.h", "io/vtx.h"]
3418 condition: USE_VTX_SMARTAUDIO || USE_VTX_TRAMP
3419 members:
3420 - name: vtx_band
3421 description: "Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race."
3422 default_value: 4
3423 field: band
3424 min: VTX_SETTINGS_NO_BAND
3425 max: VTX_SETTINGS_MAX_BAND
3426 - name: vtx_channel
3427 description: "Channel to use within the configured `vtx_band`. Valid values are [1, 8]."
3428 default_value: 1
3429 field: channel
3430 min: VTX_SETTINGS_MIN_CHANNEL
3431 max: VTX_SETTINGS_MAX_CHANNEL
3432 - name: vtx_power
3433 description: "VTX RF power level to use. The exact number of mw depends on the VTX hardware."
3434 default_value: 1
3435 field: power
3436 min: VTX_SETTINGS_MIN_POWER
3437 max: VTX_SETTINGS_MAX_POWER
3438 - name: vtx_low_power_disarm
3439 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."
3440 default_value: "OFF"
3441 field: lowPowerDisarm
3442 table: vtx_low_power_disarm
3443 type: uint8_t
3444 - name: vtx_pit_mode_chan
3445 field: pitModeChan
3446 min: VTX_SETTINGS_MIN_CHANNEL
3447 max: VTX_SETTINGS_MAX_CHANNEL
3448 default_value: 1
3449 - name: vtx_max_power_override
3450 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"
3451 default_value: 0
3452 field: maxPowerOverride
3453 min: 0
3454 max: 10000
3456 - name: PG_PINIOBOX_CONFIG
3457 type: pinioBoxConfig_t
3458 headers: ["io/piniobox.h"]
3459 condition: USE_PINIOBOX
3460 members:
3461 - name: pinio_box1
3462 field: permanentId[0]
3463 description: "Mode assignment for PINIO#1"
3464 default_value: "target specific"
3465 min: 0
3466 max: 255
3467 default_value: :BOX_PERMANENT_ID_NONE
3468 type: uint8_t
3469 - name: pinio_box2
3470 field: permanentId[1]
3471 default_value: "target specific"
3472 description: "Mode assignment for PINIO#1"
3473 min: 0
3474 max: 255
3475 default_value: :BOX_PERMANENT_ID_NONE
3476 type: uint8_t
3477 - name: pinio_box3
3478 field: permanentId[2]
3479 default_value: "target specific"
3480 description: "Mode assignment for PINIO#1"
3481 min: 0
3482 max: 255
3483 default_value: :BOX_PERMANENT_ID_NONE
3484 type: uint8_t
3485 - name: pinio_box4
3486 field: permanentId[3]
3487 default_value: "target specific"
3488 description: "Mode assignment for PINIO#1"
3489 min: 0
3490 max: 255
3491 default_value: :BOX_PERMANENT_ID_NONE
3492 type: uint8_t
3494 - name: PG_LOG_CONFIG
3495 type: logConfig_t
3496 headers: ["common/log.h"]
3497 condition: USE_LOG
3498 members:
3499 - name: log_level
3500 field: level
3501 table: log_level
3502 description: "Defines serial debugging log level. See `docs/development/serial_printf_debugging.md` for usage."
3503 default_value: "ERROR"
3504 - name: log_topics
3505 field: topics
3506 min: 0
3507 max: UINT32_MAX
3508 description: "Defines serial debugging log topic. See `docs/development/serial_printf_debugging.md` for usage."
3509 default_value: 0
3511 - name: PG_ESC_SENSOR_CONFIG
3512 type: escSensorConfig_t
3513 headers: ["sensors/esc_sensor.h"]
3514 condition: USE_ESC_SENSOR
3515 members:
3516 - name: esc_sensor_listen_only
3517 default_value: OFF
3518 description: "Enable when BLHeli32 Auto Telemetry function is used. Disable in every other case"
3519 field: listenOnly
3520 type: bool
3521 default_value: OFF
3523 - name: PG_SMARTPORT_MASTER_CONFIG
3524 type: smartportMasterConfig_t
3525 headers: ["io/smartport_master.h"]
3526 condition: USE_SMARTPORT_MASTER
3527 members:
3528 - name: smartport_master_halfduplex
3529 field: halfDuplex
3530 type: bool
3531 default_value: ON
3532 - name: smartport_master_inverted
3533 field: inverted
3534 type: bool
3535 default_value: OFF
3537 - name: PG_DJI_OSD_CONFIG
3538 type: djiOsdConfig_t
3539 headers: ["io/osd_dji_hd.h"]
3540 condition: USE_DJI_HD_OSD
3541 members:
3542 - name: dji_workarounds
3543 description: "Enables workarounds for different versions of MSP protocol used"
3544 field: proto_workarounds
3545 min: 0
3546 max: UINT8_MAX
3547 default_value: 1
3548 - name: dji_use_name_for_messages
3549 description: "Re-purpose the craft name field for messages. Replace craft name with :WTSED for Warnings|Throttle|Speed|Efficiency|Trip distance"
3550 default_value: ON
3551 field: use_name_for_messages
3552 type: bool
3553 - name: dji_esc_temp_source
3554 description: "Re-purpose the ESC temperature field for IMU/BARO temperature"
3555 default_value: "ESC"
3556 field: esc_temperature_source
3557 table: djiOsdTempSource
3558 type: uint8_t
3559 - name: dji_speed_source
3560 description: "Sets the speed type displayed by the DJI OSD: GROUND, 3D, AIR"
3561 default_value: "GROUND"
3562 field: speedSource
3563 table: djiOsdSpeedSource
3564 type: uint8_t
3566 - name: PG_BEEPER_CONFIG
3567 type: beeperConfig_t
3568 headers: [ "fc/config.h" ]
3569 members:
3570 - name: dshot_beeper_enabled
3571 description: "Whether using DShot motors as beepers is enabled"
3572 default_value: ON
3573 field: dshot_beeper_enabled
3574 type: bool
3575 - name: dshot_beeper_tone
3576 description: "Sets the DShot beeper tone"
3577 min: 1
3578 max: 5
3579 default_value: 1
3580 field: dshot_beeper_tone
3581 type: uint8_t