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PX4 Parameters

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Zachary Taylor edited this page Oct 28, 2018 · 2 revisions

The PX4 has a large number of settings that can be set through QGroundControl.

Apart from the standard parameters that are set through the GUI (sensor calibration, RC parameters and trigger line setup) a large number of other parameters can be set, we mainly leave most of these parameters set to their defaults. There are however a few exceptions to this:

  • EKF2_MAG_TYPE set to 0 (none). This disables all magnetometer fusion, which tends to be unreliable indoors. If left on its default it can cause the system to yaw without warning or prevent arming.
  • PWM_RATE set to 0 (one shot). Most ESCs support one shot so we use it.
  • MC_DTERM_CUTOFF set to 0 (disabled). When at the default value of 30 it causes significant oscillations when using the ADIS16448.
  • MC_BAT_SCALE_EN set to 1 (enabled). Results in a more uniform thrust response which means the MPC has to compensate for less of a perceived disturbance.
  • CBRK_IO_SAFETY set to 22027 (disabled). We do not make use of the PX4 onboard saftey switch, this setting disables it.
  • CBRK_SUPPLY_CHK set to 894281 (disabled). Our hot swap power circuit can mess with this check, hence disabling it.
  • CBRK_USB_CHK set to 197848 (disabled). Our computer is attached to the PX4 via USB and so we must be able to arm with the USB cable attached.
  • IMU_ACCEL_CUTOFF governs the filtering on the accelerometer. For systems that use both ethzmsf and the internal IMU more filtering generally needs to be applied to ensure smooth flight. A value of 10 Hz is typically used. When using an ADIS this parameter is ignored.
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