/
settings.yaml
3875 lines (3797 loc) · 166 KB
/
settings.yaml
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tables:
- name: alignment
values: ["DEFAULT", "CW0", "CW90", "CW180", "CW270", "CW0FLIP", "CW90FLIP", "CW180FLIP", "CW270FLIP"]
- name: gyro_lpf
values: ["256HZ", "188HZ", "98HZ", "42HZ", "20HZ", "10HZ"]
- name: acc_hardware
values: ["NONE", "AUTO", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "BMI088", "ICM42605", "BMI270","LSM6DXX", "FAKE"]
enum: accelerationSensor_e
- name: rangefinder_hardware
values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C", "FAKE"]
enum: rangefinderType_e
- name: mag_hardware
values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
enum: magSensor_e
- name: opflow_hardware
values: ["NONE", "CXOF", "MSP", "FAKE"]
enum: opticalFlowSensor_e
- name: baro_hardware
values: ["NONE", "AUTO", "BMP085", "MS5611", "BMP280", "MS5607", "LPS25H", "SPL06", "BMP388", "DPS310", "B2SMPB", "MSP", "FAKE"]
enum: baroSensor_e
- name: pitot_hardware
values: ["NONE", "AUTO", "MS4525", "ADC", "VIRTUAL", "FAKE", "MSP"]
enum: pitotSensor_e
- name: receiver_type
values: ["NONE", "SERIAL", "MSP", "SIM (SITL)"]
enum: rxReceiverType_e
- name: serial_rx
values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST", "MAVLINK", "FBUS"]
- name: blackbox_device
values: ["SERIAL", "SPIFLASH", "SDCARD"]
- name: motor_pwm_protocol
values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600"]
- name: servo_protocol
values: ["PWM", "SBUS", "SBUS_PWM"]
- name: failsafe_procedure
values: ["LAND", "DROP", "RTH", "NONE"]
- name: current_sensor
values: ["NONE", "ADC", "VIRTUAL", "FAKE", "ESC"]
enum: currentSensor_e
- name: voltage_sensor
values: ["NONE", "ADC", "ESC", "FAKE"]
enum: voltageSensor_e
- name: imu_inertia_comp_method
values: ["VELNED", "TURNRATE","ADAPTIVE"]
enum: imu_inertia_comp_method_e
- name: gps_provider
values: ["NMEA", "UBLOX", "UBLOX7", "MSP", "FAKE"]
enum: gpsProvider_e
- name: gps_sbas_mode
values: ["AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN", "NONE"]
enum: sbasMode_e
- name: gps_dyn_model
values: ["PEDESTRIAN", "AIR_1G", "AIR_4G"]
enum: gpsDynModel_e
- name: reset_type
values: ["NEVER", "FIRST_ARM", "EACH_ARM"]
- name: direction
values: ["RIGHT", "LEFT", "YAW"]
- name: nav_user_control_mode
values: ["ATTI", "CRUISE"]
- name: nav_rth_alt_mode
values: ["CURRENT", "EXTRA", "FIXED", "MAX", "AT_LEAST"]
- name: nav_rth_climb_first_stage_modes
values: ["AT_LEAST", "EXTRA"]
- name: osd_unit
values: ["IMPERIAL", "METRIC", "METRIC_MPH", "UK", "GA"]
enum: osd_unit_e
- name: osd_stats_energy_unit
values: ["MAH", "WH"]
enum: osd_stats_energy_unit_e
- name: osd_stats_min_voltage_unit
values: ["BATTERY", "CELL"]
enum: osd_stats_min_voltage_unit_e
- name: osd_video_system
values: ["AUTO", "PAL", "NTSC", "HDZERO", "DJIWTF", "AVATAR", "BF43COMPAT", "BFHDCOMPAT"]
enum: videoSystem_e
- name: osd_telemetry
values: ["OFF", "ON","TEST"]
enum: osd_telemetry_e
- name: osd_alignment
values: ["LEFT", "RIGHT"]
enum: osd_alignment_e
- name: ltm_rates
values: ["NORMAL", "MEDIUM", "SLOW"]
- name: i2c_speed
values: ["400KHZ", "800KHZ", "100KHZ", "200KHZ"]
- name: debug_modes
values: ["NONE", "AGL", "FLOW_RAW", "FLOW", "ALWAYS", "SAG_COMP_VOLTAGE",
"VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
"NAV_YAW", "PCF8574", "DYN_GYRO_LPF", "AUTOLEVEL", "ALTITUDE",
"AUTOTRIM", "AUTOTUNE", "RATE_DYNAMICS", "LANDING", "POS_EST"]
- name: aux_operator
values: ["OR", "AND"]
enum: modeActivationOperator_e
- name: osd_crosshairs_style
values: ["DEFAULT", "AIRCRAFT", "TYPE3", "TYPE4", "TYPE5", "TYPE6", "TYPE7", "TYPE8"]
enum: osd_crosshairs_style_e
- name: osd_sidebar_scroll
values: ["NONE", "ALTITUDE", "SPEED", "HOME_DISTANCE"]
enum: osd_sidebar_scroll_e
- name: nav_rth_allow_landing
values: ["NEVER", "ALWAYS", "FS_ONLY"]
enum: navRTHAllowLanding_e
- name: bat_capacity_unit
values: ["MAH", "MWH"]
enum: batCapacityUnit_e
- name: bat_voltage_source
values: ["RAW", "SAG_COMP"]
enum: batVoltageSource_e
- name: smartport_fuel_unit
values: ["PERCENT", "MAH", "MWH"]
enum: smartportFuelUnit_e
- name: platform_type
values: ["MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT"]
- name: output_mode
values: ["AUTO", "MOTORS", "SERVOS"]
enum: outputMode_e
- name: tz_automatic_dst
values: ["OFF", "EU", "USA"]
enum: tz_automatic_dst_e
- name: vtx_low_power_disarm
values: ["OFF", "ON", "UNTIL_FIRST_ARM"]
enum: vtxLowerPowerDisarm_e
- name: vtx_frequency_groups
values: ["FREQUENCYGROUP_5G8", "FREQUENCYGROUP_2G4", "FREQUENCYGROUP_1G3"]
enum: vtxFrequencyGroups_e
- name: filter_type
values: ["PT1", "BIQUAD"]
- name: filter_type_full
values: ["PT1", "BIQUAD", "PT2", "PT3"]
- name: log_level
values: ["ERROR", "WARNING", "INFO", "VERBOSE", "DEBUG"]
- name: iterm_relax
values: ["OFF", "RP", "RPY"]
enum: itermRelax_e
- name: airmodeHandlingType
values: ["STICK_CENTER", "THROTTLE_THRESHOLD", "STICK_CENTER_ONCE"]
- name: nav_extra_arming_safety
values: ["ON", "ALLOW_BYPASS"]
enum: navExtraArmingSafety_e
- name: rssi_source
values: ["NONE", "AUTO", "ADC", "CHANNEL", "PROTOCOL", "MSP"]
enum: rssiSource_e
- name: pidTypeTable
values: ["NONE", "PID", "PIFF", "AUTO"]
enum: pidType_e
- name: osd_ahi_style
values: ["DEFAULT", "LINE"]
enum: osd_ahi_style_e
- name: tristate
enum: tristate_e
values: ["AUTO", "ON", "OFF"]
- name: osd_crsf_lq_format
enum: osd_crsf_lq_format_e
values: ["TYPE1", "TYPE2", "TYPE3"]
- name: off_on
values: ["OFF", "ON"]
- name: djiOsdTempSource
values: ["ESC", "IMU", "BARO"]
enum: djiOsdTempSource_e
- name: osdSpeedSource
values: ["GROUND", "3D", "AIR"]
enum: osdSpeedSource_e
- name: nav_overrides_motor_stop
enum: navOverridesMotorStop_e
values: ["OFF_ALWAYS", "OFF", "AUTO_ONLY", "ALL_NAV"]
- name: osd_plus_code_short
values: ["0", "2", "4", "6"]
- name: autotune_rate_adjustment
enum: autotune_rate_adjustment_e
values: ["FIXED", "LIMIT", "AUTO"]
- name: safehome_usage_mode
values: ["OFF", "RTH", "RTH_FS"]
enum: safehomeUsageMode_e
- name: nav_rth_climb_first
enum: navRTHClimbFirst_e
values: ["OFF", "ON", "ON_FW_SPIRAL"]
- name: nav_wp_mission_restart
enum: navMissionRestart_e
values: ["START", "RESUME", "SWITCH"]
- name: djiRssiSource
values: ["RSSI", "CRSF_LQ"]
enum: djiRssiSource_e
- name: rth_trackback_mode
values: ["OFF", "ON", "FS"]
enum: rthTrackbackMode_e
- name: dynamic_gyro_notch_mode
values: ["2D", "3D_R", "3D_P", "3D_Y", "3D_RP", "3D_RY", "3D_PY", "3D"]
enum: dynamicGyroNotchMode_e
- name: nav_fw_wp_turn_smoothing
values: ["OFF", "ON", "ON-CUT"]
enum: wpFwTurnSmoothing_e
constants:
RPYL_PID_MIN: 0
RPYL_PID_MAX: 255
MANUAL_RATE_MIN: 0
MANUAL_RATE_MAX: 100
ROLL_PITCH_RATE_MIN: 4
ROLL_PITCH_RATE_MAX: 180
MAX_CONTROL_RATE_PROFILE_COUNT: 3
MAX_BATTERY_PROFILE_COUNT: 3
groups:
- name: PG_GYRO_CONFIG
type: gyroConfig_t
headers: ["sensors/gyro.h"]
members:
- name: looptime
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."
default_value: 1000
max: 9000
- name: gyro_hardware_lpf
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."
default_value: "256HZ"
field: gyro_lpf
table: gyro_lpf
- name: gyro_anti_aliasing_lpf_hz
description: "Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz"
default_value: 250
field: gyro_anti_aliasing_lpf_hz
max: 1000
- name: gyro_anti_aliasing_lpf_type
description: "Specifies the type of the software LPF of the gyro signals."
default_value: "PT1"
field: gyro_anti_aliasing_lpf_type
table: filter_type
- name: gyro_main_lpf_hz
description: "Software based gyro main lowpass filter. Value is cutoff frequency (Hz)"
default_value: 60
field: gyro_main_lpf_hz
min: 0
max: 500
- name: gyro_main_lpf_type
description: "Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation."
default_value: BIQUAD
field: gyro_main_lpf_type
table: filter_type
- name: gyro_use_dyn_lpf
description: "Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position."
default_value: OFF
field: useDynamicLpf
type: bool
- name: gyro_dyn_lpf_min_hz
description: "Minimum frequency of the gyro Dynamic LPF"
default_value: 200
field: gyroDynamicLpfMinHz
min: 40
max: 400
- name: gyro_dyn_lpf_max_hz
description: "Maximum frequency of the gyro Dynamic LPF"
default_value: 500
field: gyroDynamicLpfMaxHz
min: 40
max: 1000
- name: gyro_dyn_lpf_curve_expo
description: "Expo value for the throttle-to-frequency mapping for Dynamic LPF"
default_value: 5
field: gyroDynamicLpfCurveExpo
min: 1
max: 10
- name: dynamic_gyro_notch_enabled
description: "Enable/disable dynamic gyro notch also known as Matrix Filter"
default_value: ON
field: dynamicGyroNotchEnabled
condition: USE_DYNAMIC_FILTERS
type: bool
- name: dynamic_gyro_notch_q
description: "Q factor for dynamic notches"
default_value: 120
field: dynamicGyroNotchQ
condition: USE_DYNAMIC_FILTERS
min: 1
max: 1000
- name: dynamic_gyro_notch_min_hz
description: "Minimum frequency for dynamic notches. Default value of `150` works best with 5\" multirotors. Should be lowered with increased size of propellers. Values around `100` work fine on 7\" drones. 10\" can go down to `60` - `70`"
default_value: 50
field: dynamicGyroNotchMinHz
condition: USE_DYNAMIC_FILTERS
min: 30
max: 250
- name: dynamic_gyro_notch_mode
description: "Gyro dynamic notch type"
default_value: "2D"
table: dynamic_gyro_notch_mode
field: dynamicGyroNotchMode
condition: USE_DYNAMIC_FILTERS
- name: dynamic_gyro_notch_3d_q
description: "Q factor for 3D dynamic notches"
default_value: 200
field: dynamicGyroNotch3dQ
condition: USE_DYNAMIC_FILTERS
min: 1
max: 1000
- name: gyro_to_use
condition: USE_DUAL_GYRO
min: 0
max: 2
default_value: 0
- name: setpoint_kalman_enabled
description: "Enable Kalman filter on the gyro data"
default_value: ON
condition: USE_GYRO_KALMAN
field: kalmanEnabled
type: bool
- name: setpoint_kalman_q
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"
default_value: 100
field: kalman_q
condition: USE_GYRO_KALMAN
min: 1
max: 1000
- name: init_gyro_cal
description: "If defined to 'OFF', it will ignore the gyroscope calibration done at each startup. Instead, the gyroscope last calibration from when you calibrated will be used. It also means you don't have to keep the UAV stationary during a startup."
default_value: ON
field: init_gyro_cal_enabled
type: bool
- name: gyro_zero_x
description: "Calculated gyro zero calibration of axis X"
default_value: 0
field: gyro_zero_cal[X]
min: INT16_MIN
max: INT16_MAX
- name: gyro_zero_y
description: "Calculated gyro zero calibration of axis Y"
default_value: 0
field: gyro_zero_cal[Y]
min: INT16_MIN
max: INT16_MAX
- name: gyro_zero_z
description: "Calculated gyro zero calibration of axis Z"
default_value: 0
field: gyro_zero_cal[Z]
min: INT16_MIN
max: INT16_MAX
- name: ins_gravity_cmss
description: "Calculated 1G of Acc axis Z to use in INS"
default_value: 0.0
field: gravity_cmss_cal
min: 0
max: 2000
- name: PG_ADC_CHANNEL_CONFIG
type: adcChannelConfig_t
headers: ["fc/config.h"]
condition: USE_ADC
members:
- name: vbat_adc_channel
description: "ADC channel to use for battery voltage sensor. Defaults to board VBAT input (if available). 0 = disabled"
default_value: :target
field: adcFunctionChannel[ADC_BATTERY]
min: ADC_CHN_NONE
max: ADC_CHN_MAX
- name: rssi_adc_channel
description: "ADC channel to use for analog RSSI input. Defaults to board RSSI input (if available). 0 = disabled"
default_value: :target
field: adcFunctionChannel[ADC_RSSI]
min: ADC_CHN_NONE
max: ADC_CHN_MAX
- name: current_adc_channel
description: "ADC channel to use for analog current sensor input. Defaults to board CURRENT sensor input (if available). 0 = disabled"
default_value: :target
field: adcFunctionChannel[ADC_CURRENT]
min: ADC_CHN_NONE
max: ADC_CHN_MAX
- name: airspeed_adc_channel
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"
default_value: :target
field: adcFunctionChannel[ADC_AIRSPEED]
min: ADC_CHN_NONE
max: ADC_CHN_MAX
- name: PG_ACCELEROMETER_CONFIG
type: accelerometerConfig_t
headers: ["sensors/acceleration.h"]
members:
- name: acc_notch_hz
min: 0
max: 255
default_value: 0
- name: acc_notch_cutoff
min: 1
max: 255
default_value: 1
- name: acc_hardware
description: "Selection of acc hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
default_value: "AUTO"
table: acc_hardware
- name: acc_lpf_hz
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."
default_value: 15
min: 0
max: 200
- name: acc_lpf_type
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."
default_value: "BIQUAD"
field: acc_soft_lpf_type
table: filter_type
- name: acczero_x
description: "Calculated value after '6 position avanced calibration'. See Wiki page."
default_value: 0
field: accZero.raw[X]
min: INT16_MIN
max: INT16_MAX
- name: acczero_y
description: "Calculated value after '6 position avanced calibration'. See Wiki page."
default_value: 0
field: accZero.raw[Y]
min: INT16_MIN
max: INT16_MAX
- name: acczero_z
description: "Calculated value after '6 position avanced calibration'. See Wiki page."
default_value: 0
field: accZero.raw[Z]
min: INT16_MIN
max: INT16_MAX
- name: accgain_x
description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
default_value: 4096
field: accGain.raw[X]
min: 1
max: 8192
- name: accgain_y
description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
default_value: 4096
field: accGain.raw[Y]
min: 1
max: 8192
- name: accgain_z
description: "Calculated value after '6 position avanced calibration'. Uncalibrated value is 4096. See Wiki page."
default_value: 4096
field: accGain.raw[Z]
min: 1
max: 8192
- name: PG_RANGEFINDER_CONFIG
type: rangefinderConfig_t
headers: ["sensors/rangefinder.h"]
condition: USE_RANGEFINDER
members:
- name: rangefinder_hardware
table: rangefinder_hardware
description: "Selection of rangefinder hardware."
default_value: "NONE"
- name: rangefinder_median_filter
description: "3-point median filtering for rangefinder readouts"
default_value: OFF
field: use_median_filtering
type: bool
- name: PG_OPFLOW_CONFIG
type: opticalFlowConfig_t
headers: ["sensors/opflow.h"]
condition: USE_OPFLOW
members:
- name: opflow_hardware
description: "Selection of OPFLOW hardware."
default_value: NONE
table: opflow_hardware
- name: opflow_scale
min: 0
max: 10000
default_value: 10.5
- name: align_opflow
description: "Optical flow module alignment (default CW0_DEG_FLIP)"
default_value: CW0FLIP
field: opflow_align
type: uint8_t
table: alignment
- name: PG_COMPASS_CONFIG
type: compassConfig_t
headers: ["sensors/compass.h"]
condition: USE_MAG
members:
- name: align_mag
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."
default_value: "DEFAULT"
field: mag_align
type: uint8_t
table: alignment
- name: mag_hardware
description: "Selection of mag hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
default_value: "AUTO"
table: mag_hardware
- name: mag_declination
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."
default_value: 0
min: -18000
max: 18000
- name: magzero_x
description: "Magnetometer calibration X offset. If its 0 none offset has been applied and calibration is failed."
default_value: :zero
field: magZero.raw[X]
min: INT16_MIN
max: INT16_MAX
- name: magzero_y
description: "Magnetometer calibration Y offset. If its 0 none offset has been applied and calibration is failed."
default_value: :zero
field: magZero.raw[Y]
min: INT16_MIN
max: INT16_MAX
- name: magzero_z
description: "Magnetometer calibration Z offset. If its 0 none offset has been applied and calibration is failed."
default_value: :zero
field: magZero.raw[Z]
min: INT16_MIN
max: INT16_MAX
- name: maggain_x
description: "Magnetometer calibration X gain. If 1024, no calibration or calibration failed"
default_value: 1024
field: magGain[X]
min: INT16_MIN
max: INT16_MAX
- name: maggain_y
description: "Magnetometer calibration Y gain. If 1024, no calibration or calibration failed"
default_value: 1024
field: magGain[Y]
min: INT16_MIN
max: INT16_MAX
- name: maggain_z
description: "Magnetometer calibration Z gain. If 1024, no calibration or calibration failed"
default_value: 1024
field: magGain[Z]
min: INT16_MIN
max: INT16_MAX
- name: mag_calibration_time
description: "Adjust how long time the Calibration of mag will last."
default_value: 30
field: magCalibrationTimeLimit
min: 20
max: 120
- name: mag_to_use
description: "Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target"
condition: USE_DUAL_MAG
min: 0
max: 1
default_value: 0
- name: align_mag_roll
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."
default_value: 0
field: rollDeciDegrees
min: -1800
max: 3600
- name: align_mag_pitch
description: "Same as align_mag_roll, but for the pitch axis."
default_value: 0
field: pitchDeciDegrees
min: -1800
max: 3600
- name: align_mag_yaw
description: "Same as align_mag_roll, but for the yaw axis."
default_value: 0
field: yawDeciDegrees
min: -1800
max: 3600
- name: PG_BAROMETER_CONFIG
type: barometerConfig_t
headers: ["sensors/barometer.h"]
condition: USE_BARO
members:
- name: baro_hardware
description: "Selection of baro hardware. See Wiki Sensor auto detect and hardware failure detection for more info"
default_value: "AUTO"
table: baro_hardware
- name: baro_cal_tolerance
description: "Baro calibration tolerance in cm. The default should allow the noisiest baro to complete calibration [cm]."
default_value: 150
field: baro_calibration_tolerance
min: 0
max: 1000
- name: PG_PITOTMETER_CONFIG
type: pitotmeterConfig_t
headers: ["sensors/pitotmeter.h"]
condition: USE_PITOT
members:
- name: pitot_hardware
description: "Selection of pitot hardware."
default_value: "NONE"
table: pitot_hardware
- name: pitot_lpf_milli_hz
min: 0
max: 10000
default_value: 350
- name: pitot_scale
min: 0
max: 100
default_value: 1.0
- name: PG_RX_CONFIG
type: rxConfig_t
headers: ["rx/rx.h", "rx/spektrum.h"]
members:
- name: receiver_type
description: "Selection of receiver (RX) type. Additional configuration of a `serialrx_provider` and a UART will be needed for `SERIAL`"
default_value: :target
field: receiverType
table: receiver_type
- name: min_check
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."
default_value: 1100
field: mincheck
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: max_check
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."
default_value: 1900
field: maxcheck
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: rssi_source
description: "Source of RSSI input. Possible values: `NONE`, `AUTO`, `ADC`, `CHANNEL`, `PROTOCOL`, `MSP`"
default_value: "AUTO"
field: rssi_source
table: rssi_source
- name: rssi_channel
description: "RX channel containing the RSSI signal"
default_value: 0
min: 0
max: MAX_SUPPORTED_RC_CHANNEL_COUNT
- name: rssi_min
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)."
default_value: 0
field: rssiMin
min: RSSI_VISIBLE_VALUE_MIN
max: RSSI_VISIBLE_VALUE_MAX
- name: rssi_max
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."
default_value: 100
field: rssiMax
min: RSSI_VISIBLE_VALUE_MIN
max: RSSI_VISIBLE_VALUE_MAX
- name: sbus_sync_interval
field: sbusSyncInterval
min: 500
max: 10000
default_value: 3000
- name: rc_filter_lpf_hz
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"
default_value: 50
field: rcFilterFrequency
min: 15
max: 250
- name: rc_filter_auto
description: "When enabled, INAV will set RC filtering based on refresh rate and smoothing factor."
type: bool
default_value: ON
field: autoSmooth
- name: rc_filter_smoothing_factor
description: "The RC filter smoothing factor. The higher the value, the more smoothing but also the more delay in response. Value 1 sets the filter at half the refresh rate. Value 100 sets the filter to aprox. 10% of the RC refresh rate"
field: autoSmoothFactor
default_value: 30
min: 1
max: 100
- name: serialrx_provider
description: "When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section."
default_value: :target
condition: USE_SERIAL_RX
table: serial_rx
- name: serialrx_inverted
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)."
default_value: OFF
condition: USE_SERIAL_RX
type: bool
- name: spektrum_sat_bind
description: "0 = disabled. Used to bind the spektrum satellite to RX"
condition: USE_SPEKTRUM_BIND
min: SPEKTRUM_SAT_BIND_DISABLED
max: SPEKTRUM_SAT_BIND_MAX
default_value: :SPEKTRUM_SAT_BIND_DISABLED
- name: srxl2_unit_id
condition: USE_SERIALRX_SRXL2
min: 0
max: 15
default_value: 1
- name: srxl2_baud_fast
condition: USE_SERIALRX_SRXL2
type: bool
default_value: ON
- name: rx_min_usec
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."
default_value: 885
min: PWM_PULSE_MIN
max: PWM_PULSE_MAX
- name: rx_max_usec
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."
default_value: 2115
min: PWM_PULSE_MIN
max: PWM_PULSE_MAX
- name: serialrx_halfduplex
description: "Allow serial receiver to operate on UART TX pin. With some receivers will allow control and telemetry over a single wire."
default_value: "AUTO"
field: halfDuplex
table: tristate
- name: msp_override_channels
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."
default_value: 0
field: mspOverrideChannels
condition: USE_MSP_RC_OVERRIDE
min: 0
max: 65535
- name: PG_BLACKBOX_CONFIG
type: blackboxConfig_t
headers: ["blackbox/blackbox.h"]
condition: USE_BLACKBOX
members:
- name: blackbox_rate_num
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"
default_value: 1
field: rate_num
min: 1
max: 65535
- name: blackbox_rate_denom
description: "Blackbox logging rate denominator. See blackbox_rate_num."
default_value: 1
field: rate_denom
min: 1
max: 65535
- name: blackbox_device
description: "Selection of where to write blackbox data"
default_value: :target
field: device
table: blackbox_device
- name: sdcard_detect_inverted
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."
default_value: :target
field: invertedCardDetection
condition: USE_SDCARD
type: bool
- name: PG_MOTOR_CONFIG
type: motorConfig_t
headers: ["flight/mixer.h"]
members:
- name: max_throttle
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."
default_value: 1850
field: maxthrottle
min: PWM_RANGE_MIN
max: PWM_RANGE_MAX
- name: min_command
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."
default_value: 1000
field: mincommand
min: 0
max: PWM_RANGE_MAX
- name: motor_pwm_rate
description: "Output frequency (in Hz) for motor pins. Applies only to brushed motors. "
default_value: 16000
field: motorPwmRate
min: 50
max: 32000
- name: motor_pwm_protocol
description: "Protocol that is used to send motor updates to ESCs. Possible values - STANDARD, ONESHOT125, ONESHOT42, MULTISHOT, DSHOT150, DSHOT300, DSHOT600, DSHOT1200, BRUSHED"
default_value: "ONESHOT125"
field: motorPwmProtocol
table: motor_pwm_protocol
- name: motor_poles
field: motorPoleCount
description: "The number of motor poles. Required to compute motor RPM"
min: 4
max: 255
default_value: 14
- name: PG_FAILSAFE_CONFIG
type: failsafeConfig_t
headers: ["flight/failsafe.h"]
members:
- name: failsafe_delay
description: "Time in deciseconds to wait before activating failsafe when signal is lost. See [Failsafe documentation](Failsafe.md#failsafe_delay)."
default_value: 5
min: 0
max: 200
- name: failsafe_recovery_delay
description: "Time in deciseconds to wait before aborting failsafe when signal is recovered. See [Failsafe documentation](Failsafe.md#failsafe_recovery_delay)."
default_value: 5
min: 0
max: 200
- name: failsafe_off_delay
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)."
default_value: 200
min: 0
max: 200
- name: failsafe_throttle_low_delay
description: "If failsafe activated when throttle is low for this much time - bypass failsafe and disarm, in 10th of seconds. 0 = No timeout"
default_value: 0
min: 0
max: 300
- name: failsafe_procedure
description: "What failsafe procedure to initiate in Stage 2. See [Failsafe documentation](Failsafe.md#failsafe_throttle)."
default_value: "LAND"
table: failsafe_procedure
- name: failsafe_stick_threshold
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."
default_value: 50
field: failsafe_stick_motion_threshold
min: 0
max: 500
- name: failsafe_fw_roll_angle
description: "Amount of banking when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = left roll"
default_value: -200
min: -800
max: 800
- name: failsafe_fw_pitch_angle
description: "Amount of dive/climb when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In 1/10 deg (deci-degrees). Negative values = climb"
default_value: 100
min: -800
max: 800
- name: failsafe_fw_yaw_rate
description: "Requested yaw rate to execute when `LAND` (or old `SET-THR`) failsafe is active on a fixed-wing machine. In deg/s. Negative values = left turn"
default_value: -45
min: -1000
max: 1000
- name: failsafe_min_distance
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."
default_value: 0
min: 0
max: 65000
- name: failsafe_min_distance_procedure
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)."
default_value: "DROP"
table: failsafe_procedure
- name: failsafe_mission_delay
description: "Applies if failsafe occurs when a WP mission is in progress. Sets the time delay in seconds between failsafe occurring and the selected failsafe procedure activating. If set to -1 the failsafe procedure won't activate at all and the mission will continue until the end."
default_value: 0
min: -1
max: 600
- name: PG_LIGHTS_CONFIG
type: lightsConfig_t
headers: ["io/lights.h"]
condition: USE_LIGHTS
members:
- name: failsafe_lights
description: "Enable or disable the lights when the `FAILSAFE` flight mode is enabled. The target needs to be compiled with `USE_LIGHTS` [ON/OFF]."
default_value: ON
field: failsafe.enabled
type: bool
- name: failsafe_lights_flash_period
description: "Time in milliseconds between two flashes when `failsafe_lights` is ON and `FAILSAFE` flight mode is enabled [40-65535]."
default_value: 1000
field: failsafe.flash_period
min: 40
max: 65535
- name: failsafe_lights_flash_on_time
description: "Flash lights ON time in milliseconds when `failsafe_lights` is ON and `FAILSAFE` flight mode is enabled. [20-65535]."
default_value: 100
field: failsafe.flash_on_time
min: 20
max: 65535
- name: PG_BOARD_ALIGNMENT
type: boardAlignment_t
headers: ["sensors/boardalignment.h"]
members:
- name: align_board_roll
description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
default_value: :zero
field: rollDeciDegrees
min: -1800
max: 3600
- name: align_board_pitch
description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
default_value: :zero
field: pitchDeciDegrees
min: -1800
max: 3600
- name: align_board_yaw
description: "Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc"
default_value: :zero
field: yawDeciDegrees
min: -1800
max: 3600
- name: PG_BATTERY_METERS_CONFIG
type: batteryMetersConfig_t
headers: ["sensors/battery_config_structs.h"]
members:
- name: vbat_meter_type
description: "Vbat voltage source. Possible values: `NONE`, `ADC`, `ESC`. `ESC` required ESC telemetry enebled and running"
condition: USE_ADC
default_value: ADC
field: voltage.type
table: voltage_sensor
type: uint8_t
- name: vbat_scale
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."
default_value: :target
field: voltage.scale
condition: USE_ADC
min: 0
max: 65535
- name: current_meter_scale
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."
default_value: :target
field: current.scale
min: -10000
max: 10000
- name: current_meter_offset
description: "This sets the output offset voltage of the current sensor in millivolts."
default_value: :target
field: current.offset
min: -32768
max: 32767
- name: current_meter_type
description: "ADC , VIRTUAL, NONE. The virtual current sensor, once calibrated, estimates the current value from throttle position."
default_value: "ADC"
field: current.type
table: current_sensor
type: uint8_t
- name: bat_voltage_src
description: "Chose between raw and sag compensated battery voltage to use for battery alarms and telemetry. Possible values are `RAW` and `SAG_COMP`"
default_value: "RAW"
field: voltageSource
table: bat_voltage_source
type: uint8_t
- name: cruise_power
description: "Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit"
default_value: 0
field: cruise_power
min: 0
max: 4294967295
- name: idle_power
description: "Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit"
default_value: 0
field: idle_power
min: 0
max: 65535
- name: rth_energy_margin
description: "Energy margin wanted after getting home (percent of battery energy capacity). Use for the remaining flight time/distance calculation"
default_value: 5
min: 0
max: 100
- name: thr_comp_weight
description: "Weight used for the throttle compensation based on battery voltage. See the [battery documentation](Battery.md#automatic-throttle-compensation-based-on-battery-voltage)"
default_value: 1
field: throttle_compensation_weight
min: 0
max: 2
- name: PG_BATTERY_PROFILES
type: batteryProfile_t
headers: ["sensors/battery_config_structs.h"]
value_type: BATTERY_CONFIG_VALUE
members:
- name: bat_cells
description: "Number of cells of the battery (0 = auto-detect), see battery documentation. 7S, 9S and 11S batteries cannot be auto-detected."
default_value: 0
field: cells
condition: USE_ADC
min: 0
max: 12
- name: vbat_cell_detect_voltage
description: "Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units."
default_value: 425
field: voltage.cellDetect
condition: USE_ADC
min: 100
max: 500
- name: vbat_max_cell_voltage
description: "Maximum voltage per cell in 0.01V units, default is 4.20V"
default_value: 420
field: voltage.cellMax
condition: USE_ADC
min: 100
max: 500
- name: vbat_min_cell_voltage
description: "Minimum voltage per cell, this triggers battery out alarms, in 0.01V units, default is 330 (3.3V)"
default_value: 330
field: voltage.cellMin
condition: USE_ADC
min: 100
max: 500
- name: vbat_warning_cell_voltage
description: "Warning voltage per cell, this triggers battery-warning alarms, in 0.01V units, default is 350 (3.5V)"
default_value: 350
field: voltage.cellWarning
condition: USE_ADC
min: 100
max: 500
- name: battery_capacity
description: "Set the battery capacity in mAh or mWh (see `battery_capacity_unit`). Used to calculate the remaining battery capacity."
default_value: 0
field: capacity.value
min: 0
max: 4294967295
- name: battery_capacity_warning
description: "If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink."
default_value: 0
field: capacity.warning
min: 0
max: 4294967295
- name: battery_capacity_critical