From 8ee96cdfca30162cc81ed55f0d3fdc8e90001b3e Mon Sep 17 00:00:00 2001 From: Jacob Moore Date: Mon, 9 Dec 2024 16:35:20 -0700 Subject: [PATCH] updated parameter configuration --- docs/user-guide/parameter-configuration.md | 187 ++++++++++++++++++--- 1 file changed, 163 insertions(+), 24 deletions(-) diff --git a/docs/user-guide/parameter-configuration.md b/docs/user-guide/parameter-configuration.md index 781e7d5..e59aaa0 100644 --- a/docs/user-guide/parameter-configuration.md +++ b/docs/user-guide/parameter-configuration.md @@ -109,21 +109,157 @@ This is a list of all ROSflight parameters, including their types, default value |-----------|-------------|------|---------------|-----|-----| | BAUD_RATE | Baud rate of MAVlink communication with companion computer | int | 921600 | 9600 | 921600 | | SERIAL_DEVICE | Serial Port (for supported devices) | int | 0 | 0 | 3 | +| AIR_DENSITY | Density of the air (kg/m^3) | float | 1.225f | 0 | 1000.0 | +| NUM_MOTORS | Number of vertical-facing motors on the vehicle | int | 4 | 1 | 8 | +| MOTOR_RESISTANCE | Electrical resistance of the motor windings (ohms) | float | 0.042f | 0 | 1000.0 | +| MOTOR_KV | Back emf constant of the motor in SI units (V/rad/s) | float | 0.01706f | 0 | 1000.0 | +| NO_LOAD_CURRENT | No-load current of the motor in amps | float | 1.5 | 0 | 1000.0 | +| PROP_DIAMETER | Diameter of the propeller in meters | float | 0.381f | 0 | 1.0 | +| PROP_CT | Thrust coefficient of the propeller | float | 0.075f | 0 | 100.0 | +| PROP_CQ | Torque coefficient of the propeller | float | 0.0045f | 0 | 100.0 | +| VOLT_MAX | Maximum voltage of the battery (V) | float | 25.0f | 0 | 100.0 | +| USE_MOTOR_PARAM | Flag to use motor parameters in the mixer | int | false | 0 | 1 | +| PRI_MIXER_OUT_0 | Output type of mixer output 0. | int | 0 | 0 | 1 | +| PRI_MIXER_OUT_1 | Output type of mixer output 1. | int | 0 | 0 | 1 | +| PRI_MIXER_OUT_2 | Output type of mixer output 2. | int | 0 | 0 | 1 | +| PRI_MIXER_OUT_3 | Output type of mixer output 3. | int | 0 | 0 | 1 | +| PRI_MIXER_OUT_4 | Output type of mixer output 4. | int | 0 | 0 | 1 | +| PRI_MIXER_OUT_5 | Output type of mixer output 5. | int | 0 | 0 | 1 | +| PRI_MIXER_OUT_6 | Output type of mixer output 6. | int | 0 | 0 | 1 | +| PRI_MIXER_OUT_7 | Output type of mixer output 7. | int | 0 | 0 | 1 | +| PRI_MIXER_OUT_8 | Output type of mixer output 8. | int | 0 | 0 | 1 | +| PRI_MIXER_OUT_9 | Output type of mixer output 9. | int | 0 | 0 | 1 | +| PRI_MIXER_PWM_0 | PWM frequenct output for mixer output 0 | float | 0 | 0 | 490 | +| PRI_MIXER_PWM_1 | PWM frequenct output for mixer output 1 | float | 0 | 0 | 490 | +| PRI_MIXER_PWM_2 | PWM frequenct output for mixer output 2 | float | 0 | 0 | 490 | +| PRI_MIXER_PWM_3 | PWM frequenct output for mixer output 3 | float | 0 | 0 | 490 | +| PRI_MIXER_PWM_4 | PWM frequenct output for mixer output 4 | float | 0 | 0 | 490 | +| PRI_MIXER_PWM_5 | PWM frequenct output for mixer output 5 | float | 0 | 0 | 490 | +| PRI_MIXER_PWM_6 | PWM frequenct output for mixer output 6 | float | 0 | 0 | 490 | +| PRI_MIXER_PWM_7 | PWM frequenct output for mixer output 7 | float | 0 | 0 | 490 | +| PRI_MIXER_PWM_8 | PWM frequenct output for mixer output 8 | float | 0 | 0 | 490 | +| PRI_MIXER_PWM_9 | PWM frequenct output for mixer output 9 | float | 0 | 0 | 490 | +| PRI_MIXER_0_0 | Value of the custom mixer at element [0,0] | float | 0.0f | -inf | inf | +| PRI_MIXER_1_0 | Value of the custom mixer at element [1,0] | float | 0.0f | -inf | inf | +| PRI_MIXER_2_0 | Value of the custom mixer at element [2,0] | float | 0.0f | -inf | inf | +| PRI_MIXER_3_0 | Value of the custom mixer at element [3,0] | float | 0.0f | -inf | inf | +| PRI_MIXER_4_0 | Value of the custom mixer at element [4,0] | float | 0.0f | -inf | inf | +| PRI_MIXER_5_0 | Value of the custom mixer at element [5,0] | float | 0.0f | -inf | inf | +| PRI_MIXER_0_1 | Value of the custom mixer at element [0,1] | float | 0.0f | -inf | inf | +| PRI_MIXER_1_1 | Value of the custom mixer at element [1,1] | float | 0.0f | -inf | inf | +| PRI_MIXER_2_1 | Value of the custom mixer at element [2,1] | float | 0.0f | -inf | inf | +| PRI_MIXER_3_1 | Value of the custom mixer at element [3,1] | float | 0.0f | -inf | inf | +| PRI_MIXER_4_1 | Value of the custom mixer at element [4,1] | float | 0.0f | -inf | inf | +| PRI_MIXER_5_1 | Value of the custom mixer at element [5,1] | float | 0.0f | -inf | inf | +| PRI_MIXER_0_2 | Value of the custom mixer at element [0,2] | float | 0.0f | -inf | inf | +| PRI_MIXER_1_2 | Value of the custom mixer at element [1,2] | float | 0.0f | -inf | inf | +| PRI_MIXER_2_2 | Value of the custom mixer at element [2,2] | float | 0.0f | -inf | inf | +| PRI_MIXER_3_2 | Value of the custom mixer at element [3,2] | float | 0.0f | -inf | inf | +| PRI_MIXER_4_2 | Value of the custom mixer at element [4,2] | float | 0.0f | -inf | inf | +| PRI_MIXER_5_2 | Value of the custom mixer at element [5,2] | float | 0.0f | -inf | inf | +| PRI_MIXER_0_3 | Value of the custom mixer at element [0,3] | float | 0.0f | -inf | inf | +| PRI_MIXER_1_3 | Value of the custom mixer at element [1,3] | float | 0.0f | -inf | inf | +| PRI_MIXER_2_3 | Value of the custom mixer at element [2,3] | float | 0.0f | -inf | inf | +| PRI_MIXER_3_3 | Value of the custom mixer at element [3,3] | float | 0.0f | -inf | inf | +| PRI_MIXER_4_3 | Value of the custom mixer at element [4,3] | float | 0.0f | -inf | inf | +| PRI_MIXER_5_3 | Value of the custom mixer at element [5,3] | float | 0.0f | -inf | inf | +| PRI_MIXER_0_4 | Value of the custom mixer at element [0,4] | float | 0.0f | -inf | inf | +| PRI_MIXER_1_4 | Value of the custom mixer at element [1,4] | float | 0.0f | -inf | inf | +| PRI_MIXER_2_4 | Value of the custom mixer at element [2,4] | float | 0.0f | -inf | inf | +| PRI_MIXER_3_4 | Value of the custom mixer at element [3,4] | float | 0.0f | -inf | inf | +| PRI_MIXER_4_4 | Value of the custom mixer at element [4,4] | float | 0.0f | -inf | inf | +| PRI_MIXER_5_4 | Value of the custom mixer at element [5,4] | float | 0.0f | -inf | inf | +| PRI_MIXER_0_5 | Value of the custom mixer at element [0,5] | float | 0.0f | -inf | inf | +| PRI_MIXER_1_5 | Value of the custom mixer at element [1,5] | float | 0.0f | -inf | inf | +| PRI_MIXER_2_5 | Value of the custom mixer at element [2,5] | float | 0.0f | -inf | inf | +| PRI_MIXER_3_5 | Value of the custom mixer at element [3,5] | float | 0.0f | -inf | inf | +| PRI_MIXER_4_5 | Value of the custom mixer at element [4,5] | float | 0.0f | -inf | inf | +| PRI_MIXER_5_5 | Value of the custom mixer at element [5,5] | float | 0.0f | -inf | inf | +| PRI_MIXER_0_6 | Value of the custom mixer at element [0,6] | float | 0.0f | -inf | inf | +| PRI_MIXER_1_6 | Value of the custom mixer at element [1,6] | float | 0.0f | -inf | inf | +| PRI_MIXER_2_6 | Value of the custom mixer at element [2,6] | float | 0.0f | -inf | inf | +| PRI_MIXER_3_6 | Value of the custom mixer at element [3,6] | float | 0.0f | -inf | inf | +| PRI_MIXER_4_6 | Value of the custom mixer at element [4,6] | float | 0.0f | -inf | inf | +| PRI_MIXER_5_6 | Value of the custom mixer at element [5,6] | float | 0.0f | -inf | inf | +| PRI_MIXER_0_7 | Value of the custom mixer at element [0,7] | float | 0.0f | -inf | inf | +| PRI_MIXER_1_7 | Value of the custom mixer at element [1,7] | float | 0.0f | -inf | inf | +| PRI_MIXER_2_7 | Value of the custom mixer at element [2,7] | float | 0.0f | -inf | inf | +| PRI_MIXER_3_7 | Value of the custom mixer at element [3,7] | float | 0.0f | -inf | inf | +| PRI_MIXER_4_7 | Value of the custom mixer at element [4,7] | float | 0.0f | -inf | inf | +| PRI_MIXER_5_7 | Value of the custom mixer at element [5,7] | float | 0.0f | -inf | inf | +| PRI_MIXER_0_8 | Value of the custom mixer at element [0,8] | float | 0.0f | -inf | inf | +| PRI_MIXER_1_8 | Value of the custom mixer at element [1,8] | float | 0.0f | -inf | inf | +| PRI_MIXER_2_8 | Value of the custom mixer at element [2,8] | float | 0.0f | -inf | inf | +| PRI_MIXER_3_8 | Value of the custom mixer at element [3,8] | float | 0.0f | -inf | inf | +| PRI_MIXER_4_8 | Value of the custom mixer at element [4,8] | float | 0.0f | -inf | inf | +| PRI_MIXER_5_8 | Value of the custom mixer at element [5,8] | float | 0.0f | -inf | inf | +| PRI_MIXER_0_9 | Value of the custom mixer at element [0,9] | float | 0.0f | -inf | inf | +| PRI_MIXER_1_9 | Value of the custom mixer at element [1,9] | float | 0.0f | -inf | inf | +| PRI_MIXER_2_9 | Value of the custom mixer at element [2,9] | float | 0.0f | -inf | inf | +| PRI_MIXER_3_9 | Value of the custom mixer at element [3,9] | float | 0.0f | -inf | inf | +| PRI_MIXER_4_9 | Value of the custom mixer at element [4,9] | float | 0.0f | -inf | inf | +| PRI_MIXER_5_9 | Value of the custom mixer at element [5,9] | float | 0.0f | -inf | inf | +| SEC_MIXER_0_0 | Value of the custom mixer at element [0,0] | float | 0.0f | -inf | inf | +| SEC_MIXER_1_0 | Value of the custom mixer at element [1,0] | float | 0.0f | -inf | inf | +| SEC_MIXER_2_0 | Value of the custom mixer at element [2,0] | float | 0.0f | -inf | inf | +| SEC_MIXER_3_0 | Value of the custom mixer at element [3,0] | float | 0.0f | -inf | inf | +| SEC_MIXER_4_0 | Value of the custom mixer at element [4,0] | float | 0.0f | -inf | inf | +| SEC_MIXER_5_0 | Value of the custom mixer at element [5,0] | float | 0.0f | -inf | inf | +| SEC_MIXER_0_1 | Value of the custom mixer at element [0,1] | float | 0.0f | -inf | inf | +| SEC_MIXER_1_1 | Value of the custom mixer at element [1,1] | float | 0.0f | -inf | inf | +| SEC_MIXER_2_1 | Value of the custom mixer at element [2,1] | float | 0.0f | -inf | inf | +| SEC_MIXER_3_1 | Value of the custom mixer at element [3,1] | float | 0.0f | -inf | inf | +| SEC_MIXER_4_1 | Value of the custom mixer at element [4,1] | float | 0.0f | -inf | inf | +| SEC_MIXER_5_1 | Value of the custom mixer at element [5,1] | float | 0.0f | -inf | inf | +| SEC_MIXER_0_2 | Value of the custom mixer at element [0,2] | float | 0.0f | -inf | inf | +| SEC_MIXER_1_2 | Value of the custom mixer at element [1,2] | float | 0.0f | -inf | inf | +| SEC_MIXER_2_2 | Value of the custom mixer at element [2,2] | float | 0.0f | -inf | inf | +| SEC_MIXER_3_2 | Value of the custom mixer at element [3,2] | float | 0.0f | -inf | inf | +| SEC_MIXER_4_2 | Value of the custom mixer at element [4,2] | float | 0.0f | -inf | inf | +| SEC_MIXER_5_2 | Value of the custom mixer at element [5,2] | float | 0.0f | -inf | inf | +| SEC_MIXER_0_3 | Value of the custom mixer at element [0,3] | float | 0.0f | -inf | inf | +| SEC_MIXER_1_3 | Value of the custom mixer at element [1,3] | float | 0.0f | -inf | inf | +| SEC_MIXER_2_3 | Value of the custom mixer at element [2,3] | float | 0.0f | -inf | inf | +| SEC_MIXER_3_3 | Value of the custom mixer at element [3,3] | float | 0.0f | -inf | inf | +| SEC_MIXER_4_3 | Value of the custom mixer at element [4,3] | float | 0.0f | -inf | inf | +| SEC_MIXER_5_3 | Value of the custom mixer at element [5,3] | float | 0.0f | -inf | inf | +| SEC_MIXER_0_4 | Value of the custom mixer at element [0,4] | float | 0.0f | -inf | inf | +| SEC_MIXER_1_4 | Value of the custom mixer at element [1,4] | float | 0.0f | -inf | inf | +| SEC_MIXER_2_4 | Value of the custom mixer at element [2,4] | float | 0.0f | -inf | inf | +| SEC_MIXER_3_4 | Value of the custom mixer at element [3,4] | float | 0.0f | -inf | inf | +| SEC_MIXER_4_4 | Value of the custom mixer at element [4,4] | float | 0.0f | -inf | inf | +| SEC_MIXER_5_4 | Value of the custom mixer at element [5,4] | float | 0.0f | -inf | inf | +| SEC_MIXER_0_5 | Value of the custom mixer at element [0,5] | float | 0.0f | -inf | inf | +| SEC_MIXER_1_5 | Value of the custom mixer at element [1,5] | float | 0.0f | -inf | inf | +| SEC_MIXER_2_5 | Value of the custom mixer at element [2,5] | float | 0.0f | -inf | inf | +| SEC_MIXER_3_5 | Value of the custom mixer at element [3,5] | float | 0.0f | -inf | inf | +| SEC_MIXER_4_5 | Value of the custom mixer at element [4,5] | float | 0.0f | -inf | inf | +| SEC_MIXER_5_5 | Value of the custom mixer at element [5,5] | float | 0.0f | -inf | inf | +| SEC_MIXER_0_6 | Value of the custom mixer at element [0,6] | float | 0.0f | -inf | inf | +| SEC_MIXER_1_6 | Value of the custom mixer at element [1,6] | float | 0.0f | -inf | inf | +| SEC_MIXER_2_6 | Value of the custom mixer at element [2,6] | float | 0.0f | -inf | inf | +| SEC_MIXER_3_6 | Value of the custom mixer at element [3,6] | float | 0.0f | -inf | inf | +| SEC_MIXER_4_6 | Value of the custom mixer at element [4,6] | float | 0.0f | -inf | inf | +| SEC_MIXER_5_6 | Value of the custom mixer at element [5,6] | float | 0.0f | -inf | inf | +| SEC_MIXER_0_7 | Value of the custom mixer at element [0,7] | float | 0.0f | -inf | inf | +| SEC_MIXER_1_7 | Value of the custom mixer at element [1,7] | float | 0.0f | -inf | inf | +| SEC_MIXER_2_7 | Value of the custom mixer at element [2,7] | float | 0.0f | -inf | inf | +| SEC_MIXER_3_7 | Value of the custom mixer at element [3,7] | float | 0.0f | -inf | inf | +| SEC_MIXER_4_7 | Value of the custom mixer at element [4,7] | float | 0.0f | -inf | inf | +| SEC_MIXER_5_7 | Value of the custom mixer at element [5,7] | float | 0.0f | -inf | inf | +| SEC_MIXER_0_8 | Value of the custom mixer at element [0,8] | float | 0.0f | -inf | inf | +| SEC_MIXER_1_8 | Value of the custom mixer at element [1,8] | float | 0.0f | -inf | inf | +| SEC_MIXER_2_8 | Value of the custom mixer at element [2,8] | float | 0.0f | -inf | inf | +| SEC_MIXER_3_8 | Value of the custom mixer at element [3,8] | float | 0.0f | -inf | inf | +| SEC_MIXER_4_8 | Value of the custom mixer at element [4,8] | float | 0.0f | -inf | inf | +| SEC_MIXER_5_8 | Value of the custom mixer at element [5,8] | float | 0.0f | -inf | inf | +| SEC_MIXER_0_9 | Value of the custom mixer at element [0,9] | float | 0.0f | -inf | inf | +| SEC_MIXER_1_9 | Value of the custom mixer at element [1,9] | float | 0.0f | -inf | inf | +| SEC_MIXER_2_9 | Value of the custom mixer at element [2,9] | float | 0.0f | -inf | inf | +| SEC_MIXER_3_9 | Value of the custom mixer at element [3,9] | float | 0.0f | -inf | inf | +| SEC_MIXER_4_9 | Value of the custom mixer at element [4,9] | float | 0.0f | -inf | inf | +| SEC_MIXER_5_9 | Value of the custom mixer at element [5,9] | float | 0.0f | -inf | inf | | SYS_ID | Mavlink System ID | int | 1 | 1 | 255 | -| STRM_HRTBT | Rate of heartbeat stream (Hz) | int | 1 | 0 | 1000 | -| STRM_STATUS | Rate of status stream (Hz) | int | 10 | 0 | 1000 | -| STRM_ATTITUDE | Rate of attitude stream (Hz) | int | 200 | 0 | 1000 | -| STRM_IMU | Rate of IMU stream (Hz) | int | 250 | 0 | 1000 | -| STRM_MAG | Rate of magnetometer stream (Hz) | int | 50 | 0 | 75 | -| STRM_BARO | Rate of barometer stream (Hz) | int | 50 | 0 | 100 | -| STRM_AIRSPEED | Rate of airspeed stream (Hz) | int | 50 | 0 | 50 | -| STRM_SONAR | Rate of sonar stream (Hz) | int | 40 | 0 | 40 | -| STRM_SERVO | Rate of raw output stream | int | 50 | 0 | 490 | -| STRM_RC | Rate of raw RC input stream | int | 50 | 0 | 50 | -| STRM_GNSS | Maximum rate of GNSS data streaming. Higher values allow for lower latency| int | 1000 | 0 | 1000 | -| STRM_GNSS_FULL | Maximum rate of fully detailed GNSS data streaming | int | 0 | 0 | 10 | -| STRM_BATTERY | Rate of battery status stream | int | 0 | 0 | 50 -| PARAM_MAX_CMD | saturation point for PID controller output | float | 1.0 | 0 | 1.0 | | PID_ROLL_RATE_P | Roll Rate Proportional Gain | float | 0.070f | 0.0 | 1000.0 | | PID_ROLL_RATE_I | Roll Rate Integral Gain | float | 0.000f | 0.0 | 1000.0 | | PID_ROLL_RATE_D | Roll Rate Derivative Gain | float | 0.000f | 0.0 | 1000.0 | @@ -145,12 +281,12 @@ This is a list of all ROSflight parameters, including their types, default value | PID_TAU | Dirty Derivative time constant - See controller documentation | float | 0.05f | 0.0 | 1.0 | | MOTOR_PWM_UPDATE | Overrides default PWM rate specified by mixer if non-zero - Requires reboot to take effect | int | 0 | 0 | 490 | | MOTOR_IDLE_THR | min throttle command sent to motors when armed (Set above 0.1 to spin when armed) | float | 0.1 | 0.0 | 1.0 | -| FAILSAFE_THR | Throttle sent to motors in failsafe condition (set just below hover throttle) | float | 0.3 | 0.0 | 1.0 | +| FAILSAFE_THR | Throttle sent to motors in failsafe condition (set just below hover throttle) | float | -1.0 | 0.0 | 1.0 | | ARM_SPIN_MOTORS | Enforce MOTOR_IDLE_THR | int | true | 0 | 1 | | FILTER_INIT_T | Time in ms to initialize estimator | int | 3000 | 0 | 100000 | -| FILTER_KP | estimator proportional gain - See estimator documentation | float | 0.5f | 0 | 10.0 | +| FILTER_KP_ACC | estimator proportional gain on accel-based error - See estimator documentation | float | 0.5f | 0 | 10.0 | | FILTER_KI | estimator integral gain - See estimator documentation | float | 0.01f | 0 | 1.0 | -| FILTER_KP_COR | estimator proportional gain on external attitude correction - See estimator documentation | float | 10.0f | 0 | 1.0 | +| FILTER_KP_EXT | estimator proportional gain on external attitude-based error - See estimator documentation | float | 1.5f | 0 | 10.0 | | FILTER_ACCMARGIN | allowable accel norm margin around 1g to determine if accel is usable | float | 0.1f | 0 | 1.0 | | FILTER_QUAD_INT | Perform a quadratic averaging of LPF gyro data prior to integration (adds ~20 us to estimation loop on F1 processors) | int | 1 | 0 | 1 | | FILTER_MAT_EXP | 1 - Use matrix exponential to improve gyro integration (adds ~90 us to estimation loop in F1 processors) 0 - use euler integration | int | 1 | 0 | 1 | @@ -184,18 +320,15 @@ This is a list of all ROSflight parameters, including their types, default value | GROUND_LEVEL | Altitude of ground level (m) | float | 1387.0f | -1000 | 10000 | | DIFF_PRESS_BIAS | Differential Pressure Bias (Pa) | float | 0.0f | -10 | 10 | | RC_TYPE | Type of RC input 0 - PPM, 1 - SBUS | int | 0 | 0 | 1 | -| BATT_VOLT_MULT | Battery monitor voltage multiplier | float | 0 | 0 | inf | -| BATT_CURR_MULT | Battery monitor current multiplier | float | 0 | 0 | inf | -| BATT_VOLT_ALPHA | Batter monitor voltage filter alpha. Values closer to 1 smooth the signal more. | float | 0.995 | 0 | 1 | -| BATT_CURR_ALPHA | Battery monitor current filter alpha. Values closer to 1 smooth the signal more.| float | 0.995 | 0 | 1 | | RC_X_CHN | RC input channel mapped to x-axis commands [0 - indexed] | int | 0 | 0 | 3 | | RC_Y_CHN | RC input channel mapped to y-axis commands [0 - indexed] | int | 1 | 0 | 3 | | RC_Z_CHN | RC input channel mapped to z-axis commands [0 - indexed] | int | 3 | 0 | 3 | | RC_F_CHN | RC input channel mapped to F-axis commands [0 - indexed] | int | 2 | 0 | 3 | +| RC_F_AXIS | NED axis that RC F-channel gets mapped to 0 - X, 1 - Y, 2 - Z | int | 2 | 0 | 2 | | RC_ATT_OVRD_CHN | RC switch mapped to attitude override [0 indexed, -1 to disable] | int | 4 | 4 | 7 | | RC_THR_OVRD_CHN | RC switch channel mapped to throttle override [0 indexed, -1 to disable] | int | 4 | 4 | 7 | -| RC_ATT_CTRL_CHN | RC switch channel mapped to attitude control type [0 indexed, -1 to disable] | int | -1 | 4 | 7 | -| ARM_CHANNEL | RC switch channel mapped to arming (only if PARAM_ARM_STICKS is false) [0 indexed, -1 to disable] | int | -1 | 4 | 7 | +| RC_ATT_CTRL_CHN | RC switch channel mapped to attitude control type [0 indexed, -1 to disable] | int | -1 | 4 | 7 | +| ARM_CHANNEL | RC switch channel mapped to arming (only if PARAM_ARM_STICKS is false) [0 indexed, -1 to disable] | int | -1 | 4 | 7 | | RC_NUM_CHN | number of RC input channels | int | 6 | 1 | 8 | | SWITCH_5_DIR | RC switch 5 toggle direction | int | 1 | -1 | 1 | | SWITCH_6_DIR | RC switch 6 toggle direction | int | 1 | -1 | 1 | @@ -204,13 +337,15 @@ This is a list of all ROSflight parameters, including their types, default value | RC_OVRD_DEV | RC stick deviation from center for override | float | 0.1 | 0.0 | 1.0 | | OVRD_LAG_TIME | RC stick deviation lag time before returning control (ms) | int | 1000 | 0 | 100000 | | MIN_THROTTLE | Take minimum throttle between RC and computer at all times | int | true | 0 | 1 | +| RC_MAX_THR | Maximum throttle command sent by full deflection of RC sticks, to maintain controllability during aggressive maneuvers | float | 0.7f | 0.0 | 1.0 | | RC_ATT_MODE | Attitude mode for RC sticks (0: rate, 1: angle). Overridden if RC_ATT_CTRL_CHN is set. | int | 1 | 0 | 1 | | RC_MAX_ROLL | Maximum roll angle command sent by full deflection of RC sticks | float | 0.786f | 0.0 | 3.14159 | | RC_MAX_PITCH | Maximum pitch angle command sent by full stick deflection of RC sticks | float | 0.786f | 0.0 | 3.14159 | | RC_MAX_ROLLRATE | Maximum roll rate command sent by full stick deflection of RC sticks | float | 3.14159f | 0.0 | 9.42477796077 | | RC_MAX_PITCHRATE | Maximum pitch command sent by full stick deflection of RC sticks | float | 3.14159f | 0.0 | 3.14159 | | RC_MAX_YAWRATE | Maximum pitch command sent by full stick deflection of RC sticks | float | 1.507f | 0.0 | 3.14159 | -| MIXER | Which mixer to choose - See Mixer documentation | int | Mixer::INVALID_MIXER | 0 | 10 | +| PRIMARY_MIXER | Which mixer to choose for primary mixer - See Mixer documentation | int | Mixer::INVALID_MIXER | 0 | 11 | +| SECONDARY_MIXER | Which mixer to choose for secondary mixer - See Mixer documentation | int | Mixer::INVALID_MIXER | 0 | 11 | | FIXED_WING | switches on pass-through commands for fixed-wing operation | int | false | 0 | 1 | | ELEVATOR_REV | reverses elevator servo output | int | 0 | 0 | 1 | | AIL_REV | reverses aileron servo output | int | 0 | 0 | 1 | @@ -219,4 +354,8 @@ This is a list of all ROSflight parameters, including their types, default value | FC_PITCH | pitch angle (deg) of flight controller wrt aircraft body | float | 0.0f | 0 | 360 | | FC_YAW | yaw angle (deg) of flight controller wrt aircraft body | float | 0.0f | 0 | 360 | | ARM_THRESHOLD | RC deviation from max/min in yaw and throttle for arming and disarming check (us) | float | 0.15 | 0 | 500 | +| BATT_VOLT_MULT | Multiplier for the voltage sensor | float | 0.0f | 0 | inf | +| BATT_CURR_MULT | Multiplier for the current sensor | float | 0.0f | 0 | inf | +| BATT_VOLT_ALPHA | Alpha value for the low pass filter on the reported battery voltage | float | 0.995f | 0 | 1 | +| BATT_CURR_ALPHA | Alpha value for the low pass filter on the reported battery current | float | 0.995f | 0 | 1 | | OFFBOARD_TIMEOUT | Timeout in milliseconds for offboard commands, after which RC override is activated | int | 100 | 0 | 100000 |