commander_params.c File Reference

Parameters defined by the sensors task. More...

Functions
	PARAM_DEFINE_FLOAT (TRIM_ROLL, 0.0f)
	Roll trim. More...
	PARAM_DEFINE_FLOAT (TRIM_PITCH, 0.0f)
	Pitch trim. More...
	PARAM_DEFINE_FLOAT (TRIM_YAW, 0.0f)
	Yaw trim. More...
	PARAM_DEFINE_INT32 (COM_DL_LOSS_T, 10)
	Datalink loss time threshold. More...
	PARAM_DEFINE_INT32 (COM_HLDL_LOSS_T, 120)
	High Latency Datalink loss time threshold. More...
	PARAM_DEFINE_INT32 (COM_HLDL_REG_T, 0)
	High Latency Datalink regain time threshold. More...
	PARAM_DEFINE_FLOAT (COM_EF_THROT, 0.5f)
	Engine Failure Throttle Threshold. More...
	PARAM_DEFINE_FLOAT (COM_EF_C2T, 5.0f)
	Engine Failure Current/Throttle Threshold. More...
	PARAM_DEFINE_FLOAT (COM_EF_TIME, 10.0f)
	Engine Failure Time Threshold. More...
	PARAM_DEFINE_FLOAT (COM_RC_LOSS_T, 0.5f)
	RC loss time threshold. More...
	PARAM_DEFINE_FLOAT (COM_RC_STICK_OV, 12.0f)
	RC stick override threshold. More...
	PARAM_DEFINE_FLOAT (COM_HOME_H_T, 5.0f)
	Home set horizontal threshold. More...
	PARAM_DEFINE_FLOAT (COM_HOME_V_T, 10.0f)
	Home set vertical threshold. More...
	PARAM_DEFINE_INT32 (COM_RC_IN_MODE, 0)
	RC control input mode. More...
	PARAM_DEFINE_INT32 (COM_RC_ARM_HYST, 1000)
	RC input arm/disarm command duration. More...
	PARAM_DEFINE_FLOAT (COM_DISARM_LAND, -1.0f)
	Time-out for auto disarm after landing. More...
	PARAM_DEFINE_INT32 (COM_ARM_WO_GPS, 1)
	Allow arming without GPS. More...
	PARAM_DEFINE_INT32 (COM_ARM_SWISBTN, 0)
	Arm switch is only a button. More...
	PARAM_DEFINE_INT32 (COM_LOW_BAT_ACT, 0)
	Battery failsafe mode. More...
	PARAM_DEFINE_FLOAT (COM_OF_LOSS_T, 0.0f)
	Time-out to wait when offboard connection is lost before triggering offboard lost action. More...
	PARAM_DEFINE_INT32 (COM_OBL_ACT, 0)
	Set offboard loss failsafe mode. More...
	PARAM_DEFINE_INT32 (COM_OBL_RC_ACT, 0)
	Set offboard loss failsafe mode when RC is available. More...
	PARAM_DEFINE_INT32 (COM_FLTMODE1, -1)
	First flightmode slot (1000-1160) More...
	PARAM_DEFINE_INT32 (COM_FLTMODE2, -1)
	Second flightmode slot (1160-1320) More...
	PARAM_DEFINE_INT32 (COM_FLTMODE3, -1)
	Third flightmode slot (1320-1480) More...
	PARAM_DEFINE_INT32 (COM_FLTMODE4, -1)
	Fourth flightmode slot (1480-1640) More...
	PARAM_DEFINE_INT32 (COM_FLTMODE5, -1)
	Fifth flightmode slot (1640-1800) More...
	PARAM_DEFINE_INT32 (COM_FLTMODE6, -1)
	Sixth flightmode slot (1800-2000) More...
	PARAM_DEFINE_FLOAT (COM_ARM_EKF_POS, 0.5f)
	Maximum EKF position innovation test ratio that will allow arming. More...
	PARAM_DEFINE_FLOAT (COM_ARM_EKF_VEL, 0.5f)
	Maximum EKF velocity innovation test ratio that will allow arming. More...
	PARAM_DEFINE_FLOAT (COM_ARM_EKF_HGT, 1.0f)
	Maximum EKF height innovation test ratio that will allow arming. More...
	PARAM_DEFINE_FLOAT (COM_ARM_EKF_YAW, 0.5f)
	Maximum EKF yaw innovation test ratio that will allow arming. More...
	PARAM_DEFINE_FLOAT (COM_ARM_EKF_AB, 1.73e-3f)
	Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming. More...
	PARAM_DEFINE_FLOAT (COM_ARM_EKF_GB, 8.7e-4f)
	Maximum value of EKF gyro delta angle bias estimate that will allow arming. More...
	PARAM_DEFINE_FLOAT (COM_ARM_IMU_ACC, 0.7f)
	Maximum accelerometer inconsistency between IMU units that will allow arming. More...
	PARAM_DEFINE_FLOAT (COM_ARM_IMU_GYR, 0.25f)
	Maximum rate gyro inconsistency between IMU units that will allow arming. More...
	PARAM_DEFINE_FLOAT (COM_ARM_MAG, 0.15f)
	Maximum magnetic field inconsistency between units that will allow arming. More...
	PARAM_DEFINE_INT32 (COM_RC_OVERRIDE, 0)
	Enable RC stick override of auto modes. More...
	PARAM_DEFINE_INT32 (COM_ARM_MIS_REQ, 0)
	Require valid mission to arm. More...
	PARAM_DEFINE_INT32 (COM_POSCTL_NAVL, 0)
	Position control navigation loss response. More...
	PARAM_DEFINE_INT32 (COM_ARM_AUTH, 256010)
	Arm authorization parameters, this uint32_t will be split between starting from the LSB: More...
	PARAM_DEFINE_INT32 (COM_POS_FS_DELAY, 1)
	Loss of position failsafe activation delay. More...
	PARAM_DEFINE_INT32 (COM_POS_FS_PROB, 30)
	Loss of position probation delay at takeoff. More...
	PARAM_DEFINE_INT32 (COM_POS_FS_GAIN, 10)
	Loss of position probation gain factor. More...
	PARAM_DEFINE_FLOAT (COM_POS_FS_EPH, 5)
	Horizontal position error threshold. More...
	PARAM_DEFINE_FLOAT (COM_POS_FS_EPV, 10)
	Vertical position error threshold. More...
	PARAM_DEFINE_FLOAT (COM_VEL_FS_EVH, 1)
	Horizontal velocity error threshold. More...
	PARAM_DEFINE_INT32 (COM_FLIGHT_UUID, 0)
	PARAM_DEFINE_INT32 (COM_TAKEOFF_ACT, 0)
	Action after TAKEOFF has been accepted. More...
	PARAM_DEFINE_INT32 (NAV_DLL_ACT, 0)
	Set data link loss failsafe mode. More...
	PARAM_DEFINE_INT32 (NAV_RCL_ACT, 2)
	Set RC loss failsafe mode. More...
	PARAM_DEFINE_INT32 (COM_OBS_AVOID, 0)
	Flag to enable obstacle avoidance. More...
	PARAM_DEFINE_INT32 (COM_OA_BOOT_T, 100)
	Set avoidance system bootup timeout. More...
	PARAM_DEFINE_FLOAT (COM_TAS_FS_INNOV, 1.0f)
	PARAM_DEFINE_FLOAT (COM_TAS_FS_INTEG, -1.0f)
	PARAM_DEFINE_INT32 (COM_TAS_FS_T1, 3)
	PARAM_DEFINE_INT32 (COM_TAS_FS_T2, 100)
	PARAM_DEFINE_FLOAT (COM_ASPD_STALL, 10.0f)
	PARAM_DEFINE_INT32 (COM_ASPD_FS_ACT, 0)
	PARAM_DEFINE_INT32 (COM_ASPD_FS_DLY, 0)

Detailed Description

Parameters defined by the sensors task.

Author

Lorenz Meier loren.nosp@m.z@px.nosp@m.4.io

Thomas Gubler thoma.nosp@m.s@px.nosp@m.4.io

Julian Oes julia.nosp@m.n@px.nosp@m.4.io

Function Documentation

PARAM_DEFINE_FLOAT() [1/24]

PARAM_DEFINE_FLOAT	(	TRIM_ROLL	,
		0.	0f
	)

Roll trim.

The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.

Radio Calibration -0.25 0.25 2 0.01

PARAM_DEFINE_FLOAT() [2/24]

PARAM_DEFINE_FLOAT	(	TRIM_PITCH	,
		0.	0f
	)

Pitch trim.

The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.

Radio Calibration -0.25 0.25 2 0.01

PARAM_DEFINE_FLOAT() [3/24]

PARAM_DEFINE_FLOAT	(	TRIM_YAW	,
		0.	0f
	)

Yaw trim.

The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS.

Radio Calibration -0.25 0.25 2 0.01

PARAM_DEFINE_FLOAT() [4/24]

PARAM_DEFINE_FLOAT	(	COM_EF_THROT	,
		0.	5f
	)

Engine Failure Throttle Threshold.

Engine failure triggers only above this throttle value

Commander norm 0.0 1.0 2 0.01

PARAM_DEFINE_FLOAT() [5/24]

PARAM_DEFINE_FLOAT	(	COM_EF_C2T	,
		5.	0f
	)

Engine Failure Current/Throttle Threshold.

Engine failure triggers only below this current value

Commander 0.0 50.0 A/% 2 1

PARAM_DEFINE_FLOAT() [6/24]

PARAM_DEFINE_FLOAT	(	COM_EF_TIME	,
		10.	0f
	)

Engine Failure Time Threshold.

Engine failure triggers only if the throttle threshold and the current to throttle threshold are violated for this time

Commander s 0.0 60.0 1 1

PARAM_DEFINE_FLOAT() [7/24]

PARAM_DEFINE_FLOAT	(	COM_RC_LOSS_T	,
		0.	5f
	)

RC loss time threshold.

After this amount of seconds without RC connection the rc lost flag is set to true

Commander s 0 35 1 0.1

PARAM_DEFINE_FLOAT() [8/24]

PARAM_DEFINE_FLOAT	(	COM_RC_STICK_OV	,
		12.	0f
	)

RC stick override threshold.

If an RC stick is moved more than by this amount the system will interpret this as override request by the pilot.

Commander % 5 40 0 0.05

PARAM_DEFINE_FLOAT() [9/24]

PARAM_DEFINE_FLOAT	(	COM_HOME_H_T	,
		5.	0f
	)

Home set horizontal threshold.

The home position will be set if the estimated positioning accuracy is below the threshold.

Commander m 2 15 2 0.5

PARAM_DEFINE_FLOAT() [10/24]

PARAM_DEFINE_FLOAT	(	COM_HOME_V_T	,
		10.	0f
	)

Home set vertical threshold.

The home position will be set if the estimated positioning accuracy is below the threshold.

Commander m 5 25 2 0.5

PARAM_DEFINE_FLOAT() [11/24]

PARAM_DEFINE_FLOAT	(	COM_DISARM_LAND	,
		-1.	0f
	)

Time-out for auto disarm after landing.

A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period.

The vehicle will also auto-disarm right after arming if it has not even flown, however the time will always be 10 seconds such that the pilot has enough time to take off.

A negative value means that automatic disarming triggered by landing detection is disabled.

Commander -1 20 s 2

PARAM_DEFINE_FLOAT() [12/24]

PARAM_DEFINE_FLOAT	(	COM_OF_LOSS_T	,
		0.	0f
	)

Time-out to wait when offboard connection is lost before triggering offboard lost action.

See COM_OBL_ACT and COM_OBL_RC_ACT to configure action.

Commander s 0 60 1

PARAM_DEFINE_FLOAT() [13/24]

PARAM_DEFINE_FLOAT	(	COM_ARM_EKF_POS	,
		0.	5f
	)

Maximum EKF position innovation test ratio that will allow arming.

Commander m 0.1 1.0 2 0.05

PARAM_DEFINE_FLOAT() [14/24]

PARAM_DEFINE_FLOAT	(	COM_ARM_EKF_VEL	,
		0.	5f
	)

Maximum EKF velocity innovation test ratio that will allow arming.

Commander m/s 0.1 1.0 2 0.05

PARAM_DEFINE_FLOAT() [15/24]

PARAM_DEFINE_FLOAT	(	COM_ARM_EKF_HGT	,
		1.	0f
	)

Maximum EKF height innovation test ratio that will allow arming.

Commander m 0.1 1.0 2 0.05

PARAM_DEFINE_FLOAT() [16/24]

PARAM_DEFINE_FLOAT	(	COM_ARM_EKF_YAW	,
		0.	5f
	)

Maximum EKF yaw innovation test ratio that will allow arming.

Commander rad 0.1 1.0 2 0.05

PARAM_DEFINE_FLOAT() [17/24]

PARAM_DEFINE_FLOAT	(	COM_ARM_EKF_AB	,
		1.73e-	3f
	)

Maximum value of EKF accelerometer delta velocity bias estimate that will allow arming.

Note: ekf2 will limit the delta velocity bias estimate magnitude to be less than EKF2_ABL_LIM * FILTER_UPDATE_PERIOD_MS * 0.001 so this parameter must be less than that to be useful.

Commander m/s 0.001 0.01 4 0.0001

PARAM_DEFINE_FLOAT() [18/24]

PARAM_DEFINE_FLOAT	(	COM_ARM_EKF_GB	,
		8.7e-	4f
	)

Maximum value of EKF gyro delta angle bias estimate that will allow arming.

Commander rad 0.0001 0.0017 5 0.0001

PARAM_DEFINE_FLOAT() [19/24]

PARAM_DEFINE_FLOAT	(	COM_ARM_IMU_ACC	,
		0.	7f
	)

Maximum accelerometer inconsistency between IMU units that will allow arming.

Commander m/s/s 0.1 1.0 2 0.05

PARAM_DEFINE_FLOAT() [20/24]

PARAM_DEFINE_FLOAT	(	COM_ARM_IMU_GYR	,
		0.	25f
	)

Maximum rate gyro inconsistency between IMU units that will allow arming.

Commander rad/s 0.02 0.3 3 0.01

PARAM_DEFINE_FLOAT() [21/24]

PARAM_DEFINE_FLOAT	(	COM_ARM_MAG	,
		0.	15f
	)

Maximum magnetic field inconsistency between units that will allow arming.

Commander Gauss 0.05 0.5 2 0.05

PARAM_DEFINE_FLOAT() [22/24]

PARAM_DEFINE_FLOAT	(	COM_POS_FS_EPH	,
		5
	)

Horizontal position error threshold.

This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.

m Commander

PARAM_DEFINE_FLOAT() [23/24]

PARAM_DEFINE_FLOAT	(	COM_POS_FS_EPV	,
		10
	)

Vertical position error threshold.

This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.

m Commander

PARAM_DEFINE_FLOAT() [24/24]

PARAM_DEFINE_FLOAT	(	COM_VEL_FS_EVH	,
		1
	)

Horizontal velocity error threshold.

This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.

m/s Commander

PARAM_DEFINE_INT32() [1/28]

PARAM_DEFINE_INT32	(	COM_DL_LOSS_T	,
		10
	)

Datalink loss time threshold.

After this amount of seconds without datalink the data link lost mode triggers

Commander s 5 300 1 0.5

PARAM_DEFINE_INT32() [2/28]

PARAM_DEFINE_INT32	(	COM_HLDL_LOSS_T	,
		120
	)

High Latency Datalink loss time threshold.

After this amount of seconds without datalink the data link lost mode triggers

Commander s 60 3600

PARAM_DEFINE_INT32() [3/28]

PARAM_DEFINE_INT32	(	COM_HLDL_REG_T	,
		0
	)

High Latency Datalink regain time threshold.

After a data link loss: after this this amount of seconds with a healthy datalink the 'datalink loss' flag is set back to false

Commander s 0 60

PARAM_DEFINE_INT32() [4/28]

PARAM_DEFINE_INT32	(	COM_RC_IN_MODE	,
		0
	)

RC control input mode.

The default value of 0 requires a valid RC transmitter setup. Setting this to 1 allows joystick control and disables RC input handling and the associated checks. A value of 2 will generate RC control data from manual input received via MAVLink instead of directly forwarding the manual input data.

Commander 0 2 0 RC Transmitter 1 Joystick/No RC Checks 2 Virtual RC by Joystick

PARAM_DEFINE_INT32() [5/28]

PARAM_DEFINE_INT32	(	COM_RC_ARM_HYST	,
		1000
	)

RC input arm/disarm command duration.

The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.

Commander 100 1500

PARAM_DEFINE_INT32() [6/28]

PARAM_DEFINE_INT32	(	COM_ARM_WO_GPS	,
		1
	)

Allow arming without GPS.

The default allows to arm the vehicle without GPS signal.

Commander

PARAM_DEFINE_INT32() [7/28]

PARAM_DEFINE_INT32	(	COM_ARM_SWISBTN	,
		0
	)

Arm switch is only a button.

The default uses the arm switch as real switch. If parameter set button gets handled like stick arming.

Commander 0 1 0 Arm switch is a switch that stays on when armed 1 Arm switch is a button that only triggers arming and disarming

PARAM_DEFINE_INT32() [8/28]

PARAM_DEFINE_INT32	(	COM_LOW_BAT_ACT	,
		0
	)

Battery failsafe mode.

Action the system takes on low battery. Defaults to off

Commander 0 Warning 1 Return mode 2 Land mode 3 Return mode at critically low level, Land mode at current position if reaching dangerously low levels 0 1 1

PARAM_DEFINE_INT32() [9/28]

PARAM_DEFINE_INT32	(	COM_OBL_ACT	,
		0
	)

Set offboard loss failsafe mode.

The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.

0 Land mode 1 Hold mode 2 Return mode

Mission

PARAM_DEFINE_INT32() [10/28]

PARAM_DEFINE_INT32	(	COM_OBL_RC_ACT	,
		0
	)

Set offboard loss failsafe mode when RC is available.

The offboard loss failsafe will only be entered after a timeout, set by COM_OF_LOSS_T in seconds.

0 Position mode 1 Altitude mode 2 Manual 3 Return mode 4 Land mode 5 Hold mode Mission

PARAM_DEFINE_INT32() [11/28]

PARAM_DEFINE_INT32	(	COM_FLTMODE1	,
		-	1
	)

First flightmode slot (1000-1160)

If the main switch channel is in this range the selected flight mode will be applied.

-1 Unassigned 0 Manual 1 Altitude 2 Position 3 Mission 4 Hold 10 Takeoff 11 Land 5 Return 6 Acro 7 Offboard 8 Stabilized 9 Rattitude 12 Follow Me Commander

PARAM_DEFINE_INT32() [12/28]

PARAM_DEFINE_INT32	(	COM_FLTMODE2	,
		-	1
	)

Second flightmode slot (1160-1320)

If the main switch channel is in this range the selected flight mode will be applied.

-1 Unassigned 0 Manual 1 Altitude 2 Position 3 Mission 4 Hold 10 Takeoff 11 Land 5 Return 6 Acro 7 Offboard 8 Stabilized 9 Rattitude 12 Follow Me Commander

PARAM_DEFINE_INT32() [13/28]

PARAM_DEFINE_INT32	(	COM_FLTMODE3	,
		-	1
	)

Third flightmode slot (1320-1480)

If the main switch channel is in this range the selected flight mode will be applied.

-1 Unassigned 0 Manual 1 Altitude 2 Position 3 Mission 4 Hold 10 Takeoff 11 Land 5 Return 6 Acro 7 Offboard 8 Stabilized 9 Rattitude 12 Follow Me Commander

PARAM_DEFINE_INT32() [14/28]

PARAM_DEFINE_INT32	(	COM_FLTMODE4	,
		-	1
	)

Fourth flightmode slot (1480-1640)

If the main switch channel is in this range the selected flight mode will be applied.

-1 Unassigned 0 Manual 1 Altitude 2 Position 3 Mission 4 Hold 10 Takeoff 11 Land 5 Return 6 Acro 7 Offboard 8 Stabilized 9 Rattitude 12 Follow Me Commander

PARAM_DEFINE_INT32() [15/28]

PARAM_DEFINE_INT32	(	COM_FLTMODE5	,
		-	1
	)

Fifth flightmode slot (1640-1800)

If the main switch channel is in this range the selected flight mode will be applied.

-1 Unassigned 0 Manual 1 Altitude 2 Position 3 Mission 4 Hold 10 Takeoff 11 Land 5 Return 6 Acro 7 Offboard 8 Stabilized 9 Rattitude 12 Follow Me Commander

PARAM_DEFINE_INT32() [16/28]

PARAM_DEFINE_INT32	(	COM_FLTMODE6	,
		-	1
	)

Sixth flightmode slot (1800-2000)

If the main switch channel is in this range the selected flight mode will be applied.

-1 Unassigned 0 Manual 1 Altitude 2 Position 3 Mission 4 Hold 10 Takeoff 11 Land 5 Return 6 Acro 7 Offboard 8 Stabilized 9 Rattitude 12 Follow Me Commander

PARAM_DEFINE_INT32() [17/28]

PARAM_DEFINE_INT32	(	COM_RC_OVERRIDE	,
		0
	)

Enable RC stick override of auto modes.

Commander

PARAM_DEFINE_INT32() [18/28]

PARAM_DEFINE_INT32	(	COM_ARM_MIS_REQ	,
		0
	)

Require valid mission to arm.

The default allows to arm the vehicle without a valid mission.

Commander

PARAM_DEFINE_INT32() [19/28]

PARAM_DEFINE_INT32	(	COM_POSCTL_NAVL	,
		0
	)

Position control navigation loss response.

This sets the flight mode that will be used if navigation accuracy is no longer adequate for position control. Navigation accuracy checks can be disabled using the CBRK_VELPOSERR parameter, but doing so will remove protection for all flight modes.

0 Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL. 1 Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.

Commander

PARAM_DEFINE_INT32() [20/28]

PARAM_DEFINE_INT32	(	COM_ARM_AUTH	,
		256010
	)

Arm authorization parameters, this uint32_t will be split between starting from the LSB:

• 8bits to authorizer system id
• 16bits to authentication method parameter, this will be used to store a timeout for the first 2 methods but can be used to another parameter for other new authentication methods.
• 7bits to authentication method
  • one arm = 0
  • two step arm = 1
• the MSB bit is not used to avoid problems in the conversion between int and uint

Default value: (10 << 0 | 1000 << 8 | 0 << 24) = 256010

• authorizer system id = 10
• authentication method parameter = 10000msec of timeout
• authentication method = during arm Commander

PARAM_DEFINE_INT32() [21/28]

PARAM_DEFINE_INT32	(	COM_POS_FS_DELAY	,
		1
	)

Loss of position failsafe activation delay.

This sets number of seconds that the position checks need to be failed before the failsafe will activate. The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.

sec true Commander 1 100

PARAM_DEFINE_INT32() [22/28]

PARAM_DEFINE_INT32	(	COM_POS_FS_PROB	,
		30
	)

Loss of position probation delay at takeoff.

The probation delay is the number of seconds that the EKF innovation checks need to pass for the position to be declared good after it has been declared bad. The probation delay will be reset to this parameter value when takeoff is detected. After takeoff, if position checks are passing, the probation delay will reduce by one second for every lapsed second of valid position down to a minimum of 1 second. If position checks are failing, the probation delay will increase by COM_POS_FS_GAIN seconds for every lapsed second up to a maximum of 100 seconds. The default value has been optimised for rotary wing applications. For fixed wing applications, a value of 1 should be used.

sec true Commander 1 100

PARAM_DEFINE_INT32() [23/28]

PARAM_DEFINE_INT32	(	COM_POS_FS_GAIN	,
		10
	)

Loss of position probation gain factor.

This sets the rate that the loss of position probation time grows when position checks are failing. The default value has been optimised for rotary wing applications. For fixed wing applications a value of 0 should be used.

true Commander

PARAM_DEFINE_INT32() [24/28]

PARAM_DEFINE_INT32	(	COM_TAKEOFF_ACT	,
		0
	)

Action after TAKEOFF has been accepted.

The mode transition after TAKEOFF has completed successfully.

0 Hold 1 Mission (if valid) Mission

PARAM_DEFINE_INT32() [25/28]

PARAM_DEFINE_INT32	(	NAV_DLL_ACT	,
		0
	)

Set data link loss failsafe mode.

The data link loss failsafe will only be entered after a timeout, set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected action will be executed. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.

0 Disabled 1 Hold mode 2 Return mode 3 Land mode 4 Data Link Auto Recovery (CASA Outback Challenge rules) 5 Terminate 6 Lockdown

Mission

PARAM_DEFINE_INT32() [26/28]

PARAM_DEFINE_INT32	(	NAV_RCL_ACT	,
		2
	)

Set RC loss failsafe mode.

The RC loss failsafe will only be entered after a timeout, set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled by setting the COM_RC_IN_MODE param it will not be triggered. Setting this parameter to 4 will enable CASA Outback Challenge rules, which are only recommended to participants of that competition.

0 Disabled 1 Hold mode 2 Return mode 3 Land mode 4 RC Auto Recovery (CASA Outback Challenge rules) 5 Terminate 6 Lockdown

Mission

PARAM_DEFINE_INT32() [27/28]

PARAM_DEFINE_INT32	(	COM_OBS_AVOID	,
		0
	)

Flag to enable obstacle avoidance.

Mission

PARAM_DEFINE_INT32() [28/28]

PARAM_DEFINE_INT32	(	COM_OA_BOOT_T	,
		100
	)

Set avoidance system bootup timeout.

The avoidance system running on the companion computer is expected to boot within this time and start providing trajectory points. If no avoidance system is detected a MAVLink warning message is sent. Commander s 0 200