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73 lines
3.2 KiB
Markdown
73 lines
3.2 KiB
Markdown
# PX4 Parameters
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Main article: https://dev.px4.io/en/advanced/parameter_reference.html
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> **Note** This is a description some of the most important PX4 parameters as of version 1.8.0. The full list is available at the link above.
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To change PX4 parameters, you can use the QGroundControl application [by connecting to Clover via Wi-Fi](gcs_bridge.md):
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## Main parameters
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The most important parameters are listed in this paragraph.
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`SYS_MC_EST_GROUP` – select the estimator module.
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This is a group of modules that calculates the current state of the copter using readings from the sensors. The copter state includes:
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* Angle rate of the copter – pitch_rate, roll_rate, yaw_rate;
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* Copter orientation (in the local coordinate system) – pitch, roll, yaw (one of presentations);
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* Copter position (in the local coordinate system) – x, y, z;
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* Copter speed (in the local coordinate system) – vx, vy, vz;
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* Global coordinates of the copter – lattitude, longitude, altitude;
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* Altitude above the surface;
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* Other parameters (the drift of gyroscopes, wind speed, etc.).
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`SYS_AUTOCONFIG` — resets all parameters (sets to 1).
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## EKF2
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`EKF2_AID_MASK` — selects sensors that are used by EKF2 to calculate the copter state.
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`EKF2_HGT_MODE` is the main source of height data (z in the local coordinate system):
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* 0 – pressure reading on the barometer.
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* 1 – GPS.
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* 2 – distance meter (for example, vl53l1x).
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* 3 – data from VPE.
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Variant 2 is the most accurate; however, it is correct to use it only if the surface the copter flies over is flat. Otherwise, the Z axis origin will move up and down with the altitude of the surface.
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## Multicopter Control Position (flying by position)
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These parameters adjust the flight of the copter by position (POSCTL, OFFBOARD, AUTO modes).
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`MPC_THR_HOVER` — hovering throttle. This option is to set to the approximate percentage of throttle needed to make the copter maintain its altitude. If copter has a tendency to gain or lose altitude during the hovering mode, reduce or increase this value.
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`MPC_XY_P` – position factor *P* of the ESC. This parameter affects how sharply the copter will react to the position commands. A too high value may cause {перестрелы}.
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`MPC_XY_VEL_P` – speed factor *P* of the ESC. This parameter also affects the accuracy and sharpness of copter execution of the given position. A too high value may cause {перестрелы}.
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`MPC_XY_VEL_MAX` — the maximum horizontal speed in POSCTL, OFFBOARD, AUTO modes.
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`MPC_Z_P`, `MPC_Z_VEL_P` – vertical position and speed factors *P* of the ESCs they determine the copter's ability to maintain the desired altitude.
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`MPC_LAND_SPEED` is the vertical velocity of landing in the LAND mode.
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## LPE + Q attitude estimator
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These parameters configure the behavior of the `lpe` and `q` modules, which compute the state (orientation, position) of the copter. These parameters apply **only** if the `SYS_MC_EST_GROUP` parameter is set to `1` (local_position_estimator, attitude_estimator_q)
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TODO
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## Commander
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Prearm checks, switching the modes and states of the copter.
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## Sensors
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Enabling, disabling and configuring various sensors.
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TODO
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