This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds. You must have the RTS and CTS pins connected to your radio. There are various alternatives to the use cases of output parameters.After the function has been defined, it can be invoked as follows:In the special case of a function with a single output or input/output parameter and no return value, function composition is possible if the output or input/output parameter (or in C/C++, its address) is also returned by the function, in which case the above becomes:The micro-optimization of not requiring a local variable and copying the return when using output variables can also be applied to conventional functions and return values by sufficiently sophisticated compilers.For example, to return two variables from a function in C, one may write:Default arguments can be seen as a special case of the variable-length argument list.Similar considerations apply to returning a value of one of several possible types, where the return value can specify the type and then value is stored in one of several output variables.In some cases only input and input/output are distinguished, with output being considered a specific use of input/output, and in other cases only input and output (but not input/output) are supported. Setting to zero disables the governor. 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Requires 3-pin buzzer or additional MOSFET!maximum PWM pulse width in microseconds. This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. Low numbers lead to sharper response, higher numbers to softer responseThis is the RMS value of noise in the altitude measurement. Positive X is forward of the origin. Increasing it makes rate gyro bias estimation faster and noisier.Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)Converts pilot yaw input into a desired rate of rotation. Converts the error between the desired yaw angle and actual angle to a desired yaw rateEnabled/disable path planning around obstaclesControl what protocol Serial6 port should be used for. Zero to disable the feature.Visual odometry position measurement noise minimum (meters). If the sensor does not support the selected rate the next highest supported rate will be used. Post-filter and sensor-rate logging cannot be used at the same time.Mount tilt/pitch angle when in retracted positionLateral channel number. Set to 0 to disable. There may be insufficient memory and processing resources to run multiple instances. Use zero to allow for any number of comms loss events.Set telemetry transmit power. Higher value is quicker response but may cause surging. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.Bitmask of harmonic frequencies to apply Harmonic Notch Filter to.
Larger means it can handle larger bursts of incoming data points to filter into the database. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. Attention: The IMU should be located as close to the vehicle c.g.
Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. For helicopter sets the decay rate of the virtual flybar in the roll axis. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. Zero to disable the feature.Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.Y position of the first IMU accelerometer in body frame.
Increasing it makes the flter trust the gyro measurements less and other measurements more.0 for none, any other for the RC channel to be used to control tilt (pitch) movementsThis sets the range around the average value that new samples must be within to be accepted.
A value of zero disables auto disarm.Control what protocol to use on the Telem1 port. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.Offset to be added to the compass z-axis values to compensate for metal in the frameWhen enabled, trigging by distance is done in AUTO mode only.This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. Positive Y is to the right of the origin.This is the initial mode when the vehicle is first turned on. The value is added to the barometric altitude read by the aircraft. Rolling the vehicle upside down should decrease the MagZ value. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.This controls whether to use dead-reckoning or GPS based navigation.
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