This is a list of all parameters in /etc/parameters.conf and what we know about them. If you see an undescribed parameter that you know what it does (no guessing please), add a description for it. Descriptions written in italics are original comments from the conf file.

Unless otherwise specified, all parameters use metric units. That means meter for distance, m/s for speed etc.

Table of Contents Global Battery Sensors Acceleration Inertial measurement unit Pitot Barometer Ultrasound Altimeter Heading magnetometer GPS Working area Preflight Shake Flying/landed Take-off Start waypoint Normal flight Navigation Home Landing Circle landing Linear landing Fast landing Landing slope Emergency flare Ground avoidance Fast climb Fast descent Hold Safety Critical action Manual flying modes Easy manual mode Fly-by-wire mode Full manual mode Semi auto mode Immelmann Optimal airspeed Indicated airspeed Barrel-Roll Flight controller User configuration

Global

Parameter name	Default value	Description
M_PI_4	0.7853981633974483	π/4, used in NAV_WPT_LINE_ENTRY_ANGLE
GLOBAL_FMS_FREQ	200.0
GLOBAL_LED_SLOW_BLINKING_PERIOD	0.5	LED blink time for slow blink
GLOBAL_LED_FAST_BLINKING_PERIOD	0.2	LED blink time for fast blink
GLOBAL_LED_FAST_BLINKING_TIME	3.0
GLOBAL_FIFO_SIZE	5
GLOBAL_MIN_GROUNDSPEED	5.0
GLOBAL_MIN_INFLIGHT_AIRSPEED	2.0	"Airspeed under which the aircraft is not considered in flight"
GLOBAL_MAX_INFLIGHT_AIRSPEED	20.0
GLOBAL_CPU_LOAD_UPDATE_PERIOD_USEC	2000000
RADIO_MODE_AUTO	0	Fly in automatic mode
RADIO_MODE_EASY_MANUAL	1	Fly in easy manual mode
RADIO_MODE_MANUAL	2	Fly in full manual mode
RC_MODE	RADIO_MODE_AUTO	Select control mode from RADIO_MODE_*

Battery

Parameter name	Default value	Description
BATTERY_FILTER_CO_HZ	1.0
VBAT_MIN	9.7
VBAT_LOW	9.8
VBAT_SHUTDOWN	9.0	Voltage at which the Disco shuts down the motor to protect the battery
BATTERY_PERCENTAGE_TABLE_LENGTH	15	Number of entries in the below two parameters
BATTERY_PERCENTAGE_TABLE_PERCENTAGE	0, 5, 10, 15, 25, 45, 55, 79, 84, 88, 91, 94, 96, 98, 100	A list of percentages for which voltages are provided below.
BATTERY_PERCENTAGE_TABLE_VOLTAGE	9.5, 11.04, 11.11, 11.21, 11.3, 11.4, 11.6, 11.9, 12.02, 12.11, 12.19, 12.26, 12.35, 12.45, 12.5	A voltage for each percentage listed above.

Sensors

Acceleration

Parameter name	Default value	Description
IMU_FILTER_ACC_CO_HZ	30.0
IMU_LOW_ACC_THRESHOLD_MIN	9.5
IMU_LOW_ACC_THRESHOLD_MAX	10.1
ACC_HORIZONTALITY_TEST	30.0	"The actual value of accHorizontalityTest will be ACC_HORIZONTALITY_TEST DEG_TO_RAD * GRAVITY"*

Inertial measurement unit

Parameter name	Default value	Description
IMU_FILTER_GYRO_CO_HZ	30.0
IMU_FILTER_VAR_ERROR_CO_HZ	1.6
IMU_ENABLE_BIAIS_FOR_GYRO	true
IMU_ENABLE_AIRSPEED_ CENT_FORCE_COMP	true
IMU_ENABLE_COMPUTED_ MEASUREMENT_ERROR	true
IMU_CONSECUTIVE_STABLE_ DETECTION_THRESHOLD	100	"0.5 GLOBAL_FMS_FREQ"*
IMU_GYRO_STABLE_THRESHOLD	0.03

Pitot

Parameter name	Default value	Description
PITOT_FILTER_AIR_ACCELERATION_ CO_HZ	0.8
PITOT_FILTER_OFFSET_CO_HZ	0.3165
PITOT_CALIBRATION_GAIN	0.9306
PITOT_CALIBRATION_OFFSET	22.9274
PITOT_FILTER_DYN_PRESSURE_ CO_HZ	10.0

Barometer

Parameter name	Default value	Description
BARO_FILTER_CO_HZ	0.6
BARO_GLITCH_LIMITER	100.0

Ultrasound

Parameter name	Default value	Description
US_TRANSIT_LOW_TO_HIGH	1.5
US_TRANSIT_HIGH_TO_LOW	0.75
US_TRANSIT_COUNT	50
ULTRASOUND_CMD_NO_CMD	0	Constant used in US_CMD
ULTRASOUND_CMD_SET_MODE	1	Constant used in US_CMD
ULTRASOUND_CMD_SET_PULSES	2	Constant used in US_CMD
ULTRASOUND_CMD_SET_VOLTAGE_MODE	4	Constant used in US_CMD
ULTRASOUND_CMD_SET_NB_PULSES_AND_TENSION_MODE	6	Constant used in US_CMD
ULTRASOUND_CMD_SET_FREQUENCY	8	Constant used in US_CMD
ULTRASOUND_CMD_START	16	Constant used in US_CMD
ULTRASOUND_CMD_STOP	32	Constant used in US_CMD
US_CMD	ULTRASOUND_CMD_SET_MODE

Altimeter

Parameter name	Default value	Description
ALTI_FILTER_CO_HZ	0.15

Heading magnetometer

Parameter name	Default value	Description
HEADING_FILTER_CO_HZ	5.5
HEADING_MAG_DECLINAISON_DEG	-2.0
HEADING_MAG_INCLINAISON_DEG	64.0
NOISE_MAGNETO_MEASUREMENT	20.0	"mG"
NOISE_PROCESS_MAG	0.1	"mG"
NOISE_PROCESS_MAG_BIAS	0.00001	"mG"
MAGNETO_ESTIMATOR_INIT_COV	100.0	"mG"
THRESHOLD_MAG_BIAS_COV	0.6	"mG"
THRESHOLD_MAG_MEASUREMENT_COV	0.1

GPS

Parameter name	Default value	Description
THRESHOLD_POSITION_DEVIATION_ERROR_TO_FIX_GPS	10
THRESHOLD_SPEED_DEVIATION_ERROR_TO_FIX_GPS	10
COURSE_GPS_FILTER_CO_HZ	5.0

Working area

"The distance beyond the security distance at which the plane starts to land."

Parameter name	Default value	Description
WORKING_AREA_RADIUS_MARGIN	100.0
WORKING_AREA_CEILING	150.0
WORKING_AREA_CEILING_MARGIN	10.0

Preflight

Parameter name	Default value	Description
PREFLIGHT_BATTERY_LOW_LEVEL	10
PREFLIGHT_MAX_ALLOWABLE_ ATTITUDE_ANGLE	10.0
PREFLIGHT_MAX_ACC_X	2.5
PREFLIGHT_MAX_ACC_Y	2.5
PREFLIGHT_MIN_ACC_Z	9.0
PREFLIGHT_MAX_ACC_Z	10.6
PREFLIGHT_MAX_ALLOWABLE_ AIRSPEED	2.0
PREFLIGHT_MAX_ALLOWABLE_ HEIGHT	10.0
PREFLIGHT_MAX_ALLOWABLE_ ALTITUDE_SIGMA	4.0
PREFLIGHT_SERVO_TEST_TIME	0.8
PREFLIGHT_CONVENIENT_GPS_SAT_NB	7

Shake

Parameter name	Default value	Description
SHAKE_ACC_THRESHOLD	70.0
SHAKE_INIT_LAST_MOTION_TIME_SEC	-5.0
SHAKE_RESET_TIME_SEC_THRESHOLD	0.5
SHAKE_LAST_SHAKE_TIME_SEC_THRESHOLD	1.0
SHAKE_LAST_MOTION_TIME_SEC_THRESHOLD	0.1
SHAKE_NB_MOTION_THRESHOLD	6
SHAKE_ACC_FILTER_CO_HZ	1.6

Flying/landed

Parameter name	Default value	Description
FL_VERTICAL_SPEED_BARO_THRESHOLD	2.0
FL_HEIGHT_BARO_THRESHOLD	10.0
FL_SPEED3D_THRESHOLD	2.0
FL_CMD_THRUST_THRESHOLD	0.8
FL_TIME_SINCE_LANDED_THRESHOLD	0.5

Take-off

Parameter name	Default value	Description
TAKEOFF_USER_PITCH_MIN	15.0
TAKEOFF_USER_PITCH_MAX	25.0
TAKEOFF_USER_ROLL_MIN	-10.0
TAKEOFF_USER_ROLL_MAX	10.0
TAKEOFF_TRANSITION_ALTITUDE	50.0
TAKEOFF_TRACKING_HEADING	false
TAKEOFF_HEADING	190.0
TAKEOFF_HEADING_WAYPOINT_DISTANCE	100.0
TAKEOFF_ALLOWED	false
TAKEOFF_ALLOWED_TIME_SEC_THRESHOLD	300.0
TAKEOFF_REACH_MIN_SPD_ GOAL_PITCH_OFFSET	10.0
TAKEOFF_REACH_MIN_SPD_ GOAL_PITCH_RANGE	20.0
TAKEOFF_REACH_MIN_SPD_ AIRSPEED_RANGE	7.0
TAKEOFF_BEST_ANGLE_GOAL_PITCH	30.0
TAKEOFF_BEST_ANGLE_TRANSIT_ALT_MARGIN	5.0
TAKEOFF_TRANSIT_ALT_MARGIN	5.0
TAKEOFF_TRANSIT_DELTA_ALT	5.0
TAKEOFF_TRANSIT_AIRSPEED_THRESHOLD	12.0
TAKEOFF_ABORT_GOAL_PITCH_GLIDE	10.0
TAKEOFF_ABORT_GOAL_PITCH_CLIMB	30.0
TAKEOFF_BEST_ANGLE_GOAL_ PITCH_REDUCED	20.0
TAKEOFF_BEST_ANGLE_GOAL_ PITCH_COUNTER	1000
TAKEOFF_START_ALTITUDE	3.0

Start waypoint

Parameter name	Default value	Description
START_MISSION_AFTER_TAKEOFF	true
START_CLIMB_THRUST_CMD	0.5
START_TRANSIT_WAYPOINT_RADIUS	30.0
START_THRESHOLD_ALTITUDE	50.0	"The altitude to which the aircraft climbs quickly after take-off."

Normal flight

Parameter name	Default value	Description
NORMAL_LANDING_SPEED	9.5
NORMAL_MIN_GROUNDSPEED	5.0
NORMAL_MAX_AIRSPEED	20.0
NORMAL_LOW_AIRSPEED_GOAL_PITCH_ANGLE	10.0

Navigation

Parameter name	Default value	Description
NAV_DEFAULT_K_COURSE	0.5
NAV_DEFAULT_MAX_TURNRATE	35.0	"Maximum turnrate allowed to be used by navigation controller"
NAV_CIRCLE_FAR_DISTANCE	30.0	"Distance from the home waypoint's circle beyond which the plane is considered far"
NAV_LINE_FOLLOW_TAU	15.0
NAV_WPT_CIRCLE_REACHED_MARGIN	10.0	"Approach angle to the line, if it is still further away than NAV_LINE_FOLLOW_TAU."
NAV_WPT_MAXIMUM_COURSE_ERROR_ MARGIN_FOR_CIRCLE_TRANSITION	10.0	"The max. course difference between aircraft's course and the course nedded to go to the next CIRCLE or LINE waypoint, starting from a CIRCLE waypoint. In [deg]."
NAV_WPT_DEFAULT_AIRSPEED_ ERROR_MARGIN	5.0	"The default precision to have for the airspeed at a waypoint in [m/s]"
NAV_WPT_DEFAULT_ALTITUDE_ ERROR_MARGIN	5.0	"The default precision to have for the altitude at a waypoint in [m]"
NAV_WPT_DEFAULT_COURSE_ ERROR_MARGIN	15.0	"The default precision to have for the course at a waypoint in [deg]"
NAV_WPT_DEFAULT_LINE_MARGIN	5.0	"The default precision to be on the line of a line waypoint."
NAV_WPT_CIRCLE_REACHED_MARGIN	10.0	"The precision to have when on a CIRCLE waypoint, distance from ideal radius [m]"
NAV_WPT_CIRCLE_WAYPOINT_ TRANSITION_ANTICIPATION_ANGLE	15.0	"The angle to anticipate the waypoint transition between circles."
NAV_WPT_CIRCLE_FAR_DISTANCE	30.0	"Distance from the home waypoint's circle beyond which the plane is considered far."
NAV_WPT_LINE_PID_KP	-0.0076	"The pid parameters"
NAV_WPT_LINE_PID_KI	-0.0035	"The pid parameters"
NAV_WPT_LINE_PID_KD	0.0	"The pid parameters"
NAV_WPT_LINE_ENTRY_ANGLE	M_PI_4
NAV_WPT_LINE_LPF_CO_HZ	39.0
NAV_WPT_LINE_LPF_AWR	17.0
NAV_DEFAULT_RADIUS	30.0	"Default radius for normal waypoints."
NAV_DEFAULT_AIRSPEED	12.0
NAV_DEFAULT_ALTITUDE	50.0	"Default height above ground for normal waypoints."
NAV_DEFAULT_TURN_DIRECTION_ CLOCKWISE	false
NAV_DEFAULT_DESIRED_HEIGHT	50.0
NAV_COURSE_DIFF_COEFF_PI	0.75
NAV_DIST_TO_WPT_THRESHOLD	50.0
MISSION_END_BEHAVIOR_GO_HOME	0	Go home after mission ends
MISSION_END_BEHAVIOR_LOOP	1	Restart mission after it ends
MISSION_END_BEHAVIOR_GO_START	2	Go to start after mission ends
MISSION_END_BEHAVIOR_GO_LANDING	3	To to landing after mission ends
MISSION_END_BEHAVIOR	MISSION_END_BEHAVIOR_GO_LANDING	What to do after mission ends.

Home

Parameter name	Default value	Description
HOME_WAYPOINT_AIRSPEED	NAV_DEFAULT_AIRSPEED	"Default airspeed for the home waypoint."
HOME_WAYPOINT_ALTITUDE	NAV_DEFAULT_ALTITUDE	"Default height above ground for the home waypoint."
HOME_WAYPOINT_RADIUS	NAV_DEFAULT_RADIUS	"Default radius for normal waypoints."

Landing

Parameter name	Default value	Description
LANDING_WAYPOINT_AIRSPEED	NAV_DEFAULT_AIRSPEED	"Default airspeed for the landing waypoint."
LANDING_WAYPOINT_ALTITUDE	NAV_DEFAULT_ALTITUDE	"Default height above ground for the landing waypoint."
LANDING_WAYPOINT_RADIUS	NAV_DEFAULT_RADIUS	"Default radius for normal waypoints."
LANDING_TYPE_CIRCLE	0
LANDING_TYPE_LINEAR	1
LANDING_TYPE	LANDING_TYPE_CIRCLE

Circle landing

Parameter name	Default value	Description
CLDG_DEFAULT_LANDING_RADIUS	30.0	"The default radius for the landing."
CLDG_DEFAULT_LANDING_HEIGHT	50.0	"The default altitude for the landing."
CLDG_DEFAULT_LANDING_SPEED	10.0	"The default speed for the landing."
CLDG_DEFAULT_APPROACH_HEIGHT	25.0	"The default approach height"
CLDG_MINIMAL_APPROACH_HEIGHT	15.0	"The minimal approach height"
CLDG_DEFAULT_LANDING_SLOPE	10.0	"The angle per step."
CLDG_GO_AROUND_HEIGHT	30.0
CLDG_REMAINING_AIR_DISTANCE_ MEAN_SPEED	12.0
CLDG_STEP_SWEEP_ANGLE	1.0
CLDG_ABORT_CLIMB_PITCH_ANGLE	30.0
CLDG_DELTA_HEIGHT_FROM_WPT_ TO_STABILIZE	20.0
CLDG_APPROACH_HEIGHT_MARGIN	10.0
CLDG_FINAL_LANDING_MINIMAL_HEIGHT	10.0
CLDG_WAYPOINT_LANDING_MIN_ANGULAR_SWEEP	540.0

Linear landing

Parameter name	Default value	Description
LLDG_TERRAIN_HEIGHT_FILTER_CO_HZ	1.6	"The default radius for the landing."
LLDG_DESCENT_PID_CO_HZ	0.318
LLDG_APPROACH_HEIGHT	50.0	"The approach height for the landing."
LLDG_INIT_APPROACH_SPAN	20.0
LLDG_APPROACH_SLOPE_ANGLE	20.0
LLDG_MIN_REQUIRED_DISTANCE	20.0
LLDG_ABORT_CLIMB_PICH_ANGLE	30.0
LLDG_DIST_TO_LANDING_SPOT_ THRESHOLD	150.0
LLDG_DIST_TO_TOUCHDOWN_ THRESHOLD	-150.0
LLDG_REL_TO_PLANE_ WIND_HEADING_THRESHOLD	70.0
LLDG_WIND_SPEED_THRESHOLD	1.5
LLDG_INIT_LANDING_ALTITUDE	2.0
LLDG_DEFAULT_GOAL_AIRSPEED	10.5
PARAM_ALTITUDE_ABOVE_TAKE_OFF	0	"Altitude above take-off point."
PARAM_ALTITUDE_WGS84	1	"Altitude above WGS-84 elipsoid."
PARAM_ALTITUDE_AMSL	2	Altitude above mean sea level.
PARAM_ALTITUDE_AGL	3	Altitude above ground level.
LLDG_INIT_LANDING_ALTITUDE_REF	PARAM_ALTITUDE_ ABOVE_TAKE_OFF	"=Reference point for the altitude."
LLDG_INIT_APPROACH_RADIUS	30.0
LLDG_INIT_INSERTION_RADIUS	30.0
LLDG_INIT_ABORT_RADIUS	20.0
LLDG_INIT_APPROACH_SLOPE_ANGLE	20.0
LLDG_INIT_GO_AROUND_HEIGHT	40.0
LLDG_INIT_BASE_WPT_ MIN_ANGULAR_SWEEP	90.0
LLDG_INIT_OVERHEAD_WPT_ MIN_ANGULAR_SWEEP	90.0

Fast landing

Parameter name	Default value	Description
FLDG_DESCENT_MIN_GROUNDSPEED	5.0
FLDG_DESCENT_MAX_GROUNDSPEED	10.0
FLDG_DESCENT_MIN_GOAL_PITCH	-20.0
FLDG_DESCENT_MAX_GOAL_PITCH	-10.0
FLDG_ALT_2_PITCH_COEFF1	-10.0
FLDG_ALT_2_PITCH_COEFF2	25.0
FLDG_DESCENT_GOAL_AIRSPEED	11.0
FLDG_BREAK_HEIGHT_INIT	5.0
FLDG_BREAK_COEFF	5.0
FLDG_BREAK_GOAL_PITCH_INIT	-10.0
FLDG_BREAK_AIRSPEED_THRESHOLD	8.0
FLDG_TOUCHDOWN_GOAL_ELEVATOR	0.9
FLDG_MAX_DESCENT_PITCH	10.0
FLDG_MIN_DESCENT_PITCH	-5.0
FLDG_HEIGHT_THRESHOLD	4.0
FLDG_BREAK_THRUST	-0.3
FLDG_FINAL_PITCH	10.0

Landing slope

Parameter name	Default value	Description
LDGS_TOUCHDOWN_SLOPE	30.0	The expected slope angle during touch-down. Lower this value to 25 or 20 for softer landings with a heavy plane.
LDGS_FLARE_HEIGHT_ NO_OPTIC_FLOW	3.0	"The height to aim when optic-flow is not available."
LDGS_FLARE_HEIGHT_ OPTIC_FLOW	3.0	"The height to aim when optic-flow is available."
LDGS_MIN_TERRAIN_MEASUREMENTS	10	"The minimum number of measurements to consider the terrain recording as valid."
LDGS_APPROACH_PATH_HEIGHT	10.0	"The semi height of the approach path"
LDGS_DELTA_MIN_MAX_FLOW_HEIGHT	2.0
LDGS_INIT_LANDING_HEIGHT	0.0
LDGS_INIT_LANDING_DIRECTION	0.0
LDGS_INIT_APPROACH_HEIGHT	50.0
LDGS_INIT_APPROACH_SPEED	12.0
LDGS_INIT_ENGAGE_DISTANCE	20.0
LDGS_INIT_DESCENT_SPEED	12.0
LDGS_INIT_DESCENT_ANGLE_OF_ATTACK	10.0
LDGS_INIT_LIMITED_PITCH_HEIGHT	10.0
LDGS_INIT_LIMITED_PITCH_MIN	0.0
LDGS_INIT_EN_REV_DESCENT_SLOPE_ANGLE	20.0
LDGS_INIT_EN_REV_FLARE_DISTANCE	20.0
LDGS_INIT_DESCENT_SLOPE_ANGLE	12.0
LDGS_INIT_FLARE_DISTANCE	20.0
LDGS_INIT_FLARE_SPEED	11.0
LDGS_INIT_FLARE_ANGLE_OF_ATTACK	12.0
LDGS_INIT_BREAK_DISTANCE	15.0
LDGS_INIT_BREAK_THRUST	-0.4
LDGS_INIT_BREAK_SPEED	8.5
LDGS_INIT_BREAK_PITCH	15.0
LDGS_INIT_TOUCH_DOWN_ELEVATOR	0.60
LDGS_INIT_DESCENT_PID_KP	2.5
LDGS_INIT_DESCENT_PID_KI	0.4
LDGS_INIT_DESCENT_PID_KD	2.5
LDGS_INIT_DESCENT_PID_AWR	30.0
LDGS_INIT_DESCENT_PID_SAT_MIN	-40.0
LDGS_INIT_DESCENT_PID_SAT_MAX	30.0
LDGS_INIT_OPTIMIZED_AIR_SLOPE_ANGLE	10.0
LDGS_DESCENT_SPEED_INCREMENT	0.5
LDGS_DESCENT_SLOPE_ANGLE_ LOWER_BND	5.0
LDGS_DESCENT_SLOPE_ANGLE_ UPPER_BND	45.0
LDGS_NORMAL_TOUCH_WIND_COMP_ LOWER_BND	-10.0
LDGS_NORMAL_TOUCH_WIND_COMP_ UPPER_BND	30.0
LDGS_NORMAL_TOUCH_NO_MOT_COMP_ LOWER_BND	-20.0
LDGS_NORMAL_TOUCH_NO_MOT_COMP_ UPPER_BND	50.0
LDGS_NORMAL_SLOPE_DIST_TOTAL_ LOWER_BND	20.0
LDGS_BLIND_TOUCH_WIND_COMP_ LOWER_BND	-10.0
LDGS_BLIND_TOUCH_WIND_COMP_ UPPER_BND	30.0
LDGS_BLIND_TOUCH_NO_MOT_COMP_ LOWER_BND	-20.0
LDGS_BLIND_TOUCH_NO_MOT_COMP_ UPPER_BND	50.0
LDGS_TOUCHDOWN_HEIGHT_ AGL_THRESHOLD	0.5
LDGS_BLIND_LANDING_HEIGHT_ BARO_THRESHOLD	40.0

Emergency flare

Parameter name	Default value	Description
EF_HEIGHT	5.0
EF_TIME	0.6
EF_HEIGHT_AGL_LIMIT_FOR_PITCH	5.0
EF_HEIGHT_AGL_LIMIT_FOR_THRUST	2.0
EF_GOAL_AIRSPEED_WHEN_FAR_FROM_GROUND	8.0
EF_TIME_TO_IMPACT	20.0

Ground avoidance

Parameter name	Default value	Description
GA_WARNING_NB_THRESHOLD	20	"The number of loops before triggering a warning. This value make an hysteresis to avoid switching too often"
GA_MAX_NUMBER_OF_ROTATIONS	5.0	"The maximum number of rotations."
GA_WAYPOINT_RADIUS	30.0	"The radius of the hold waypoint."
GA_MIN_TIME_FROM_TAKEOFF	10.0
GA_DELTA_HEIGHT_TO_GO_AROUND_HEIGHT	20.0
GA_DELTA_HEIGHT_TO_WAYPOINT	30.0
GA_CLIMB_PITCH_ANGLE	30.0

Fast climb

Parameter name	Default value	Description
FASTC_MAX_NUMBER_OF_ROTATIONS	5.0
FASTC_WAYPOINT_RADIUS	30.0
FASTC_DELTA_HEIGHT_TO_ GO_AROUND_HEIGHT	20.0
FASTC_DELTA_HEIGHT_TO_ WAYPOINT	30.0
FASTC_CLIMB_PITCH_ANGLE	30.0

Fast descent

Parameter name	Default value	Description
FASTD_EXIT_HEIGHT_STEP	30.0
FASTD_EXIT_HEIGHT_MIN	30.0

Hold

Parameter name	Default value	Description
HOLD_WAYPOINT_RADIUS	30.0
WPT_CIRCLE_CLOCKWISE	0
WPT_CIRCLE_COUNTER_CLOCKWISE	1
HOLD_WAYPOINT_TURN_DIRECTION	WPT_CIRCLE_CLOCKWISE
USE_CONFIG_HOLD_WAYPOINT_TURN_DIRECTION	true

Safety

Parameter name	Default value	Description
SAFETY_GROUND_PROXIMITY_CHECK_ENABLED	true
SAFETY_LOW_BATTERY_VOLTAGE	9.8	"Battery voltage below which a warning is emitted."
SAFETY_CRITICAL_BATTERY_VOLTAGE	9.6	"Battery voltage below which a critical failure is reported."
SAFETY_UNCRITICAL_BATTERY_VOLTAGE	10.3	"Battery voltage above which a EMPTY BAT failure is cancelled"
SAFETY_LOW_BATTERY_PERCENT	10	"Battery voltage below which a warning is emitted."
SAFETY_CRITICAL_BATTERY_PERCENT	0	"Battery voltage below which a critical alert is emitted."
SAFETY_MARGIN_TO_CEILING	10.0	"The minimum distance that the path should have from the ceiling."
SAFETY_STRONG_WIND_FILTER_CO_HZ	0.8	"Fc for strong wind LPF"
SAFETY_MAX_WIND_SPEED	18.0	"Max allowed wind speed"
SAFETY_STRONG_WIND_GROUNDSPEED_ UPPER_BOUND	2.0
SAFETY_STRONG_WIND_AIRSPEED_ LOWER_BOUND	5.0
SAFETY_STRONG_WIND_LPF_OUTPUT_THRESHOLD	0.8
SAFETY_LOSS_OF_FIX_TIME_THRESHOLD	3.0
SAFETY_EMERGENCY_TIME_MAX	1.0
SAFETY_SECURITY_ISSUE_TIME_MAX	1.0

Critical action

Parameter name	Default value	Description
CA_GPS_GOAL_AIRSPEED	10.0
CA_GPS_GOAL_TURNRATE	-30.0

Manual flying modes

Easy manual mode

Parameter name	Default value	Description
EASY_INIT_LAST_HEIGHT	50.0
EASY_ENABLE_MANUAL_REVERSE_THRUST	false
EASY_DEFAULT_GOAL_AIRSPEED	13.0
EASY_GOAL_AIRSPEED_MAXIMAL_ERROR	3.0
EASY_LIN_RANGE	6.0
EASY_SPEED_CMD	9.5
EASY_ANGLES_CMD_THRESHOLD	0.09
EASY_THROTTLE_CMD_THRESHOLD	0.1
EASY_MAX_DELTA_AIRSPEED	12.5

Fly-by-wire mode

Parameter name	Default value	Description
EASY_FBY_INIT_CMD_PITCH	0.0
EASY_FBY_INIT_CMD_ROLL	0.0
EASY_FBY_INIT_CMD_AIRSPEED	11.0
EASY_FBY_MAX_ROLL_RATE	200.0
EASY_FBY_MAX_PITCH_RATE	150.0
EASY_FBY_MAX_AIRSPEED_RATE	5.0
EASY_FBY_MAX_PITCH	30.0
EASY_FBY_MAX_ROLL	60.0

Full manual mode

Parameter name	Default value	Description
EASY_FULL_VSPEED_GAIN	15.0
EASY_FULL_MAX_PITCH	50.0
EASY_FULL_MAX_ROLL	45.0

Semi auto mode

Parameter name	Default value	Description
EASY_SEMI_MAX_DELTA_HEIGHT	10.0

Immelmann

Parameter name	Default value	Description
IMN_TRANSIT_HEIGHT	60.0
IMN_ELEVATOR	0.8
IMN_GAIN	20.0
IMN_INCREASE_SPEED_GOAL_PITCH	10.0
IMN_AIRSPEED_THRESHOLD_1	14.0
IMN_AIRSPEED_THRESHOLD_2	14.0
IMN_PITCH_ANGLE_THRESHOLD_1	70.0
IMN_PITCH_ANGLE_THRESHOLD_2	80.0
IMN_PITCH_ANGLE_THRESHOLD_3	20.0
IMN_PITCH_ANGLE_THRESHOLD_4	10.0
IMN_PITCH_ANGLE_LIMIT_MIN	15.0
IMN_ROLL_ANGLE_THRESHOLD_1	100.0
IMN_ROLL_ANGLE_THRESHOLD_2	10.0
IMN_GOAL_ROLL_FOR_REDUCING_PITCH	180.0
IMN_GOAL_AIRSPEED_FOR_REDUCING_PITCH	15.0
IMN_GOAL_PITCH_FOR_ROLL_BACK	15.0
IMN_GOAL_AIRSPEED_FOR_ROLL_BACK	15.0

Optimal airspeed

Parameter name	Default value	Description
OPTIMAL_AIRSPEED_ANGLE_THRESHOLD	30.0	"The cone on which we search the maximal relative speed in deg."
OPTIMAL_AIRSPEED_TIME_DELAY	2.0	"The time delay to use when using the turn rate controller."
OPTIMAL_AIRSPEED_POWER_CURVE	0.3415, -5.2863, 38.8209
OPTIMAL_AIRSPEED_MIN_AIRSPEED	10.5
OPTIMAL_AIRSPEED_SATURATION_AIRSPEED	25.0

Indicated airspeed

Parameter name	Default value	Description
IAS_RHO	1.225	"Air density."
IAS_MIN_AIRSPEED	1.5	"Minimal raw airspeed below which we convert to zero indicated airspeed."
IAS_MIN_CALIBRATED_AIRSPEED	7.0	"Minimal calibrated airspeed above which we use the pitot calibration. Beyond this speed we map linearly such as to intersect IAS_MIN_AIRSPEED."
IAS_CALIBRATION_GAIN_DEFAULT	1.0

Barrel-Roll

Parameter name	Default value	Description
BR_ROLL_ANGLE_LIMIT_1	150.0
BR_ROLL_ANGLE_LIMIT_2	120.0
BR_ROLL_ANGLE_LIMIT_3	10.0
BR_MIN_HEIGH_BARO	50.0
BR_MAX_TIME_SEC	2.0
BR_CMD_AILERON	1.0
PITCH_CMD_FILTER_CO_HZ	1.0

Flight controller

Parameter name	Default value	Description
FC_LIMIT_ELEVATOR_OUTPUT	false
FC_ENABLE_REVERSE_THRUST	true
FC_ALTITUDE_MAX_VERTICAL_SPEED	4.0
FC_TURN_RATE_MAX_ROLL_ANGLE	45.0
FC_TURN_RATE_LIMITED_MAX_ROLL_ANGLE	20.0
FC_TURN_RATE_LANDING_MAX_ROLL_ANGLE	45.0
FC_TURN_RATE_GAIN	0.6
FC_MIN_THRUST	0.0
FC_MAX_THRUST	1.0
FC_PITCH_RATE_INS_APRIORI_GAIN	0.4
FC_REDUCED_MAX_ROLL_ANGLE	30.0
FC_ROLL_RATE_LIMITATION_PITCH_ANGLE_1	50.0
FC_ROLL_RATE_LIMITATION_PITCH_ANGLE_2	80.0
FC_HEIGHT_BARO_CONTROL_PID_APRIORI	5.0
FC_PITCH_OPTIMIZED_MIN	10.0
FC_PITCH_OPTIMIZED_GROUNDSPEED_LIMIT_1	6.0
FC_PITCH_OPTIMIZED_GROUNDSPEED_LIMIT_2	9.0
FC_PITCH_ANGLE_HEIGHT_BARO_LIMIT_1	20.0
FC_PITCH_ANGLE_HEIGHT_BARO_LIMIT_2	50.0
FC_PITCH_ANGLE_INV_CONTROL_PID_APRIORI	0.6
FC_HEIGHT_AGL_CONTROL_PID_APRIORI	10.0
FC_DEFAULT_PITCH_AIRSPEED_CONTROL_GOAL	10.0
FC_COEFF_AIRSPEED_GOAL_COMPLEMENT	5.0
FC_AIRSPEED_CONTROL_APRIORI_LIMIT_1	6.0
FC_AIRSPEED_CONTROL_APRIORI_LIMIT_2	22.0
FC_AIRSPEED_CONTROL_APRIORI_PITCH_COEFF_1	130.0
FC_AIRSPEED_CONTROL_APRIORI_PITCH_COEFF_2	30.0
FC_MINIMAL_GROUNDSPEED_COMMAND	7.0
FC_DEFAULT_THRUST_COMMAND_ IF_GROUNDSPEED_INVALID	0.5
FC_MINIMAL_THRUST_COMMAND	0.35
FC_PITCH_TO_THRUST_CMD_OFFSET	-10.0
FC_PITCH_TO_THRUST_CMD_COEFF	0.0142857	"1.0 / 70.0"
FC_MINIMAL_THRUST_CMD_THRESHOLD	0.1
FC_REVERSE_CHANGE_TIME_THRESHOLD	1.5
FC_REVERSE_CHANGE_CMD_THRESHOLD	0.3
FC_ALTITUDE_MDF_DMAX_1	FC_ALTITUDE_MAX_VERTICAL_SPEED
FC_ALTITUDE_MDF_DMAX_2	1.0
FC_ALTITUDE_MDF_UPPER_BOUND	8.0
FC_ALTITUDE_MDF_LOWER_BOUND	-3.0
FC_ALTITUDE_MDF_CONFIG_TIME	5.0
FC_TURN_RATE_MDF_DMAX_1	80.0
FC_TURN_RATE_MDF_DMAX_2	0.0
FC_THRUST_LPF_TAU	0.2
FC_THRUST_CMD_LPF_TAU	0.3
FC_TURN_RATE_CONTROL_PID_KP	1.0
FC_TURN_RATE_CONTROL_PID_OUTPUT_MIN	-45.0
FC_TURN_RATE_CONTROL_PID_OUTPUT_MAX	45.0
FC_ROLL_ANGLE_CONTROL_PID_KP	0.016
FC_ROLL_ANGLE_CONTROL_PID_KD	0.0
FC_ROLL_ANGLE_CONTROL_PID_KI	0.012
FC_ROLL_ANGLE_CONTROL_PID_AWR	25.0
FC_ROLL_ANGLE_CONTROL_PID_LPF_CO	0.1
FC_ROLL_ANGLE_CONTROL_PID_OUTPUT_MIN	-1.0
FC_ROLL_ANGLE_CONTROL_PID_OUTPUT_MAX	1.0
FC_ANTI_TORQUE_CONTROL_PID_KP	-0.001
FC_ANTI_TORQUE_CONTROL_PID_KD	0.
FC_ANTI_TORQUE_CONTROL_PID_KI	-0.03
FC_ANTI_TORQUE_CONTROL_PID_AWR	0.
FC_ANTI_TORQUE_CONTROL_PID_LPF_CO	0.005
FC_ANTI_TORQUE_CONTROL_PID_OUTPUT_MIN	-0.2
FC_ANTI_TORQUE_CONTROL_PID_OUTPUT_MAX	0.005
FC_YAW_RATE_CONTROL_PID_KP	0.001
FC_YAW_RATE_CONTROL_PID_KD	0.
FC_YAW_RATE_CONTROL_PID_KI	0.
FC_YAW_RATE_CONTROL_PID_AWR	0.
FC_YAW_RATE_CONTROL_PID_LPF_CO	0.1
FC_YAW_RATE_CONTROL_PID_OUTPUT_MIN	-0.2
FC_YAW_RATE_CONTROL_PID_OUTPUT_MAX	0.2
FC_HEIGHT_BARO_CONTROL_PID_KP	1.5
FC_HEIGHT_BARO_CONTROL_PID_KD	4.0
FC_HEIGHT_BARO_CONTROL_PID_KI	0.1
FC_HEIGHT_BARO_CONTROL_PID_AWR	25.0
FC_HEIGHT_BARO_CONTROL_PID_LPF_CO	0.5
FC_HEIGHT_BARO_CONTROL_PID_OUTPUT_MIN	-15.0
FC_HEIGHT_BARO_CONTROL_PID_OUTPUT_MAX	35.0
FC_PITCH_AIRSPEED_CONTROL_PID_KP	-3.0
FC_PITCH_AIRSPEED_CONTROL_PID_KD	0.0
FC_PITCH_AIRSPEED_CONTROL_PID_KI	-3.0
FC_PITCH_AIRSPEED_CONTROL_PID_AWR	5.0
FC_PITCH_AIRSPEED_CONTROL_PID_LPF_CO	0.1
FC_PITCH_AIRSPEED_CONTROL_PID_OUTPUT_MIN	0.0
FC_PITCH_AIRSPEED_CONTROL_PID_OUTPUT_MAX	10.0
FC_PITCH_ANGLE_CONTROL_PID_KP	0.02
FC_PITCH_ANGLE_CONTROL_PID_KD	0.0
FC_PITCH_ANGLE_CONTROL_PID_KI	0.02
FC_PITCH_ANGLE_CONTROL_PID_AWR	25.0
FC_PITCH_ANGLE_CONTROL_PID_KP2	0.02
FC_PITCH_ANGLE_CONTROL_PID_KD2	0.0
FC_PITCH_ANGLE_CONTROL_PID_KI2	0.02
FC_PITCH_ANGLE_CONTROL_PID_AWR2	25.0
FC_PITCH_ANGLE_CONTROL_PID_LPF_CO	0.1
FC_PITCH_ANGLE_CONTROL_PID_OUTPUT_MIN	-1.0
FC_PITCH_ANGLE_CONTROL_PID_OUTPUT_MAX	1.0
FC_HEIGHT_AGL_CONTROL_PID_KP	5.0
FC_HEIGHT_AGL_CONTROL_PID_KD	5.0
FC_HEIGHT_AGL_CONTROL_PID_KI	0.4
FC_HEIGHT_AGL_CONTROL_PID_AWR	30.0
FC_HEIGHT_AGL_CONTROL_PID_LPF_CO	0.5
FC_HEIGHT_AGL_CONTROL_PID_OUTPUT_MIN	-40.0
FC_HEIGHT_AGL_CONTROL_PID_OUTPUT_MAX	30.0
FC_AIRSPEED_CONTROL_PID_KP	0.1
FC_AIRSPEED_CONTROL_PID_KI	0.05
FC_AIRSPEED_CONTROL_PID_AWR	5.0
FC_AIRSPEED_CONTROL_PID_OUTPUT_MIN	0.0
FC_AIRSPEED_CONTROL_PID_OUTPUT_MAX	1.0
FC_AIRSPEED_CONTROL_INTEG_INIT_VALUE	1.0
FC_GROUNDSPEED_CONTROL_PID_KP	0.1
FC_GROUNDSPEED_CONTROL_PID_KI	0.05
FC_GROUNDSPEED_CONTROL_PID_AWR	5.0
FC_GROUNDSPEED_CONTROL_PID_OUTPUT_MIN	0.0
FC_GROUNDSPEED_CONTROL_PID_OUTPUT_MAX	1.0
FC_REVERSE_AIRSPEED_CONTROL_PID_KP	0.2
FC_REVERSE_AIRSPEED_CONTROL_PID_KI	0.01
FC_REVERSE_AIRSPEED_CONTROL_PID_AWR	15.0
FC_REVERSE_AIRSPEED_CONTROL_PID_OUTPUT_MIN	-1.0
FC_REVERSE_AIRSPEED_CONTROL_PID_OUTPUT_MAX	1.0
FC_SERVO_AILERON_SATURATION_MIN	-1.0
FC_SERVO_AILERON_SATURATION_MAX	1.0
FC_LIMITED_SERVO_ELEVATOR_SATURATION_MIN	-0.25
FC_LIMITED_SERVO_ELEVATOR_SATURATION_MAX	0.25
FC_SERVO_ELEVATOR_SATURATION_MIN	-1.0
FC_SERVO_ELEVATOR_SATURATION_MAX	1.0
FC_SERVO_THRUST_ENABLE_REVERSE_SATURATION_MIN	-1.0
FC_SERVO_THRUST_ENABLE_REVERSE_SATURATION_MAX	1.0
FC_THRUST_SATURATION_MIN	-1.0
FC_THRUST_SATURATION_MAX	1.0
FC_MAX_PITCH_RATE_A_PRIORI	0.5
FC_TURN_RATE_OFFSET_AIRSPEED	6.0
FC_TURN_RATE_OFFSET_GROUNDSPEED	4.0
FC_THRUST_FILTER_CO_HZ	5.0
FC_PITCH_EASY_SATURATION_MIN	-30.0
FC_PITCH_EASY_SATURATION_MAX	30.0

User configuration

Parameter name	Default value	Description
USER_CONFIG_MAX_ALTITUDE	150.0
USER_CONFIG_MIN_ALTITUDE	5.0
USER_CONFIG_MAX_DISTANCE	2000.0
USER_CONFIG_NO_FLY_OVER_MAX_DISTANCE	true
WPT_CIRCLE_CLOCKWISE	0
WPT_CIRCLE_COUNTER_CLOCKWISE	1
USER_CONFIG_HOLD_WAYPOINT_TURN_DIRECTION	WPT_CIRCLE_ CLOCKWISE
USER_CONFIG_HOLD_WAYPOINT_HEIGHT	50.0
PITCH_MODE_NORMAL	0
PITCH_MODE_INVERTED	1
USER_CONFIG_PITCH_MODE_INVERTED	PITCH_MODE_ NORMAL
FLAT_VIDEO_STAB_MODE	0
PARTIAL_FLAT_VIDEO_STAB_MODE	1
FILT_VIDEO_STAB_MODE	2
USER_CONFIG_VIDEO_STABILIZATION_MODE	PARTIAL_FLAT_ VIDEO_STAB_MODE
RETURN_HOME_TYPE_TAKEOFF	0
RETURN_HOME_TYPE_PILOT	1
USER_CONFIG_RETURN_HOME_TYPE	RETURN_HOME_ TYPE_TAKEOFF	"I edited this to be Pilot instead of Takeoff. I went to test my disco and the disco won't even launch with the launch button." -- redparrott727
USER_CONFIG_PREFERRED_RETURN_HOME_TYPE	RETURN_HOME_ TYPE_TAKEOFF
USER_CONFIG_RETURN_HOME_DELAY	10.0