VOXL ESC FPV 4-in-1 with Built-in Power Module (MDK-M0138) Issues
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example of
voxl-px4driver output when runningvoxl-px4 -d:... Starting VOXL ESC driver INFO [qshell] Send cmd: 'voxl_esc start' INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] [qshell] qshell gotten: voxl_esc start INFO [muorb] [qshell] arg0 = 'voxl_esc' INFO [muorb] [qshell] arg1 = 'start' INFO [uORB] Advertising remote topic actuator_outputs INFO [muorb] [voxl_esc] Starting VOXL ESC driver INFO [muorb] [voxl_esc] Params: VOXL_ESC_CONFIG: 1 INFO [muorb] [voxl_esc] Params: VOXL_ESC_MODE: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_BAUD: 2000000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC1: 102 INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC2: 103 INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC3: 101 INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC4: 104 INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR1: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR2: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR3: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR4: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_PWR_MIN: 0.050000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MIN: 2000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MAX: 12000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_PERC: 90 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_DEAD: 20 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_EXPO: 35 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_VLOG: 1 INFO [muorb] [voxl_esc] Params: VOXL_ESC_PUB_BST: 1 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_WARN: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_OVER: 0 INFO [muorb] [voxl_esc] Params: GPIO_CTL_CH: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_CMD: 0 INFO [muorb] [qshell] Ok executing command: voxl_esc start INFO [muorb] [voxl_esc] Opening UART ESC device 2, baud rate 2000000 INFO [muorb] [voxl_esc] Successfully opened UART ESC device INFO [muorb] [voxl_esc] Detecting ESCs... INFO [muorb] [voxl_esc] ESC ID : 0 INFO [muorb] [voxl_esc] Board Type : 40: ModalAi 4-in-1 ESC (M0129-3) INFO [muorb] [voxl_esc] Unique ID : 0x2039333557555313000F0036 INFO [muorb] [voxl_esc] Firmware : version 39, hash 9c6233d6 INFO [muorb] [voxl_esc] Bootloader : version 184, hash 10bf24c8 INFO [muorb] [voxl_esc] Reply time : 735us INFO [muorb] [voxl_esc] VOXL_ESC: INFO [muorb] [voxl_esc] ESC ID : 1 INFO [muorb] [voxl_esc] Board Type : 40: ModalAi 4-in-1 ESC (M0129-3) INFO [muorb] [voxl_esc] Unique ID : 0x2039333557555313000F0032 INFO [muorb] [voxl_esc] Firmware : version 39, hash 9c6233d6 INFO [muorb] [voxl_esc] Bootloader : version 184, hash 10bf24c8 INFO [muorb] [voxl_esc] Reply time : 721us INFO [muorb] [voxl_esc] VOXL_ESC: INFO [muorb] [voxl_esc] ESC ID : 2 INFO [muorb] [voxl_esc] Board Type : 40: ModalAi 4-in-1 ESC (M0129-3) INFO [muorb] [voxl_esc] Unique ID : 0x2039333557555313000F0034 INFO [muorb] [voxl_esc] Firmware : version 39, hash 9c6233d6 INFO [muorb] [voxl_esc] Bootloader : version 184, hash 10bf24c8 INFO [muorb] [voxl_esc] Reply time : 104us INFO [muorb] [voxl_esc] VOXL_ESC: INFO [muorb] [voxl_esc] ESC ID : 3 INFO [muorb] [voxl_esc] Board Type : 40: ModalAi 4-in-1 ESC (M0129-3) INFO [muorb] [voxl_esc] Unique ID : 0x2039333557555313000F0038 INFO [muorb] [voxl_esc] Firmware : version 39, hash 9c6233d6 INFO [muorb] [voxl_esc] Bootloader : version 184, hash 10bf24c8 INFO [muorb] [voxl_esc] Reply time : 727us INFO [muorb] [voxl_esc] VOXL_ESC: INFO [muorb] [voxl_esc] Use extended rpm packet : 1 INFO [muorb] [voxl_esc] All ESCs successfully detected ... -
@jbiscan21 , have you tried the actuator test feature in QGC? make sure to remove propellers for safety.
Also, as px4 starts up, the
voxl-escpx4 driver will detect the ESCs and print some information, similar to what the CLI tool does without PX4. You can run voxl-px4 in foreground and check.voxl-px4 -dAlex
Hello, using the actuator sliders in QGC results in the same behavior. The motors just spin at the same constant (arming) speed. Here are the results of
voxl-px4 -dStarting VOXL ESC driver INFO [qshell] Send cmd: 'voxl_esc start' INFO [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic INFO [muorb] [qshell] qshell gotten: voxl_esc start INFO [muorb] [qshell] arg0 = 'voxl_esc' INFO [muorb] [qshell] arg1 = 'start' INFO [uORB] Advertising remote topic actuator_outputs INFO [muorb] [voxl_esc] Starting VOXL ESC driver INFO [muorb] [voxl_esc] Params: VOXL_ESC_CONFIG: 1 INFO [muorb] [voxl_esc] Params: VOXL_ESC_MODE: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_BAUD: 2000000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC1: 101 INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC2: 104 INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC3: 102 INFO [muorb] [voxl_esc] Params: VOXL_ESC_FUNC4: 103 INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR1: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR2: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR3: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_SDIR4: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_PWR_MIN: 0.050000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MIN: 3000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_RPM_MAX: 30653 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_PERC: 90 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_DEAD: 20 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_EXPO: 35 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000 INFO [muorb] [voxl_esc] Params: VOXL_ESC_VLOG: 1 INFO [muorb] [voxl_esc] Params: VOXL_ESC_PUB_BST: 1 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_WARN: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_T_OVER: 0 INFO [muorb] [voxl_esc] Params: GPIO_CTL_CH: 0 INFO [muorb] [voxl_esc] Params: VOXL_ESC_CMD: 0 INFO [muorb] [qshell] Ok executing command: voxl_esc start INFO [muorb] [voxl_esc] Opening UART ESC device 2, baud rate 2000000 INFO [muorb] [voxl_esc] Successfully opened UART ESC device INFO [muorb] [voxl_esc] Detecting ESCs... INFO [muorb] [voxl_esc] ESC ID : 0 INFO [muorb] [voxl_esc] Board Type : 42: ModalAi 4-in-1 ESC (M0138-1) INFO [qshell] qshell return value timestamp: 299177998, local time: 299182990 INFO [muorb] [voxl_esc] Unique ID : 0x203837304848570400440022 INFO [muorb] [voxl_esc] Firmware : version 39, hash a58f5f6f INFO [muorb] [voxl_esc] Bootloader : version 187, hash aad89d63 INFO [muorb] [voxl_esc] Reply time : 709us INFO [muorb] [voxl_esc] VOXL_ESC: INFO [muorb] [voxl_esc] ESC ID : 1 INFO [muorb] [voxl_esc] Board Type : 42: ModalAi 4-in-1 ESC (M0138-1) INFO [muorb] [voxl_esc] Unique ID : 0x203837304848570300310055 INFO [muorb] [voxl_esc] Firmware : version 39, hash a58f5f6f INFO [muorb] [voxl_esc] Bootloader : version 187, hash aad89d63 INFO [muorb] [voxl_esc] Reply time : 724us INFO [muorb] [voxl_esc] VOXL_ESC: INFO [muorb] [voxl_esc] ESC ID : 2 Starting CRSF RC driver INFO [muorb] [voxl_esc] Board Type : 42: ModalAi 4-in-1 ESC (M0138-1) INFO [muorb] [voxl_esc] Unique ID : 0x2038373048485705003A003F INFO [muorb] [voxl_esc] Firmware : version 39, hash a58f5f6f INFO [muorb] [voxl_esc] Bootloader : version 187, hash aad89d63 INFO [muorb] [voxl_esc] Reply time : 716us INFO [muorb] [voxl_esc] VOXL_ESC: INFO [muorb] [voxl_esc] ESC ID : 3 INFO [muorb] [voxl_esc] Board Type : 42: ModalAi 4-in-1 ESC (M0138-1) INFO [muorb] [voxl_esc] Unique ID : 0x203837304848570400440025 INFO [muorb] [voxl_esc] Firmware : version 39, hash a58f5f6f INFO [muorb] [voxl_esc] Bootloader : version 187, hash aad89d63 INFO [muorb] [voxl_esc] Reply time : 706us INFO [muorb] [voxl_esc] VOXL_ESC: INFO [muorb] [voxl_esc] Use extended rpm packet : 1 INFO [muorb] [voxl_esc] All ESCs successfully detected INFO [uORB] Advertising remote topic actuator_outputs_debug INFO [uORB] Advertising remote topic esc_status -
@alex-kushleyev @eric-katzfey
One thing I noticed, if I changeESC Command Typefrom RPM to PWM in the actuators tab, then I can increase the motor speeds -
@jbiscan21 , can you also share the esc params that you uploaded to the ESC after ESC calibration ? I am assuming you went through this procedure : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md
From the log I see that all 4 motors spun up but the rpm is capped at about 2200 rpm, which may mean you ESC tuning params are incorrect.
Also note that after arming, your drone immediately commands about 10000 rpm, which is not great, because that would be a sudden jump.. you may want to check your flight mode to avoid this.
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Quick side questions @alex-kushleyev @eric-katzfey
Have you ever calibrated PWM control with these drones or is that not advised?
I am a bit confused on the RPM calibration process. It appears to me that the RPM control is closed loop, but one thing that does not make sense to me is the testing with props on. I understand that props on will simulate aerodynamic load for calibration but wouldn't the load be different in flight too? Or is the idea that props on calibration is closer to flight load than props off?
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@jbiscan21 , can you also share the esc params that you uploaded to the ESC after ESC calibration ? I am assuming you went through this procedure : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md
From the log I see that all 4 motors spun up but the rpm is capped at about 2200 rpm, which may mean you ESC tuning params are incorrect.
Also note that after arming, your drone immediately commands about 10000 rpm, which is not great, because that would be a sudden jump.. you may want to check your flight mode to avoid this.
@Alex-Kushleyev Yes I want through that procedure. Here are my params:
<?xml version="1.0" encoding="UTF-8"?> <!-- Copyright (c) 2020 ModalAI Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 4. The Software is used solely in conjunction with devices provided by ModalAI Inc. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. For a license to use on non-ModalAI hardware, please contact license@modalai.com --> <EscParameters> <IdParams> <param name="id" value="127"/> <!-- 0-7 .. 127 means use hardware ID pins to read ID--> <param name="dir" value="2"/> <!-- 0=fwd, 1=rev, 2=fwd id-based, 3=rev id-based --> </IdParams> <UartParams> <param name="protocol_version" value="2"/> <!-- reserved for future use --> <param name="input_mode" value="0"/> <!-- reserved for future use --> <param name="baud_rate" value="2000000"/> <!-- communication bit rate --> <param name="char_timeout_ns" value="0"/> <!-- not used --> <param name="cmd_timeout_ns" value="100000000"/> <!-- timeout for incoming commands before ESC will stop the motor --> </UartParams> <TuneParams> <param name="pwm_frequency" value="48000"/> <!-- switching freqency of PWM signal going to motors. 24Khz and 48Khz are only options for now --> <param name="vbat_nominal_mv" value="22200"/> <!-- used for sanity checking and limiting of voltage-dependent funcions --> <param name="num_cycles_per_rev" value="7"/> <!-- number of pole pairs in the motor. used for converting electrical frequency to mechanical rpm --> <param name="min_rpm" value="3020"/> <!-- WARNING: not tuned. minimum RPM that will be attempted, otherwise capped --> <param name="max_rpm" value="26311"/> <!-- WARNING: not tuned. maximum RPM that will be attempted, otherwise capped --> <param name="min_pwm" value="75"/> <!-- cap for minimum power to be ever applied. min is 75 --> <param name="max_pwm" value="9999"/> <!-- cap for maximum power to be ever applied. max is 999 --> <param name="pwm_vs_rpm_curve_a0" value="-92.6079829269"/> <!-- this is actually motor_voltage vs rpm curve.. using legacy naming --> <param name="pwm_vs_rpm_curve_a1" value="0.813657468926"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="pwm_vs_rpm_curve_a2" value="2.69099700436e-06"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="kp" value="0"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="ki" value="0"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="max_kpe" value="0"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="max_kie" value="0"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="max_rpm_delta" value="0"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="spinup_type" value="1"/> <!-- 0: traditional, 1: sinusoidal --> <param name="spinup_power" value="60"/> <!-- power used to during spin-up procedure --> <param name="latch_power" value="60"/> <!-- power used during latching stage of spin-up (out of 999)--> <param name="spinup_power_ramp" value="8"/> <!-- it will take ( 4096 / (spinup_power_ramp*10000) ) seconds to ramp sinusoidal start-up power from 0 to spinup_power --> <param name="spinup_rpm_target" value="2000"/> <!-- Desired RPM at the end of the sinusoidal spin-up procedure --> <param name="spinup_time_ms" value="500"/> <!-- Duration of the sinusoidal spin-up procedure --> <param name="spinup_bemf_comp" value="1"/> <!-- 0: disable, 1:enable back-emf compensation in sinusoidal spin-up procedure --> <param name="motor_kv" value="2300"/> <!-- kV value of the motor. used in back-emf compensation during spin-up --> <param name="min_num_cross_for_closed_loop" value="10"/> <!-- exit latching mode of fixed power after this number of zero crossings --> <param name="protection_stall_check_rpm" value="1000"/> <!-- if motor spins below this RPM, stall check will trigger and stop / restart the motor --> <param name="brake_to_stop" value="0"/> <!-- apply brake when stopping motor (or not) --> <param name="stall_timeout_ns" value="20000000"/> <!-- after spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled --> <param name="require_reset_if_stalled" value="0"/> <!-- require sending an array of zero commands to reset before next spin-up, if motor stalled --> <param name="tone_freqs" value="[200, 215, 225, 250, 0,0,0,0, 0,0,0,0]"/> <!-- 200 is 2000Hz, max 255 --> <param name="tone_durations" value="[3, 0, 0, 0, 0,0,0,0, 0,0,0,0]"/> <!-- duration of each tone in units of 10 milli-seconds. Poor naming!!! --> <param name="tone_powers" value="[20, 0, 0, 0, 0,0,0,0, 0,0,0,0]"/> <!-- max is 255 --> <param name="dt_threshold_ns" value="150000"/> <!-- during start up, ignore inter-commutation times less than this val, probably noise --> <param name="max_dt_ns" value="2500000"/> <!-- min and max values for time between two commutations. these are used as caps --> <param name="min_dt_ns" value="10000"/> <param name="dt_bootstrap_ns" value="2000000"/> <!-- filter bootstrap value for commutation dt during start up --> <param name="spinup_stall_dt_ns" value="6000000"/> <!-- during spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled --> <param name="spinup_stall_check_ns" value="30000000"/> <!-- time after beginning of spinup to start checking for spinup stall --> <param name="alignment_time_ns" value="0"/> <!-- alignment time before spin-up --> <param name="timing_advance" value="0"/> <param name="sense_advance" value="0"/> <param name="demag_timing" value="0"/> <!-- unused --> <param name="led_config" value="0"/> <!-- 0: enable status LEDs in bootloader and firmware, 1: disable LEDs in boot and firmware: 2: disable LEDs only in firmware. need FW 39.25 or later --> </TuneParams> </EscParameters> -
@Alex-Kushleyev Yes I want through that procedure. Here are my params:
<?xml version="1.0" encoding="UTF-8"?> <!-- Copyright (c) 2020 ModalAI Inc. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 4. The Software is used solely in conjunction with devices provided by ModalAI Inc. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. For a license to use on non-ModalAI hardware, please contact license@modalai.com --> <EscParameters> <IdParams> <param name="id" value="127"/> <!-- 0-7 .. 127 means use hardware ID pins to read ID--> <param name="dir" value="2"/> <!-- 0=fwd, 1=rev, 2=fwd id-based, 3=rev id-based --> </IdParams> <UartParams> <param name="protocol_version" value="2"/> <!-- reserved for future use --> <param name="input_mode" value="0"/> <!-- reserved for future use --> <param name="baud_rate" value="2000000"/> <!-- communication bit rate --> <param name="char_timeout_ns" value="0"/> <!-- not used --> <param name="cmd_timeout_ns" value="100000000"/> <!-- timeout for incoming commands before ESC will stop the motor --> </UartParams> <TuneParams> <param name="pwm_frequency" value="48000"/> <!-- switching freqency of PWM signal going to motors. 24Khz and 48Khz are only options for now --> <param name="vbat_nominal_mv" value="22200"/> <!-- used for sanity checking and limiting of voltage-dependent funcions --> <param name="num_cycles_per_rev" value="7"/> <!-- number of pole pairs in the motor. used for converting electrical frequency to mechanical rpm --> <param name="min_rpm" value="3020"/> <!-- WARNING: not tuned. minimum RPM that will be attempted, otherwise capped --> <param name="max_rpm" value="26311"/> <!-- WARNING: not tuned. maximum RPM that will be attempted, otherwise capped --> <param name="min_pwm" value="75"/> <!-- cap for minimum power to be ever applied. min is 75 --> <param name="max_pwm" value="9999"/> <!-- cap for maximum power to be ever applied. max is 999 --> <param name="pwm_vs_rpm_curve_a0" value="-92.6079829269"/> <!-- this is actually motor_voltage vs rpm curve.. using legacy naming --> <param name="pwm_vs_rpm_curve_a1" value="0.813657468926"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="pwm_vs_rpm_curve_a2" value="2.69099700436e-06"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="kp" value="0"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="ki" value="0"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="max_kpe" value="0"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="max_kie" value="0"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="max_rpm_delta" value="0"/> <!-- WARNING: RPM controller params are disabled since motor is not tuned --> <param name="spinup_type" value="1"/> <!-- 0: traditional, 1: sinusoidal --> <param name="spinup_power" value="60"/> <!-- power used to during spin-up procedure --> <param name="latch_power" value="60"/> <!-- power used during latching stage of spin-up (out of 999)--> <param name="spinup_power_ramp" value="8"/> <!-- it will take ( 4096 / (spinup_power_ramp*10000) ) seconds to ramp sinusoidal start-up power from 0 to spinup_power --> <param name="spinup_rpm_target" value="2000"/> <!-- Desired RPM at the end of the sinusoidal spin-up procedure --> <param name="spinup_time_ms" value="500"/> <!-- Duration of the sinusoidal spin-up procedure --> <param name="spinup_bemf_comp" value="1"/> <!-- 0: disable, 1:enable back-emf compensation in sinusoidal spin-up procedure --> <param name="motor_kv" value="2300"/> <!-- kV value of the motor. used in back-emf compensation during spin-up --> <param name="min_num_cross_for_closed_loop" value="10"/> <!-- exit latching mode of fixed power after this number of zero crossings --> <param name="protection_stall_check_rpm" value="1000"/> <!-- if motor spins below this RPM, stall check will trigger and stop / restart the motor --> <param name="brake_to_stop" value="0"/> <!-- apply brake when stopping motor (or not) --> <param name="stall_timeout_ns" value="20000000"/> <!-- after spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled --> <param name="require_reset_if_stalled" value="0"/> <!-- require sending an array of zero commands to reset before next spin-up, if motor stalled --> <param name="tone_freqs" value="[200, 215, 225, 250, 0,0,0,0, 0,0,0,0]"/> <!-- 200 is 2000Hz, max 255 --> <param name="tone_durations" value="[3, 0, 0, 0, 0,0,0,0, 0,0,0,0]"/> <!-- duration of each tone in units of 10 milli-seconds. Poor naming!!! --> <param name="tone_powers" value="[20, 0, 0, 0, 0,0,0,0, 0,0,0,0]"/> <!-- max is 255 --> <param name="dt_threshold_ns" value="150000"/> <!-- during start up, ignore inter-commutation times less than this val, probably noise --> <param name="max_dt_ns" value="2500000"/> <!-- min and max values for time between two commutations. these are used as caps --> <param name="min_dt_ns" value="10000"/> <param name="dt_bootstrap_ns" value="2000000"/> <!-- filter bootstrap value for commutation dt during start up --> <param name="spinup_stall_dt_ns" value="6000000"/> <!-- during spin-up, if no zero crossing is not detected for this amount of time, motor is considered stalled --> <param name="spinup_stall_check_ns" value="30000000"/> <!-- time after beginning of spinup to start checking for spinup stall --> <param name="alignment_time_ns" value="0"/> <!-- alignment time before spin-up --> <param name="timing_advance" value="0"/> <param name="sense_advance" value="0"/> <param name="demag_timing" value="0"/> <!-- unused --> <param name="led_config" value="0"/> <!-- 0: enable status LEDs in bootloader and firmware, 1: disable LEDs in boot and firmware: 2: disable LEDs only in firmware. need FW 39.25 or later --> </TuneParams> </EscParameters>@alex-kushleyev Alright I feel pretty dumb. But it is because the PID gains were zero in my config file...
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Hi @jbiscan21 ,
The main issue was that the
max_rpm_deltawas set to zero. Even with PI gains (and max errors) set to zero, you could have had it working with non-zeromax_rpm_delta. Let me explain.max_rpm_deltaterm is used to cap the target rpm relative to the current rpm. This is done to prevent very aggressive motor behavior, especially if motor is spinning very slowly because it is tangled in grass, etc, allowing unlimitedmax_rpm_deltacould cause motor to burn out or de-sync.The RPM controller has a feed-forward term and feedback terms.
- feedback terms are Proportional and Integral with corresponding gains and error terms (k * e).
- feed-forward term comes from the calibration : for desired RPM, the calibration tells the ESC what PWM (duty cycle) to apply
- there is also battery voltage compensation, so that even if voltage is changing, the feed-forward curve will still be accurate.
The rpm error is computed like so :
rpm_error = rpm_desired - rpm_current, which standard. But then it is capped with themax_rpm_delta, so if that is equal to zero, then rpm_error will be zero. One subtle detail is that the rpm_error is also used to look up the desired rpm feed_forward :rpm_for_feed_forward_term = rpm_current + rpm_error(roughly speaking), so having themax_rpm_deltaset to zero, caused the motor to be always stuck at minimum rpm.So you could still have zero P and I terms and the motor would use a feed forward term with voltage compensation and it would provide a nice and soft response (similar to traditional ESC). Adding P and I will make the response better than a traditional ESC.
In fact when using a new motor + prop, you should start off with P and I gains zero, just use a feed forward term to test at first and then you can increase the ESC's responsiveness by giving it more
max_rpm_deltaand also P and I terms. However, that is more advanced tuning should be done usingvoxl-esctools first in order ensure ESC response stability (we could discuss that in another thread).To answer your earlier questions:
- You could use pwm (power) control, but i have never used it with PX4. Perhaps @eric-katzfey can comment about that
- the ESC calibration for modalai ESCs calibrates the feed-forward term (as described above), and has to be done with a propeller. Yes, in flight, the air dynamics will change due to many factors such as air pressure, temperature, air speed, etc, etc, but the job of RPM controller is to keep a desired rpm. A higher level controller could potentially estimate the thrust vs rpm is changing due to air temperature or pressure difference from the calibrated response (outside of the scope of ESC's rpm controller).
Alex
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Hi @jbiscan21 ,
The main issue was that the
max_rpm_deltawas set to zero. Even with PI gains (and max errors) set to zero, you could have had it working with non-zeromax_rpm_delta. Let me explain.max_rpm_deltaterm is used to cap the target rpm relative to the current rpm. This is done to prevent very aggressive motor behavior, especially if motor is spinning very slowly because it is tangled in grass, etc, allowing unlimitedmax_rpm_deltacould cause motor to burn out or de-sync.The RPM controller has a feed-forward term and feedback terms.
- feedback terms are Proportional and Integral with corresponding gains and error terms (k * e).
- feed-forward term comes from the calibration : for desired RPM, the calibration tells the ESC what PWM (duty cycle) to apply
- there is also battery voltage compensation, so that even if voltage is changing, the feed-forward curve will still be accurate.
The rpm error is computed like so :
rpm_error = rpm_desired - rpm_current, which standard. But then it is capped with themax_rpm_delta, so if that is equal to zero, then rpm_error will be zero. One subtle detail is that the rpm_error is also used to look up the desired rpm feed_forward :rpm_for_feed_forward_term = rpm_current + rpm_error(roughly speaking), so having themax_rpm_deltaset to zero, caused the motor to be always stuck at minimum rpm.So you could still have zero P and I terms and the motor would use a feed forward term with voltage compensation and it would provide a nice and soft response (similar to traditional ESC). Adding P and I will make the response better than a traditional ESC.
In fact when using a new motor + prop, you should start off with P and I gains zero, just use a feed forward term to test at first and then you can increase the ESC's responsiveness by giving it more
max_rpm_deltaand also P and I terms. However, that is more advanced tuning should be done usingvoxl-esctools first in order ensure ESC response stability (we could discuss that in another thread).To answer your earlier questions:
- You could use pwm (power) control, but i have never used it with PX4. Perhaps @eric-katzfey can comment about that
- the ESC calibration for modalai ESCs calibrates the feed-forward term (as described above), and has to be done with a propeller. Yes, in flight, the air dynamics will change due to many factors such as air pressure, temperature, air speed, etc, etc, but the job of RPM controller is to keep a desired rpm. A higher level controller could potentially estimate the thrust vs rpm is changing due to air temperature or pressure difference from the calibrated response (outside of the scope of ESC's rpm controller).
Alex
Hi Alex,
Thank you for the informative responses. That is all good information to know.
We calibrated with a prop on and I experimented with
max_rpm_delta, but we when we tried to fly in stabilized mode, the drone immediately flipped over. We also noticed via bench top testing with no prop on, that the the rpm values were very unbalanced at max rpm. For example, one motor in the inspector reported 26000 while another was 6000 rpm. Is there anything on the PX4 side of things that should be changed too?Thank you,
John -
A drone immediately flipping over is usually caused by some combination of incorrect motor mapping, incorrect motor spin direction, and / or improper prop direction.
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A drone immediately flipping over is usually caused by some combination of incorrect motor mapping, incorrect motor spin direction, and / or improper prop direction.
We confirmed all of the above. What we noticed is that when we watch the
esc_statusmessages in mavlink inspector and we throttle up with RC, two of the RPM values are off by several thousand. For example, two RPM values are around 16000 while others are stuck at 6000-8000. However, if I watch these RPM values while throttling the esc's using the actuator sliders in QGC, they are all the same value roughly. For context, we are using a radiomaster GX12 with a Radiomaster XR4 receiver on the drone.I have attached my px4 params if you would not mind giving those a sanity check... thank you!
# Onboard parameters for Vehicle 1 # # Stack: PX4 Pro # Vehicle: Multi-Rotor # Version: 1.14.0 dev # Git Revision: 3e7db37f06020085 # # Vehicle-Id Component-Id Name Value Type 1 1 ASPD_SCALE_1 1 9 1 1 BAT1_CAPACITY 5e+03 9 1 1 BAT1_N_CELLS 6 6 1 1 BAT1_R_INTERNAL 0.003 9 1 1 BAT1_SOURCE 0 6 1 1 BAT1_V_CHARGED 4.2 9 1 1 BAT1_V_EMPTY 3.3 9 1 1 BAT1_V_LOAD_DROP 0.1 9 1 1 BAT_AVRG_CURRENT 15 9 1 1 BAT_CRIT_THR 0.1 9 1 1 BAT_EMERGEN_THR 0.05 9 1 1 BAT_LOW_THR 0.15 9 1 1 BAT_N_CELLS 3 6 1 1 BAT_V_CHARGED 4.05 9 1 1 BAT_V_EMPTY 3.6 9 1 1 BAT_V_LOAD_DROP 0.3 9 1 1 CAL_ACC0_ID 2490378 6 1 1 CAL_ACC0_PRIO 50 6 1 1 CAL_ACC0_ROT -1 6 1 1 CAL_ACC0_XOFF 0.016957283 9 1 1 CAL_ACC0_XSCALE 0.99843574 9 1 1 CAL_ACC0_YOFF 0.04622507 9 1 1 CAL_ACC0_YSCALE 1.0024542 9 1 1 CAL_ACC0_ZOFF 0.02586174 9 1 1 CAL_ACC0_ZSCALE 0.99772567 9 1 1 CAL_ACC1_ID 0 6 1 1 CAL_ACC2_ID 0 6 1 1 CAL_ACC3_ID 0 6 1 1 CAL_AIR_CMODEL 0 6 1 1 CAL_AIR_TUBED_MM 1.5 9 1 1 CAL_AIR_TUBELEN 0.2 9 1 1 CAL_BARO0_ID 0 6 1 1 CAL_BARO1_ID 0 6 1 1 CAL_BARO2_ID 0 6 1 1 CAL_BARO3_ID 0 6 1 1 CAL_GYRO0_ID 2490378 6 1 1 CAL_GYRO0_PRIO 50 6 1 1 CAL_GYRO0_ROT -1 6 1 1 CAL_GYRO0_XOFF -0.006514091 9 1 1 CAL_GYRO0_YOFF 0.019818183 9 1 1 CAL_GYRO0_ZOFF -0.0041006296 9 1 1 CAL_GYRO1_ID 0 6 1 1 CAL_GYRO2_ID 0 6 1 1 CAL_GYRO3_ID 0 6 1 1 CAL_MAG0_ID 0 6 1 1 CAL_MAG0_PRIO 75 6 1 1 CAL_MAG0_ROT -1 6 1 1 CAL_MAG0_XODIAG -0.01694872 9 1 1 CAL_MAG0_XOFF 0.07075692 9 1 1 CAL_MAG0_XSCALE 1.0713451 9 1 1 CAL_MAG0_YODIAG 0.05755493 9 1 1 CAL_MAG0_YOFF -0.22197492 9 1 1 CAL_MAG0_YSCALE 1.0001789 9 1 1 CAL_MAG0_ZODIAG -0.022624424 9 1 1 CAL_MAG0_ZOFF 0.09056667 9 1 1 CAL_MAG0_ZSCALE 0.98838013 9 1 1 CAL_MAG1_ID 0 6 1 1 CAL_MAG1_ROT -1 6 1 1 CAL_MAG2_ID 0 6 1 1 CAL_MAG2_ROT -1 6 1 1 CAL_MAG3_ID 0 6 1 1 CAL_MAG3_ROT -1 6 1 1 CA_AIRFRAME 0 6 1 1 CA_FAILURE_MODE 0 6 1 1 CA_METHOD 2 6 1 1 CA_R0_SLEW 0 9 1 1 CA_R10_SLEW 0 9 1 1 CA_R11_SLEW 0 9 1 1 CA_R1_SLEW 0 9 1 1 CA_R2_SLEW 0 9 1 1 CA_R3_SLEW 0 9 1 1 CA_R4_SLEW 0 9 1 1 CA_R5_SLEW 0 9 1 1 CA_R6_SLEW 0 9 1 1 CA_R7_SLEW 0 9 1 1 CA_R8_SLEW 0 9 1 1 CA_R9_SLEW 0 9 1 1 CA_ROTOR0_AX 0 9 1 1 CA_ROTOR0_AY 0 9 1 1 CA_ROTOR0_AZ 1 9 1 1 CA_ROTOR0_CT 6.5 9 1 1 CA_ROTOR0_KM 0.05 9 1 1 CA_ROTOR0_PX 0.033528 9 1 1 CA_ROTOR0_PY 0.033528 9 1 1 CA_ROTOR0_PZ 0 9 1 1 CA_ROTOR10_AX 0 9 1 1 CA_ROTOR10_AY 0 9 1 1 CA_ROTOR10_AZ -1 9 1 1 CA_ROTOR10_CT 6.5 9 1 1 CA_ROTOR10_KM 0.05 9 1 1 CA_ROTOR10_PX 0 9 1 1 CA_ROTOR10_PY 0 9 1 1 CA_ROTOR10_PZ 0 9 1 1 CA_ROTOR11_AX 0 9 1 1 CA_ROTOR11_AY 0 9 1 1 CA_ROTOR11_AZ -1 9 1 1 CA_ROTOR11_CT 6.5 9 1 1 CA_ROTOR11_KM 0.05 9 1 1 CA_ROTOR11_PX 0 9 1 1 CA_ROTOR11_PY 0 9 1 1 CA_ROTOR11_PZ 0 9 1 1 CA_ROTOR1_AX 0 9 1 1 CA_ROTOR1_AY 0 9 1 1 CA_ROTOR1_AZ 1 9 1 1 CA_ROTOR1_CT 6.5 9 1 1 CA_ROTOR1_KM 0.05 9 1 1 CA_ROTOR1_PX -0.033528 9 1 1 CA_ROTOR1_PY -0.033528 9 1 1 CA_ROTOR1_PZ 0 9 1 1 CA_ROTOR2_AX 0 9 1 1 CA_ROTOR2_AY 0 9 1 1 CA_ROTOR2_AZ 1 9 1 1 CA_ROTOR2_CT 6.5 9 1 1 CA_ROTOR2_KM -0.05 9 1 1 CA_ROTOR2_PX 0.033528 9 1 1 CA_ROTOR2_PY -0.033528 9 1 1 CA_ROTOR2_PZ 0 9 1 1 CA_ROTOR3_AX 0 9 1 1 CA_ROTOR3_AY 0 9 1 1 CA_ROTOR3_AZ 1 9 1 1 CA_ROTOR3_CT 6.5 9 1 1 CA_ROTOR3_KM -0.05 9 1 1 CA_ROTOR3_PX -0.033528 9 1 1 CA_ROTOR3_PY 0.033528 9 1 1 CA_ROTOR3_PZ 0 9 1 1 CA_ROTOR4_AX 0 9 1 1 CA_ROTOR4_AY 0 9 1 1 CA_ROTOR4_AZ -1 9 1 1 CA_ROTOR4_CT 6.5 9 1 1 CA_ROTOR4_KM 0.05 9 1 1 CA_ROTOR4_PX 0 9 1 1 CA_ROTOR4_PY 0 9 1 1 CA_ROTOR4_PZ 0 9 1 1 CA_ROTOR5_AX 0 9 1 1 CA_ROTOR5_AY 0 9 1 1 CA_ROTOR5_AZ -1 9 1 1 CA_ROTOR5_CT 6.5 9 1 1 CA_ROTOR5_KM 0.05 9 1 1 CA_ROTOR5_PX 0 9 1 1 CA_ROTOR5_PY 0 9 1 1 CA_ROTOR5_PZ 0 9 1 1 CA_ROTOR6_AX 0 9 1 1 CA_ROTOR6_AY 0 9 1 1 CA_ROTOR6_AZ -1 9 1 1 CA_ROTOR6_CT 6.5 9 1 1 CA_ROTOR6_KM 0.05 9 1 1 CA_ROTOR6_PX 0 9 1 1 CA_ROTOR6_PY 0 9 1 1 CA_ROTOR6_PZ 0 9 1 1 CA_ROTOR7_AX 0 9 1 1 CA_ROTOR7_AY 0 9 1 1 CA_ROTOR7_AZ -1 9 1 1 CA_ROTOR7_CT 6.5 9 1 1 CA_ROTOR7_KM 0.05 9 1 1 CA_ROTOR7_PX 0 9 1 1 CA_ROTOR7_PY 0 9 1 1 CA_ROTOR7_PZ 0 9 1 1 CA_ROTOR8_AX 0 9 1 1 CA_ROTOR8_AY 0 9 1 1 CA_ROTOR8_AZ -1 9 1 1 CA_ROTOR8_CT 6.5 9 1 1 CA_ROTOR8_KM 0.05 9 1 1 CA_ROTOR8_PX 0 9 1 1 CA_ROTOR8_PY 0 9 1 1 CA_ROTOR8_PZ 0 9 1 1 CA_ROTOR9_AX 0 9 1 1 CA_ROTOR9_AY 0 9 1 1 CA_ROTOR9_AZ -1 9 1 1 CA_ROTOR9_CT 6.5 9 1 1 CA_ROTOR9_KM 0.05 9 1 1 CA_ROTOR9_PX 0 9 1 1 CA_ROTOR9_PY 0 9 1 1 CA_ROTOR9_PZ 0 9 1 1 CA_ROTOR_COUNT 4 6 1 1 CA_R_REV 0 6 1 1 CA_SV0_SLEW 0 9 1 1 CA_SV1_SLEW 0 9 1 1 CA_SV2_SLEW 0 9 1 1 CA_SV3_SLEW 0 9 1 1 CA_SV4_SLEW 0 9 1 1 CA_SV5_SLEW 0 9 1 1 CA_SV6_SLEW 0 9 1 1 CA_SV7_SLEW 0 9 1 1 CBRK_AIRSPD_CHK 0 6 1 1 CBRK_FLIGHTTERM 121212 6 1 1 CBRK_IO_SAFETY 22027 6 1 1 CBRK_SUPPLY_CHK 894281 6 1 1 CBRK_USB_CHK 197848 6 1 1 CBRK_VTOLARMING 0 6 1 1 COM_ACT_FAIL_ACT 0 6 1 1 COM_ARM_ARSP_EN 1 6 1 1 COM_ARM_AUTH_ID 10 6 1 1 COM_ARM_AUTH_MET 0 6 1 1 COM_ARM_AUTH_REQ 0 6 1 1 COM_ARM_AUTH_TO 1 9 1 1 COM_ARM_BAD_INOV 0 6 1 1 COM_ARM_CHK_ESCS 0 6 1 1 COM_ARM_EKF_BIAS 3 9 1 1 COM_ARM_EKF_HGT 1 9 1 1 COM_ARM_EKF_POS 0.5 9 1 1 COM_ARM_EKF_VEL 0.5 9 1 1 COM_ARM_EKF_YAW 0.5 9 1 1 COM_ARM_HFLT_CHK 1 6 1 1 COM_ARM_IMU_ACC 0.7 9 1 1 COM_ARM_IMU_GYR 0.25 9 1 1 COM_ARM_MAG_ANG 60 6 1 1 COM_ARM_MAG_STR 2 6 1 1 COM_ARM_MIS_REQ 0 6 1 1 COM_ARM_ODID 0 6 1 1 COM_ARM_SDCARD 0 6 1 1 COM_ARM_SWISBTN 0 6 1 1 COM_ARM_WO_GPS 1 6 1 1 COM_CPU_MAX -1 9 1 1 COM_DISARM_FORCE 0 6 1 1 COM_DISARM_LAND 0.1 9 1 1 COM_DISARM_PRFLT 2e+01 9 1 1 COM_DL_LOSS_T 10 6 1 1 COM_FAIL_ACT_T 5 9 1 1 COM_FLIGHT_UUID 217 6 1 1 COM_FLTMODE1 8 6 1 1 COM_FLTMODE2 -1 6 1 1 COM_FLTMODE3 -1 6 1 1 COM_FLTMODE4 -1 6 1 1 COM_FLTMODE5 -1 6 1 1 COM_FLTMODE6 2 6 1 1 COM_FLT_PROFILE 0 6 1 1 COM_FLT_TIME_MAX -1 6 1 1 COM_FORCE_SAFETY 0 6 1 1 COM_HLDL_LOSS_T 120 6 1 1 COM_HLDL_REG_T 0 6 1 1 COM_HOME_EN 1 6 1 1 COM_HOME_IN_AIR 0 6 1 1 COM_IMB_PROP_ACT 0 6 1 1 COM_KILL_DISARM 0 9 1 1 COM_LKDOWN_TKO 3 9 1 1 COM_LOW_BAT_ACT 0 6 1 1 COM_MOT_TEST_EN 1 6 1 1 COM_OBC_LOSS_T 5 9 1 1 COM_OBL_RC_ACT 0 6 1 1 COM_OBS_AVOID 0 6 1 1 COM_OF_LOSS_T 3 9 1 1 COM_PARACHUTE 0 6 1 1 COM_POSCTL_NAVL 0 6 1 1 COM_POS_FS_DELAY 1 6 1 1 COM_POS_FS_EPH 5 9 1 1 COM_POS_LOW_EPH -1 9 1 1 COM_POWER_COUNT 1 6 1 1 COM_PREARM_MODE 0 6 1 1 COM_QC_ACT 0 6 1 1 COM_RCL_EXCEPT 0 6 1 1 COM_RC_ARM_HYST 1000 6 1 1 COM_RC_IN_MODE 3 6 1 1 COM_RC_LOSS_T 0.5 9 1 1 COM_RC_OVERRIDE 1 6 1 1 COM_RC_STICK_OV 3e+01 9 1 1 COM_SPOOLUP_TIME 2 9 1 1 COM_TAKEOFF_ACT 0 6 1 1 COM_VEL_FS_EVH 1 9 1 1 COM_WIND_MAX -1 9 1 1 COM_WIND_WARN -1 9 1 1 CP_DELAY 0.4 9 1 1 CP_DIST -1 9 1 1 CP_GO_NO_DATA 0 6 1 1 CP_GUIDE_ANG 3e+01 9 1 1 EKF2_ABIAS_INIT 0.2 9 1 1 EKF2_ABL_ACCLIM 25 9 1 1 EKF2_ABL_GYRLIM 3 9 1 1 EKF2_ABL_LIM 0.4 9 1 1 EKF2_ABL_TAU 0.5 9 1 1 EKF2_ACC_B_NOISE 0.003 9 1 1 EKF2_ACC_NOISE 0.35 9 1 1 EKF2_AID_MASK 0 6 1 1 EKF2_ANGERR_INIT 0.1 9 1 1 EKF2_ARSP_THR 0 9 1 1 EKF2_ASPD_MAX 2e+01 9 1 1 EKF2_ASP_DELAY 1e+02 9 1 1 EKF2_AVEL_DELAY 5 9 1 1 EKF2_BARO_CTRL 1 6 1 1 EKF2_BARO_DELAY 0 9 1 1 EKF2_BARO_GATE 5 9 1 1 EKF2_BARO_NOISE 3.5 9 1 1 EKF2_BCOEF_X 1e+02 9 1 1 EKF2_BCOEF_Y 1e+02 9 1 1 EKF2_BETA_GATE 5 9 1 1 EKF2_BETA_NOISE 0.3 9 1 1 EKF2_DECL_TYPE 7 6 1 1 EKF2_DRAG_CTRL 0 6 1 1 EKF2_DRAG_NOISE 2.5 9 1 1 EKF2_EAS_NOISE 1.4 9 1 1 EKF2_EVA_NOISE 0.1 9 1 1 EKF2_EVP_GATE 5 9 1 1 EKF2_EVP_NOISE 0.1 9 1 1 EKF2_EVV_GATE 3 9 1 1 EKF2_EVV_NOISE 0.1 9 1 1 EKF2_EV_CTRL 0 6 1 1 EKF2_EV_DELAY 0 9 1 1 EKF2_EV_HGT_TO 5000 6 1 1 EKF2_EV_NOISE_MD 0 6 1 1 EKF2_EV_POS_TO 1000 6 1 1 EKF2_EV_POS_X 0 9 1 1 EKF2_EV_POS_Y 0 9 1 1 EKF2_EV_POS_Z 0 9 1 1 EKF2_EV_QMIN 0 6 1 1 EKF2_FUSE_BETA 0 6 1 1 EKF2_GBIAS_INIT 0.1 9 1 1 EKF2_GND_EFF_DZ 4 9 1 1 EKF2_GND_MAX_HGT 0.5 9 1 1 EKF2_GPS_CHECK 1 6 1 1 EKF2_GPS_CTRL 7 6 1 1 EKF2_GPS_DELAY 1.1e+02 9 1 1 EKF2_GPS_POS_X 0 9 1 1 EKF2_GPS_POS_Y 0 9 1 1 EKF2_GPS_POS_Z 0 9 1 1 EKF2_GPS_P_GATE 5 9 1 1 EKF2_GPS_P_NOISE 0.5 9 1 1 EKF2_GPS_V_GATE 5 9 1 1 EKF2_GPS_V_NOISE 0.3 9 1 1 EKF2_GRAV_NOISE 1 9 1 1 EKF2_GSF_TAS 15 9 1 1 EKF2_GYR_B_LIM 0.15 9 1 1 EKF2_GYR_B_NOISE 0.001 9 1 1 EKF2_GYR_NOISE 0.015 9 1 1 EKF2_HDG_GATE 2.6 9 1 1 EKF2_HEAD_NOISE 0.3 9 1 1 EKF2_HGT_REF 0 6 1 1 EKF2_IMU_CTRL 3 6 1 1 EKF2_IMU_POS_X 0.033 9 1 1 EKF2_IMU_POS_Y 0.008 9 1 1 EKF2_IMU_POS_Z -0.036 9 1 1 EKF2_MAG_ACCLIM 0.5 9 1 1 EKF2_MAG_B_NOISE 0.0001 9 1 1 EKF2_MAG_CHECK 1 6 1 1 EKF2_MAG_DECL 0 9 1 1 EKF2_MAG_DELAY 0 9 1 1 EKF2_MAG_E_NOISE 0.001 9 1 1 EKF2_MAG_GATE 3 9 1 1 EKF2_MAG_NOISE 0.05 9 1 1 EKF2_MAG_TYPE 0 6 1 1 EKF2_MAG_YAWLIM 0.2 9 1 1 EKF2_MCOEF 0.15 9 1 1 EKF2_MIN_RNG 0.1 9 1 1 EKF2_NOAID_NOISE 1e+01 9 1 1 EKF2_NOAID_TOUT 5000000 6 1 1 EKF2_OF_CTRL 0 6 1 1 EKF2_OF_DELAY 2e+01 9 1 1 EKF2_OF_GATE 3 9 1 1 EKF2_OF_N_MAX 0.5 9 1 1 EKF2_OF_N_MIN 0.15 9 1 1 EKF2_OF_POS_X 0 9 1 1 EKF2_OF_POS_Y 0 9 1 1 EKF2_OF_POS_Z 0 9 1 1 EKF2_OF_QMIN 1 6 1 1 EKF2_PCOEF_XN 0 9 1 1 EKF2_PCOEF_XP 0 9 1 1 EKF2_PCOEF_YN 0 9 1 1 EKF2_PCOEF_YP 0 9 1 1 EKF2_PCOEF_Z 0 9 1 1 EKF2_PREDICT_US 10000 6 1 1 EKF2_REQ_EPH 3 9 1 1 EKF2_REQ_EPV 5 9 1 1 EKF2_REQ_GPS_H 5 9 1 1 EKF2_REQ_HDRIFT 0.1 9 1 1 EKF2_REQ_NSATS 6 6 1 1 EKF2_REQ_PDOP 2.5 9 1 1 EKF2_REQ_SACC 1.5 9 1 1 EKF2_REQ_VDRIFT 0.2 9 1 1 EKF2_RNG_A_HMAX 5 9 1 1 EKF2_RNG_A_IGATE 1 9 1 1 EKF2_RNG_A_VMAX 1 9 1 1 EKF2_RNG_CTRL 0 6 1 1 EKF2_RNG_DELAY 5 9 1 1 EKF2_RNG_GATE 5 9 1 1 EKF2_RNG_K_GATE 1 9 1 1 EKF2_RNG_NOISE 0.1 9 1 1 EKF2_RNG_PITCH 0 9 1 1 EKF2_RNG_POS_X 0 9 1 1 EKF2_RNG_POS_Y 0 9 1 1 EKF2_RNG_POS_Z 0 9 1 1 EKF2_RNG_QLTY_T 1 9 1 1 EKF2_RNG_SFE 0.05 9 1 1 EKF2_SYNT_MAG_Z 0 6 1 1 EKF2_TAS_GATE 3 9 1 1 EKF2_TAU_POS 0.25 9 1 1 EKF2_TAU_VEL 0.25 9 1 1 EKF2_TERR_GRAD 0.5 9 1 1 EKF2_TERR_MASK 3 6 1 1 EKF2_TERR_NOISE 5 9 1 1 EKF2_WIND_NSD 0.01 9 1 1 FD_ACT_EN 1 6 1 1 FD_ACT_MOT_C2T 2 9 1 1 FD_ACT_MOT_THR 0.2 9 1 1 FD_ACT_MOT_TOUT 100 6 1 1 FD_ESCS_EN 1 6 1 1 FD_EXT_ATS_EN 0 6 1 1 FD_EXT_ATS_TRIG 1900 6 1 1 FD_FAIL_P 60 6 1 1 FD_FAIL_P_TTRI 0.3 9 1 1 FD_FAIL_R 180 6 1 1 FD_FAIL_R_TTRI 0.3 9 1 1 FD_IMB_PROP_THR 30 6 1 1 FLW_TGT_ALT_M 0 6 1 1 FLW_TGT_DST 8 9 1 1 FLW_TGT_FA 1.8e+02 9 1 1 FLW_TGT_HT 8 9 1 1 FLW_TGT_MAX_VEL 5 9 1 1 FLW_TGT_RS 0.1 9 1 1 FW_AIRSPD_MAX 2e+01 9 1 1 FW_AIRSPD_TRIM 15 9 1 1 FW_ARSP_MODE 0 6 1 1 FW_PSP_OFF 0 9 1 1 FW_T_CLMB_R_SP 3 9 1 1 FW_T_SINK_R_SP 2 9 1 1 GF_ACTION 2 6 1 1 GF_ALTMODE 0 6 1 1 GF_COUNT -1 6 1 1 GF_MAX_HOR_DIST 0 9 1 1 GF_MAX_VER_DIST 0 9 1 1 GF_PREDICT 0 6 1 1 GF_SOURCE 0 6 1 1 GND_SPEED_THR_SC 1 9 1 1 GPIO_CTL_CH 0 6 1 1 GPS_1_GNSS 0 6 1 1 GPS_1_PROTOCOL 1 6 1 1 GPS_DUMP_COMM 0 6 1 1 GPS_PITCH_OFFSET 0 9 1 1 GPS_SAT_INFO 1 6 1 1 GPS_UBX_BAUD2 230400 6 1 1 GPS_UBX_CFG_INTF 0 6 1 1 GPS_UBX_DYNMODEL 6 6 1 1 GPS_UBX_MODE 0 6 1 1 GPS_YAW_OFFSET 0 9 1 1 HTE_ACC_GATE 3 9 1 1 HTE_HT_ERR_INIT 0.1 9 1 1 HTE_HT_NOISE 0.0036 9 1 1 HTE_THR_RANGE 0.2 9 1 1 HTE_VXY_THR 1e+01 9 1 1 HTE_VZ_THR 2 9 1 1 ICM42688_DT_COMP 0 9 1 1 IMU_ACCEL_CUTOFF 4e+01 9 1 1 IMU_DGYRO_CUTOFF 4e+01 9 1 1 IMU_GYRO_CUTOFF 4e+01 9 1 1 IMU_GYRO_DNF_BW 15 9 1 1 IMU_GYRO_DNF_EN 1 6 1 1 IMU_GYRO_DNF_HMC 3 6 1 1 IMU_GYRO_DNF_MIN 25 9 1 1 IMU_GYRO_NF0_BW 2e+01 9 1 1 IMU_GYRO_NF0_FRQ 0 9 1 1 IMU_GYRO_NF1_BW 2e+01 9 1 1 IMU_GYRO_NF1_FRQ 0 9 1 1 IMU_GYRO_RATEMAX 800 6 1 1 IMU_INTEG_RATE 200 6 1 1 LNDMC_ALT_GND 2 9 1 1 LNDMC_ALT_MAX -1 9 1 1 LNDMC_ROT_MAX 3e+01 9 1 1 LNDMC_TRIG_TIME 0.5 9 1 1 LNDMC_XY_VEL_MAX 1.5 9 1 1 LNDMC_Z_VEL_MAX 0.25 9 1 1 LND_FLIGHT_T_HI 0 6 1 1 LND_FLIGHT_T_LO 976113329 6 1 1 MAN_ARM_GESTURE 0 6 1 1 MAV_COMP_ID 1 6 1 1 MAV_FWDEXTSP 1 6 1 1 MAV_HASH_CHK_EN 1 6 1 1 MAV_HB_FORW_EN 1 6 1 1 MAV_PROTO_VER 0 6 1 1 MAV_RADIO_TOUT 5 6 1 1 MAV_SIK_RADIO_ID 0 6 1 1 MAV_SYS_ID 1 6 1 1 MAV_TYPE 2 6 1 1 MAV_USEHILGPS 0 6 1 1 MC_ACRO_EXPO 0.69 9 1 1 MC_ACRO_EXPO_Y 0.69 9 1 1 MC_ACRO_P_MAX 7.2e+02 9 1 1 MC_ACRO_R_MAX 7.2e+02 9 1 1 MC_ACRO_SUPEXPO 0.7 9 1 1 MC_ACRO_SUPEXPOY 0.7 9 1 1 MC_ACRO_Y_MAX 5.4e+02 9 1 1 MC_AIRMODE 0 6 1 1 MC_AT_APPLY 1 6 1 1 MC_AT_AXES 3 6 1 1 MC_AT_RISE_TIME 0.14 9 1 1 MC_AT_START 0 6 1 1 MC_AT_SYSID_AMP 0.7 9 1 1 MC_BAT_SCALE_EN 0 6 1 1 MC_INJECT_AMP 0.05 9 1 1 MC_INJECT_CNT 12 6 1 1 MC_INJECT_EN 0 6 1 1 MC_INJECT_INC 1 9 1 1 MC_INJECT_REST_T 1 9 1 1 MC_INJECT_RPY 2 6 1 1 MC_INJECT_SINE_T 5 9 1 1 MC_INJECT_START 3 9 1 1 MC_MAN_TILT_TAU 0 9 1 1 MC_ORBIT_RAD_MAX 1e+03 9 1 1 MC_PITCHRATE_D 0 9 1 1 MC_PITCHRATE_FF 0 9 1 1 MC_PITCHRATE_I 0.4 9 1 1 MC_PITCHRATE_K 1 9 1 1 MC_PITCHRATE_MAX 1.5e+02 9 1 1 MC_PITCHRATE_P 0.08 9 1 1 MC_PITCH_CUTOFF 0 9 1 1 MC_PITCH_P 5.5 9 1 1 MC_PR_INT_LIM 0.3 9 1 1 MC_ROLLRATE_D 0 9 1 1 MC_ROLLRATE_FF 0 9 1 1 MC_ROLLRATE_I 0.4 9 1 1 MC_ROLLRATE_K 1 9 1 1 MC_ROLLRATE_MAX 1.5e+02 9 1 1 MC_ROLLRATE_P 0.08 9 1 1 MC_ROLL_CUTOFF 0 9 1 1 MC_ROLL_P 8 9 1 1 MC_RR_INT_LIM 0.3 9 1 1 MC_THR_CURVE_ACR 0 6 1 1 MC_YAWRATE_D 0 9 1 1 MC_YAWRATE_FF 0 9 1 1 MC_YAWRATE_I 0.5 9 1 1 MC_YAWRATE_K 1 9 1 1 MC_YAWRATE_MAX 1.5e+02 9 1 1 MC_YAWRATE_P 0.13 9 1 1 MC_YAW_CUTOFF 0 9 1 1 MC_YAW_P 2 9 1 1 MC_YAW_WEIGHT 0.4 9 1 1 MC_YR_INT_LIM 0.3 9 1 1 MIS_DIST_1WP 9e+02 9 1 1 MIS_LND_ABRT_ALT 30 6 1 1 MIS_MNT_YAW_CTL 0 6 1 1 MIS_PD_TO 5 9 1 1 MIS_TAKEOFF_ALT 2.5 9 1 1 MIS_TKO_LAND_REQ 0 6 1 1 MIS_YAW_ERR 12 9 1 1 MIS_YAW_TMT -1 9 1 1 MODALAI_CONFIG 0 6 1 1 MOT_SLEW_MAX 0 9 1 1 MPC_ACC_DOWN_MAX 3 9 1 1 MPC_ACC_HOR 3 9 1 1 MPC_ACC_HOR_MAX 6 9 1 1 MPC_ACC_UP_MAX 3 9 1 1 MPC_ALT_MODE 0 6 1 1 MPC_HOLD_DZ 0.1 9 1 1 MPC_HOLD_MAX_XY 0 9 1 1 MPC_HOLD_MAX_Z 0 9 1 1 MPC_JERK_AUTO 4 9 1 1 MPC_JERK_MAX 4e+01 9 1 1 MPC_LAND_ALT1 1e+01 9 1 1 MPC_LAND_ALT2 5 9 1 1 MPC_LAND_ALT3 1 9 1 1 MPC_LAND_CRWL 0.3 9 1 1 MPC_LAND_RADIUS 1e+03 9 1 1 MPC_LAND_RC_HELP 0 6 1 1 MPC_LAND_SPEED 1 9 1 1 MPC_MANTHR_MIN 0.12 9 1 1 MPC_MAN_TILT_MAX 35 9 1 1 MPC_MAN_Y_MAX 1.5e+02 9 1 1 MPC_MAN_Y_TAU 0.08 9 1 1 MPC_POS_MODE 4 6 1 1 MPC_THR_CURVE 0 6 1 1 MPC_THR_HOVER 0.39 9 1 1 MPC_THR_MAX 0.75 9 1 1 MPC_THR_MIN 0.12 9 1 1 MPC_THR_XY_MARG 0.3 9 1 1 MPC_TILTMAX_AIR 3e+01 9 1 1 MPC_TILTMAX_LND 12 9 1 1 MPC_TKO_RAMP_T 1 9 1 1 MPC_TKO_SPEED 1.5 9 1 1 MPC_USE_HTE 1 6 1 1 MPC_VELD_LP 5 9 1 1 MPC_VEL_MANUAL 5 9 1 1 MPC_VEL_MAN_BACK -1 9 1 1 MPC_VEL_MAN_SIDE -1 9 1 1 MPC_XY_CRUISE 5 9 1 1 MPC_XY_ERR_MAX 2 9 1 1 MPC_XY_MAN_EXPO 0.45 9 1 1 MPC_XY_P 0.95 9 1 1 MPC_XY_TRAJ_P 0.5 9 1 1 MPC_XY_VEL_ALL -1e+01 9 1 1 MPC_XY_VEL_D_ACC 0 9 1 1 MPC_XY_VEL_I_ACC 0.1 9 1 1 MPC_XY_VEL_MAX 5 9 1 1 MPC_XY_VEL_P_ACC 3 9 1 1 MPC_YAWRAUTO_MAX 45 9 1 1 MPC_YAW_EXPO 0.3 9 1 1 MPC_YAW_MODE 0 6 1 1 MPC_Z_MAN_EXPO 0.1 9 1 1 MPC_Z_P 1 9 1 1 MPC_Z_VEL_ALL -3 9 1 1 MPC_Z_VEL_D_ACC 0 9 1 1 MPC_Z_VEL_I_ACC 2 9 1 1 MPC_Z_VEL_MAX_DN 1.5 9 1 1 MPC_Z_VEL_MAX_UP 4 9 1 1 MPC_Z_VEL_P_ACC 8 9 1 1 MPC_Z_V_AUTO_DN 1.5 9 1 1 MPC_Z_V_AUTO_UP 4 9 1 1 MUORB_KAF_DSRM 30 6 1 1 MUORB_KAF_LAND 1 6 1 1 NAV_ACC_RAD 2 9 1 1 NAV_DLL_ACT 0 6 1 1 NAV_FORCE_VT 1 6 1 1 NAV_FW_ALTL_RAD 5 9 1 1 NAV_FW_ALT_RAD 1e+01 9 1 1 NAV_LOITER_RAD 8e+01 9 1 1 NAV_MC_ALT_RAD 0.8 9 1 1 NAV_MIN_LTR_ALT -1 9 1 1 NAV_RCL_ACT 2 6 1 1 NAV_TRAFF_AVOID 1 6 1 1 NAV_TRAFF_A_HOR 5e+02 9 1 1 NAV_TRAFF_A_VER 5e+02 9 1 1 NAV_TRAFF_COLL_T 60 6 1 1 PLD_BTOUT 5 9 1 1 PLD_FAPPR_ALT 0.1 9 1 1 PLD_HACC_RAD 0.2 9 1 1 PLD_MAX_SRCH 3 6 1 1 PLD_SRCH_ALT 1e+01 9 1 1 PLD_SRCH_TOUT 1e+01 9 1 1 RC10_DZ 0 9 1 1 RC10_MAX 2e+03 9 1 1 RC10_MIN 1e+03 9 1 1 RC10_REV 1 9 1 1 RC10_TRIM 1.5e+03 9 1 1 RC11_DZ 0 9 1 1 RC11_MAX 2e+03 9 1 1 RC11_MIN 1e+03 9 1 1 RC11_REV 1 9 1 1 RC11_TRIM 1.5e+03 9 1 1 RC12_DZ 0 9 1 1 RC12_MAX 2e+03 9 1 1 RC12_MIN 1e+03 9 1 1 RC12_REV 1 9 1 1 RC12_TRIM 1.5e+03 9 1 1 RC13_DZ 0 9 1 1 RC13_MAX 2e+03 9 1 1 RC13_MIN 1e+03 9 1 1 RC13_REV 1 9 1 1 RC13_TRIM 1.5e+03 9 1 1 RC14_DZ 0 9 1 1 RC14_MAX 2e+03 9 1 1 RC14_MIN 1e+03 9 1 1 RC14_REV 1 9 1 1 RC14_TRIM 1.5e+03 9 1 1 RC15_DZ 0 9 1 1 RC15_MAX 2e+03 9 1 1 RC15_MIN 1e+03 9 1 1 RC15_REV 1 9 1 1 RC15_TRIM 1.5e+03 9 1 1 RC16_DZ 0 9 1 1 RC16_MAX 2e+03 9 1 1 RC16_MIN 1e+03 9 1 1 RC16_REV 1 9 1 1 RC16_TRIM 1.5e+03 9 1 1 RC17_DZ 0 9 1 1 RC17_MAX 2e+03 9 1 1 RC17_MIN 1e+03 9 1 1 RC17_REV 1 9 1 1 RC17_TRIM 1.5e+03 9 1 1 RC18_DZ 0 9 1 1 RC18_MAX 2e+03 9 1 1 RC18_MIN 1e+03 9 1 1 RC18_REV 1 9 1 1 RC18_TRIM 1.5e+03 9 1 1 RC1_DZ 1e+01 9 1 1 RC1_MAX 2e+03 9 1 1 RC1_MIN 1001 9 1 1 RC1_REV 1 9 1 1 RC1_TRIM 1.5e+03 9 1 1 RC2_DZ 1e+01 9 1 1 RC2_MAX 2e+03 9 1 1 RC2_MIN 1001 9 1 1 RC2_REV 1 9 1 1 RC2_TRIM 1.5e+03 9 1 1 RC3_DZ 1e+01 9 1 1 RC3_MAX 2e+03 9 1 1 RC3_MIN 1001 9 1 1 RC3_REV 1 9 1 1 RC3_TRIM 1001 9 1 1 RC4_DZ 1e+01 9 1 1 RC4_MAX 2e+03 9 1 1 RC4_MIN 1001 9 1 1 RC4_REV 1 9 1 1 RC4_TRIM 1.5e+03 9 1 1 RC5_DZ 1e+01 9 1 1 RC5_MAX 1988 9 1 1 RC5_MIN 1011 9 1 1 RC5_REV 1 9 1 1 RC5_TRIM 1499 9 1 1 RC6_DZ 1e+01 9 1 1 RC6_MAX 1988 9 1 1 RC6_MIN 1011 9 1 1 RC6_REV 1 9 1 1 RC6_TRIM 1499 9 1 1 RC7_DZ 1e+01 9 1 1 RC7_MAX 1988 9 1 1 RC7_MIN 1011 9 1 1 RC7_REV 1 9 1 1 RC7_TRIM 1499 9 1 1 RC8_DZ 1e+01 9 1 1 RC8_MAX 1988 9 1 1 RC8_MIN 1011 9 1 1 RC8_REV 1 9 1 1 RC8_TRIM 1499 9 1 1 RC9_DZ 0 9 1 1 RC9_MAX 2e+03 9 1 1 RC9_MIN 1e+03 9 1 1 RC9_REV 1 9 1 1 RC9_TRIM 1.5e+03 9 1 1 RC_ARMSWITCH_TH 0.75 9 1 1 RC_CHAN_CNT 16 6 1 1 RC_CRSF_TEL_EN 1 6 1 1 RC_ENG_MOT_TH 0.75 9 1 1 RC_FAILS_THR 0 6 1 1 RC_GEAR_TH 0.75 9 1 1 RC_KILLSWITCH_TH 0.75 9 1 1 RC_LOITER_TH 0.75 9 1 1 RC_MAP_ACRO_SW 0 6 1 1 RC_MAP_ARM_SW 5 6 1 1 RC_MAP_AUX1 0 6 1 1 RC_MAP_AUX2 0 6 1 1 RC_MAP_AUX3 0 6 1 1 RC_MAP_AUX4 0 6 1 1 RC_MAP_AUX5 0 6 1 1 RC_MAP_AUX6 0 6 1 1 RC_MAP_ENG_MOT 0 6 1 1 RC_MAP_FAILSAFE 0 6 1 1 RC_MAP_FLAPS 0 6 1 1 RC_MAP_FLTMODE 8 6 1 1 RC_MAP_FLTM_BTN 0 6 1 1 RC_MAP_GEAR_SW 0 6 1 1 RC_MAP_KILL_SW 0 6 1 1 RC_MAP_LOITER_SW 0 6 1 1 RC_MAP_MAN_SW 0 6 1 1 RC_MAP_MODE_SW 0 6 1 1 RC_MAP_OFFB_SW 7 6 1 1 RC_MAP_PARAM1 0 6 1 1 RC_MAP_PARAM2 0 6 1 1 RC_MAP_PARAM3 0 6 1 1 RC_MAP_PITCH 2 6 1 1 RC_MAP_POSCTL_SW 0 6 1 1 RC_MAP_RATT_SW 0 6 1 1 RC_MAP_RETURN_SW 0 6 1 1 RC_MAP_ROLL 1 6 1 1 RC_MAP_STAB_SW 0 6 1 1 RC_MAP_THROTTLE 3 6 1 1 RC_MAP_TRANS_SW 0 6 1 1 RC_MAP_YAW 4 6 1 1 RC_OFFB_TH 0.75 9 1 1 RC_RETURN_TH 0.75 9 1 1 RC_TRANS_TH 0.75 9 1 1 RTL_CONE_ANG 45 6 1 1 RTL_DESCEND_ALT 1e+01 9 1 1 RTL_HDG_MD 0 6 1 1 RTL_LAND_DELAY 0 9 1 1 RTL_LOITER_RAD 8e+01 9 1 1 RTL_MIN_DIST 1e+01 9 1 1 RTL_PLD_MD 0 6 1 1 RTL_RETURN_ALT 3e+01 9 1 1 RTL_TIME_FACTOR 1.1 9 1 1 RTL_TIME_MARGIN 100 6 1 1 RTL_TYPE 0 6 1 1 SDLOG_BOOT_BAT 0 6 1 1 SDLOG_DIRS_MAX 0 6 1 1 SDLOG_MISSION 0 6 1 1 SDLOG_MODE 0 6 1 1 SDLOG_PROFILE 129 6 1 1 SDLOG_UTC_OFFSET 0 6 1 1 SDLOG_UUID 1 6 1 1 SENS_BARO_QNH 1013.25 9 1 1 SENS_BARO_RATE 2e+01 9 1 1 SENS_BOARD_ROT 0 6 1 1 SENS_BOARD_X_OFF 1.3035778 9 1 1 SENS_BOARD_Y_OFF -0.52755773 9 1 1 SENS_BOARD_Z_OFF 0 9 1 1 SENS_DPRES_OFF 0 9 1 1 SENS_IMU_AUTOCAL 0 6 1 1 SENS_IMU_MODE 1 6 1 1 SENS_MAG_MODE 0 6 1 1 SENS_MAG_RATE 15 9 1 1 SENS_MAG_SIDES 0 6 1 1 SYS_AUTOCONFIG 0 6 1 1 SYS_AUTOSTART 4001 6 1 1 SYS_CAL_TDEL 24 6 1 1 SYS_CAL_TMAX 10 6 1 1 SYS_CAL_TMIN 5 6 1 1 SYS_FAC_CAL_MODE 0 6 1 1 SYS_FAILURE_EN 0 6 1 1 SYS_HAS_BARO 1 6 1 1 SYS_HAS_GPS 0 6 1 1 SYS_HAS_MAG 0 6 1 1 SYS_HAS_NUM_DIST 0 6 1 1 SYS_HITL 0 6 1 1 SYS_MC_EST_GROUP 2 6 1 1 SYS_RGB_MAXBRT 1 9 1 1 SYS_STCK_EN 1 6 1 1 SYS_VEHICLE_RESP -0.4 9 1 1 TC_A_ENABLE 0 6 1 1 TC_B0_TREF 48.72 9 1 1 TC_B0_X0 5.313 9 1 1 TC_B0_X1 -5.2285 9 1 1 TC_B_ENABLE 0 6 1 1 TC_G_ENABLE 0 6 1 1 THR_MDL_FAC 0.8 9 1 1 TRIG_MODE 0 6 1 1 UAVCAN_ENABLE 0 6 1 1 VOXL_ESC_BAUD 2000000 6 1 1 VOXL_ESC_CMD 0 6 1 1 VOXL_ESC_CONFIG 1 6 1 1 VOXL_ESC_FUNC1 101 6 1 1 VOXL_ESC_FUNC2 104 6 1 1 VOXL_ESC_FUNC3 102 6 1 1 VOXL_ESC_FUNC4 103 6 1 1 VOXL_ESC_MODE 0 6 1 1 VOXL_ESC_PUB_BST 1 6 1 1 VOXL_ESC_PWR_MIN 0.05 9 1 1 VOXL_ESC_REV 0 6 1 1 VOXL_ESC_RPM_MAX 28000 6 1 1 VOXL_ESC_RPM_MIN 3000 6 1 1 VOXL_ESC_SDIR1 1 6 1 1 VOXL_ESC_SDIR2 1 6 1 1 VOXL_ESC_SDIR3 1 6 1 1 VOXL_ESC_SDIR4 1 6 1 1 VOXL_ESC_T_COSP 0.99 9 1 1 VOXL_ESC_T_DEAD 20 6 1 1 VOXL_ESC_T_EXPO 35 6 1 1 VOXL_ESC_T_MINF 0.15 9 1 1 VOXL_ESC_T_OVER 0 6 1 1 VOXL_ESC_T_PERC 90 6 1 1 VOXL_ESC_T_WARN 0 6 1 1 VOXL_ESC_VLOG 1 6 1 1 VTO_LOITER_ALT 8e+01 9 1 1 VT_B_DEC_MSS 2 9 1 1 WV_EN 0 6 1 1 WV_GAIN 1 9 1 1 WV_ROLL_MIN 1 9 1 1 WV_YRATE_MAX 9e+01 9 1 1 XRCE_DDS_DOM_ID 0 6 1 1 XRCE_DDS_KEY 1 6 -
Could you post a log of the drone flip?
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