@Eric-Katzfey

Thank you for your response.

For Manual mode, I recalibrated the level horizon, accel, compass, and gyro. However, during the RC calibration, I noticed a small shift in the yaw when all the sticks are in their neutral positions. I’m unsure if this is contributing to the issue. I attempted to recalibrate it several times, but the yaw does not reset to the 0 position. Please find the attached screenshot for your reference:
.

As you suggested, I tried flying in Altitude Hold mode, and the drone drifted in the direction where the yaw was shifted.

Is there a way to fix the yaw offset?

@Eric-Katzfey

Nevermind, I found the issue. In the voxl-px4.conf file, the RC value was somehow updated to SPEKTRUM. After changing the RC value back to GHST, the issue was resolved.

Thank you so much for your support!

@Eric-Katzfey

When I checked the Voxl Health Check via the Voxl portal, I noticed that the health check had failed, as shown in the attached images:

I am using indoor GPS-denied navigation, so the GPS sensor status is correctly marked as false. However, I have turned on my Remote Controller, yet the input_rc status still shows as false.

Additionally, when I change the mode using the Remote Controller, QGroundControl does not reflect the mode changes. The same issue occurs with the kill switch—engaging or disengaging it does not update in QGC.

I am using the Ghost RC that I got from ModalAI. I suspect I might have unknowingly made changes to the QGC radio settings. Could this be the cause of the issue, and if so, what steps should I take to verify or correct this?

Hi @Eric-Katzfey,

Thank you for your response.

When I connect to QGroundControl (QGC), the reason for the failure to arm is shown as follows:

Additionally, here are the outputs when I run the voxl-px4 and voxl-px4-start commands:

voxl2:~$ voxl-px4
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Daemon mode enabled

AIRFRAME=MULTICOPTER
GPS=NONE
RC=SPEKTRUM
ESC=VOXL_ESC
POWER MANAGER=VOXLPM
AIRSPEED SENSOR=NONE
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=ENABLE
SENSOR_CAL=ACTUAL
ARTIFACT_MODE=DISABLE
EXTRA STEPS:

INFO [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO [px4] PX4 server already running for instance 0

voxl2:~$ voxl-px4-start

AIRFRAME:
GPS:
RC:
ESC:
POWER MANAGER:
AIRSPEED SENSOR:
DISTANCE SENSOR:
OSD:
ARTIFACT_MODE:
EXTRA STEPS:

Running on M0054
INFO [param] selected parameter default file /data/px4/param/parameters
INFO [parameters] BSON document size 3366 bytes, decoded 3366 bytes (INT32:48, FLOAT:107)
ERROR [logger] Task already running
Starting IMU driver with no rotation
INFO [qshell] Send cmd: 'icm42688p start -s'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 804961172, local time: 804964507
ERROR [qshell] Command failed
INFO [qshell] Send cmd: 'icp101xx start -I -b 5'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 804991878, local time: 804994336
ERROR [qshell] Command failed
Looking for qmc5883l magnetometer
INFO [qshell] Send cmd: 'qmc5883l start -R 10 -X -b 1'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 805029897, local time: 805032559
ERROR [qshell] Command failed
Looking for ist8310 magnetometer
INFO [qshell] Send cmd: 'ist8310 start -R 10 -X -b 1'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 805068252, local time: 805069440
ERROR [qshell] Command failed
INFO [qshell] Send cmd: 'gps start'
INFO [qshell] qshell return value timestamp: 805101426, local time: 805103077
Looking for ncp5623c RGB LED
INFO [qshell] Send cmd: 'rgbled_ncp5623c start -X -b 1 -f 400 -a 56'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 805142844, local time: 805145634
ERROR [qshell] Command failed
No ESC type specified, not starting an ESC driver
INFO [qshell] Send cmd: 'sensors start'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 805268907, local time: 805270932
ERROR [qshell] Command failed
INFO [qshell] Send cmd: 'ekf2 start'
INFO [qshell] qshell return value timestamp: 805300354, local time: 805305054
/usr/bin/voxl-px4-start: line 215: [: =: unary operator expected
INFO [qshell] Send cmd: 'manual_control start'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 805334289, local time: 805336988
ERROR [qshell] Command failed
INFO [qshell] Send cmd: 'control_allocator start'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 805374536, local time: 805378458
ERROR [qshell] Command failed
INFO [qshell] Send cmd: 'load_mon start'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 805413929, local time: 805416679
ERROR [qshell] Command failed
INFO [qshell] Send cmd: 'rc_update start'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 805448866, local time: 805449872
ERROR [qshell] Command failed
INFO [qshell] Send cmd: 'commander start'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 805489289, local time: 805490118
ERROR [qshell] Command failed
INFO [qshell] Send cmd: 'flight_mode_manager start'
INFO [qshell] cmd returned with: -1
INFO [qshell] qshell return value timestamp: 805528214, local time: 805531157
ERROR [qshell] Command failed
WARN [dataman] dataman already running
ERROR [navigator] Task already running
ERROR [load_mon] Task already running
WARN [modal_io_bridge] Already started
ERROR [microdds_client] Task already running
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
voxl2:~$

Additionally, after running the voxl-esc disable_bridge command, do I need to enable any specific ports or perform additional configurations to ensure proper communication between the modules?

Thank you for your assistance!

Hi @Eric-Katzfey, Thank you for your response and for pointing out potential issues.

1. Yes, when I fly with the RC in Position mode and Offboard mode, it works fine.

2. In Manual mode, the drone is completely unflyable. When I try to take off, it drifts aggressively to one side. The logs attached in my initial comment were recorded during an attempt to take off from the ground.

3. Yes, the MAVSDK program I mentioned was the only one I was running at the time.

4. Oh, is there a way to disable the Offboard figure-8 commands from voxl-vision-hub? (Edit: do I need to update "/etc/modalai/voxl-vision-hub.conf" and set "offboard_mode": "off"? Is this enough to turn off the figure 8 mode?)

Thank you for your support!

Hi Team,

I am currently facing an issue where I am unable to arm the drone, either through the Remote Controller or via the MAVSDK program. I am unsure of the root cause of this problem.

I was troubleshooting a drift issue during Offboard flight mode when running the MAVSDK program. To check if it was related to ESC calibration, I followed the instructions provided in the following resources:

https://docs.modalai.com/modal-esc-v2-manual/
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/calibration.md

After checking the calibration, I ran the voxl-esc disable_bridge command, enabled Voxl-PX4, and rebooted Voxl. However, since then, I have been unable to arm the drone.

I have verified that all the required services are running, as shown in the attached screenshot:

The below are the PX4-Params:
voxl2:/$ px4-param show
Symbols: x = used, + = saved, * = unsaved
x ASPD_SCALE_1 [0,23] : 1.0000
x + BAT1_CAPACITY [1,42] : 3950.0000
x + BAT1_N_CELLS [2,45] : 4
x + BAT1_R_INTERNAL [3,46] : 0.0220
x BAT1_SOURCE [4,48] : 0
x + BAT1_V_CHARGED [5,50] : 4.1000
x + BAT1_V_EMPTY [6,52] : 2.8000
x BAT1_V_LOAD_DROP [7,53] : 0.1000
x + BAT_AVRG_CURRENT [8,68] : 3.4000
x + BAT_CRIT_THR [9,69] : 0.1000
x BAT_EMERGEN_THR [10,70] : 0.0500
x BAT_LOW_THR [11,71] : 0.1500
x BAT_N_CELLS [12,72] : 3
x BAT_V_CHARGED [13,73] : 4.0500
x BAT_V_EMPTY [14,74] : 3.6000
x BAT_V_LOAD_DROP [15,75] : 0.3000
x + CAL_ACC0_ID [16,77] : 2490378
x + CAL_ACC0_PRIO [17,78] : 50
x CAL_ACC0_ROT [18,79] : -1
x + CAL_ACC0_XOFF [19,80] : -0.0110
x + CAL_ACC0_XSCALE [20,81] : 1.0073
x + CAL_ACC0_YOFF [21,82] : -0.0074
x + CAL_ACC0_YSCALE [22,83] : 1.0054
x + CAL_ACC0_ZOFF [23,84] : -0.0661
x + CAL_ACC0_ZSCALE [24,85] : 1.0079
x CAL_ACC1_ID [25,86] : 0
x CAL_ACC2_ID [26,95] : 0
x CAL_ACC3_ID [27,104] : 0
x CAL_AIR_CMODEL [28,113] : 0
x CAL_AIR_TUBED_MM [29,114] : 1.5000
x CAL_AIR_TUBELEN [30,115] : 0.2000
x CAL_BARO0_ID [31,116] : 0
x CAL_BARO1_ID [32,119] : 0
x CAL_BARO2_ID [33,122] : 0
x CAL_BARO3_ID [34,125] : 0
x + CAL_GYRO0_ID [35,128] : 2490378
x + CAL_GYRO0_PRIO [36,129] : 50
x CAL_GYRO0_ROT [37,130] : -1
x + CAL_GYRO0_XOFF [38,131] : 0.0035
x + CAL_GYRO0_YOFF [39,132] : 0.0076
x + CAL_GYRO0_ZOFF [40,133] : 0.0076
x CAL_GYRO1_ID [41,134] : 0
x CAL_GYRO2_ID [42,140] : 0
x CAL_GYRO3_ID [43,146] : 0
x + CAL_MAG0_ID [44,152] : 527625
x + CAL_MAG0_PRIO [45,153] : 75
x + CAL_MAG0_ROT [46,154] : 0
x CAL_MAG0_XCOMP [47,155] : 0.0000
x + CAL_MAG0_XODIAG [48,156] : 0.0610
x + CAL_MAG0_XOFF [49,157] : -0.1331
x + CAL_MAG0_XSCALE [50,158] : 0.9220
x CAL_MAG0_YCOMP [51,159] : 0.0000
x + CAL_MAG0_YODIAG [52,160] : -0.0123
x + CAL_MAG0_YOFF [53,161] : -0.0037
x + CAL_MAG0_YSCALE [54,162] : 0.9370
x CAL_MAG0_ZCOMP [55,163] : 0.0000
x + CAL_MAG0_ZODIAG [56,164] : 0.0177
x + CAL_MAG0_ZOFF [57,165] : -0.1041
x + CAL_MAG0_ZSCALE [58,166] : 1.0706
x CAL_MAG1_ID [59,167] : 0
x CAL_MAG1_ROT [60,169] : -1
x CAL_MAG2_ID [61,182] : 0
x CAL_MAG2_ROT [62,184] : -1
x CAL_MAG3_ID [63,197] : 0
x CAL_MAG3_ROT [64,199] : -1
x CA_AIRFRAME [65,224] : 0
x CA_FAILURE_MODE [66,225] : 0
x CA_METHOD [67,240] : 2
x CA_R0_SLEW [68,241] : 0.0000
x CA_R10_SLEW [69,242] : 0.0000
x CA_R11_SLEW [70,243] : 0.0000
x CA_R1_SLEW [71,244] : 0.0000
x CA_R2_SLEW [72,245] : 0.0000
x CA_R3_SLEW [73,246] : 0.0000
x CA_R4_SLEW [74,247] : 0.0000
x CA_R5_SLEW [75,248] : 0.0000
x CA_R6_SLEW [76,249] : 0.0000
x CA_R7_SLEW [77,250] : 0.0000
x CA_R8_SLEW [78,251] : 0.0000
x CA_R9_SLEW [79,252] : 0.0000
x CA_ROTOR0_AX [80,253] : 0.0000
x CA_ROTOR0_AY [81,254] : 0.0000
x CA_ROTOR0_AZ [82,255] : -1.0000
x CA_ROTOR0_CT [83,256] : 6.5000
x CA_ROTOR0_KM [84,257] : 0.0500
x + CA_ROTOR0_PX [85,258] : 0.0850
x + CA_ROTOR0_PY [86,259] : 0.0625
x CA_ROTOR0_PZ [87,260] : 0.0000
x CA_ROTOR10_AX [88,262] : 0.0000
x CA_ROTOR10_AY [89,263] : 0.0000
x CA_ROTOR10_AZ [90,264] : -1.0000
x CA_ROTOR10_CT [91,265] : 6.5000
x CA_ROTOR10_KM [92,266] : 0.0500
x CA_ROTOR10_PX [93,267] : 0.0000
x CA_ROTOR10_PY [94,268] : 0.0000
x CA_ROTOR10_PZ [95,269] : 0.0000
x CA_ROTOR11_AX [96,271] : 0.0000
x CA_ROTOR11_AY [97,272] : 0.0000
x CA_ROTOR11_AZ [98,273] : -1.0000
x CA_ROTOR11_CT [99,274] : 6.5000
x CA_ROTOR11_KM [100,275] : 0.0500
x CA_ROTOR11_PX [101,276] : 0.0000
x CA_ROTOR11_PY [102,277] : 0.0000
x CA_ROTOR11_PZ [103,278] : 0.0000
x CA_ROTOR1_AX [104,280] : 0.0000
x CA_ROTOR1_AY [105,281] : 0.0000
x CA_ROTOR1_AZ [106,282] : -1.0000
x CA_ROTOR1_CT [107,283] : 6.5000
x CA_ROTOR1_KM [108,284] : 0.0500
x + CA_ROTOR1_PX [109,285] : -0.0850
x + CA_ROTOR1_PY [110,286] : -0.0625
x CA_ROTOR1_PZ [111,287] : 0.0000
x CA_ROTOR2_AX [112,289] : 0.0000
x CA_ROTOR2_AY [113,290] : 0.0000
x CA_ROTOR2_AZ [114,291] : -1.0000
x CA_ROTOR2_CT [115,292] : 6.5000
x + CA_ROTOR2_KM [116,293] : -0.0500
x + CA_ROTOR2_PX [117,294] : 0.0850
x + CA_ROTOR2_PY [118,295] : -0.0625
x CA_ROTOR2_PZ [119,296] : 0.0000
x CA_ROTOR3_AX [120,298] : 0.0000
x CA_ROTOR3_AY [121,299] : 0.0000
x CA_ROTOR3_AZ [122,300] : -1.0000
x CA_ROTOR3_CT [123,301] : 6.5000
x + CA_ROTOR3_KM [124,302] : -0.0500
x + CA_ROTOR3_PX [125,303] : -0.0850
x + CA_ROTOR3_PY [126,304] : 0.0625
x CA_ROTOR3_PZ [127,305] : 0.0000
x CA_ROTOR4_AX [128,307] : 0.0000
x CA_ROTOR4_AY [129,308] : 0.0000
x CA_ROTOR4_AZ [130,309] : -1.0000
x CA_ROTOR4_CT [131,310] : 6.5000
x CA_ROTOR4_KM [132,311] : 0.0500
x CA_ROTOR4_PX [133,312] : 0.0000
x CA_ROTOR4_PY [134,313] : 0.0000
x CA_ROTOR4_PZ [135,314] : 0.0000
x CA_ROTOR5_AX [136,316] : 0.0000
x CA_ROTOR5_AY [137,317] : 0.0000
x CA_ROTOR5_AZ [138,318] : -1.0000
x CA_ROTOR5_CT [139,319] : 6.5000
x CA_ROTOR5_KM [140,320] : 0.0500
x CA_ROTOR5_PX [141,321] : 0.0000
x CA_ROTOR5_PY [142,322] : 0.0000
x CA_ROTOR5_PZ [143,323] : 0.0000
x CA_ROTOR6_AX [144,325] : 0.0000
x CA_ROTOR6_AY [145,326] : 0.0000
x CA_ROTOR6_AZ [146,327] : -1.0000
x CA_ROTOR6_CT [147,328] : 6.5000
x CA_ROTOR6_KM [148,329] : 0.0500
x CA_ROTOR6_PX [149,330] : 0.0000
x CA_ROTOR6_PY [150,331] : 0.0000
x CA_ROTOR6_PZ [151,332] : 0.0000
x CA_ROTOR7_AX [152,334] : 0.0000
x CA_ROTOR7_AY [153,335] : 0.0000
x CA_ROTOR7_AZ [154,336] : -1.0000
x CA_ROTOR7_CT [155,337] : 6.5000
x CA_ROTOR7_KM [156,338] : 0.0500
x CA_ROTOR7_PX [157,339] : 0.0000
x CA_ROTOR7_PY [158,340] : 0.0000
x CA_ROTOR7_PZ [159,341] : 0.0000
x CA_ROTOR8_AX [160,343] : 0.0000
x CA_ROTOR8_AY [161,344] : 0.0000
x CA_ROTOR8_AZ [162,345] : -1.0000
x CA_ROTOR8_CT [163,346] : 6.5000
x CA_ROTOR8_KM [164,347] : 0.0500
x CA_ROTOR8_PX [165,348] : 0.0000
x CA_ROTOR8_PY [166,349] : 0.0000
x CA_ROTOR8_PZ [167,350] : 0.0000
x CA_ROTOR9_AX [168,352] : 0.0000
x CA_ROTOR9_AY [169,353] : 0.0000
x CA_ROTOR9_AZ [170,354] : -1.0000
x CA_ROTOR9_CT [171,355] : 6.5000
x CA_ROTOR9_KM [172,356] : 0.0500
x CA_ROTOR9_PX [173,357] : 0.0000
x CA_ROTOR9_PY [174,358] : 0.0000
x CA_ROTOR9_PZ [175,359] : 0.0000
x + CA_ROTOR_COUNT [176,361] : 4
x CA_R_REV [177,362] : 0
x CA_SV0_SLEW [178,372] : 0.0000
x CA_SV1_SLEW [179,373] : 0.0000
x CA_SV2_SLEW [180,374] : 0.0000
x CA_SV3_SLEW [181,375] : 0.0000
x CA_SV4_SLEW [182,376] : 0.0000
x CA_SV5_SLEW [183,377] : 0.0000
x CA_SV6_SLEW [184,378] : 0.0000
x CA_SV7_SLEW [185,379] : 0.0000
x CBRK_AIRSPD_CHK [186,454] : 0
x CBRK_FLIGHTTERM [187,456] : 121212
x CBRK_IO_SAFETY [188,457] : 22027
x + CBRK_SUPPLY_CHK [189,458] : 894281
x CBRK_USB_CHK [190,459] : 197848
x CBRK_VTOLARMING [191,460] : 0
x COM_ACT_FAIL_ACT [192,461] : 0
x COM_ARM_ARSP_EN [193,462] : 1
x COM_ARM_AUTH_ID [194,463] : 10
x COM_ARM_AUTH_MET [195,464] : 0
x COM_ARM_AUTH_REQ [196,465] : 0
x COM_ARM_AUTH_TO [197,466] : 1.0000
x COM_ARM_BAD_INOV [198,467] : 0
x COM_ARM_CHK_ESCS [199,468] : 0
x COM_ARM_EKF_BIAS [200,469] : 3.0000
x COM_ARM_EKF_HGT [201,470] : 1.0000
x COM_ARM_EKF_POS [202,471] : 0.5000
x COM_ARM_EKF_VEL [203,472] : 0.5000
x COM_ARM_EKF_YAW [204,473] : 0.5000
x COM_ARM_HFLT_CHK [205,474] : 1
x COM_ARM_IMU_ACC [206,475] : 0.7000
x COM_ARM_IMU_GYR [207,476] : 0.2500
x COM_ARM_MAG_ANG [208,477] : 60
x COM_ARM_MAG_STR [209,478] : 2
x COM_ARM_MIS_REQ [210,479] : 0
x COM_ARM_ODID [211,480] : 0
x + COM_ARM_SDCARD [212,481] : 0
x COM_ARM_SWISBTN [213,482] : 0
x COM_ARM_WO_GPS [214,483] : 1
x + COM_CPU_MAX [215,484] : -1.0000
x COM_DISARM_FORCE [216,485] : 0
x + COM_DISARM_LAND [217,486] : 0.1000
x + COM_DISARM_PRFLT [218,487] : 20.0000
x COM_DL_LOSS_T [219,488] : 10
x COM_FAIL_ACT_T [220,489] : 5.0000
x + COM_FLIGHT_UUID [221,490] : 275
x + COM_FLTMODE1 [222,491] : 0
x + COM_FLTMODE2 [223,492] : 0
x + COM_FLTMODE3 [224,493] : 2
x + COM_FLTMODE4 [225,494] : 2
x + COM_FLTMODE5 [226,495] : 7
x + COM_FLTMODE6 [227,496] : 7
x COM_FLT_PROFILE [228,497] : 0
x COM_FLT_TIME_MAX [229,498] : -1
x COM_FORCE_SAFETY [230,499] : 0
x COM_HLDL_LOSS_T [231,500] : 120
x COM_HLDL_REG_T [232,501] : 0
x COM_HOME_EN [233,502] : 1
x COM_HOME_IN_AIR [234,503] : 0
x COM_IMB_PROP_ACT [235,504] : 0
x + COM_KILL_DISARM [236,505] : 0.0000
x COM_LKDOWN_TKO [237,506] : 3.0000
x COM_LOW_BAT_ACT [238,507] : 0
x COM_MOT_TEST_EN [239,508] : 1
x COM_OBC_LOSS_T [240,509] : 5.0000
x COM_OBL_RC_ACT [241,510] : 0
x COM_OBS_AVOID [242,511] : 0
x COM_OF_LOSS_T [243,512] : 1.0000
x COM_PARACHUTE [244,513] : 0
x COM_POSCTL_NAVL [245,514] : 0
x COM_POS_FS_DELAY [246,515] : 1
x COM_POS_FS_EPH [247,516] : 5.0000
x COM_POS_LOW_EPH [248,517] : -1.0000
x COM_POWER_COUNT [249,518] : 1
x COM_PREARM_MODE [250,519] : 0
x COM_QC_ACT [251,520] : 0
x COM_RCL_EXCEPT [252,521] : 0
x COM_RC_ARM_HYST [253,522] : 1000
x COM_RC_IN_MODE [254,523] : 3
x COM_RC_LOSS_T [255,524] : 0.5000
x COM_RC_OVERRIDE [256,525] : 1
x COM_RC_STICK_OV [257,526] : 30.0000
x + COM_SPOOLUP_TIME [258,527] : 2.0000
x COM_TAKEOFF_ACT [259,528] : 0
x COM_VEL_FS_EVH [260,529] : 1.0000
x COM_WIND_MAX [261,530] : -1.0000
x COM_WIND_WARN [262,531] : -1.0000
x CP_DELAY [263,532] : 0.4000
x + CP_DIST [264,533] : -0.3048
x CP_GO_NO_DATA [265,534] : 0
x CP_GUIDE_ANG [266,535] : 30.0000
x EKF2_ABIAS_INIT [267,543] : 0.2000
x EKF2_ABL_ACCLIM [268,544] : 25.0000
x EKF2_ABL_GYRLIM [269,545] : 3.0000
x EKF2_ABL_LIM [270,546] : 0.4000
x EKF2_ABL_TAU [271,547] : 0.5000
x EKF2_ACC_B_NOISE [272,548] : 0.0030
x EKF2_ACC_NOISE [273,549] : 0.3500
x EKF2_AID_MASK [274,550] : 0
x EKF2_ANGERR_INIT [275,551] : 0.1000
x EKF2_ARSP_THR [276,552] : 0.0000
x EKF2_ASPD_MAX [277,553] : 20.0000
x EKF2_ASP_DELAY [278,554] : 100.0000
x EKF2_AVEL_DELAY [279,555] : 5.0000
x EKF2_BARO_CTRL [280,556] : 1
x EKF2_BARO_DELAY [281,557] : 0.0000
x EKF2_BARO_GATE [282,558] : 5.0000
x EKF2_BARO_NOISE [283,559] : 3.5000
x EKF2_BCOEF_X [284,560] : 100.0000
x EKF2_BCOEF_Y [285,561] : 100.0000
x EKF2_BETA_GATE [286,562] : 5.0000
x EKF2_BETA_NOISE [287,563] : 0.3000
x EKF2_DECL_TYPE [288,564] : 7
x EKF2_DRAG_CTRL [289,565] : 0
x EKF2_DRAG_NOISE [290,566] : 2.5000
x EKF2_EAS_NOISE [291,567] : 1.4000
x EKF2_EVA_NOISE [292,568] : 0.1000
x EKF2_EVP_GATE [293,569] : 5.0000
x EKF2_EVP_NOISE [294,570] : 0.1000
x EKF2_EVV_GATE [295,571] : 3.0000
x EKF2_EVV_NOISE [296,572] : 0.1000
x EKF2_EV_CTRL [297,573] : 15
x EKF2_EV_DELAY [298,574] : 0.0000
x EKF2_EV_HGT_TO [299,575] : 5000
x EKF2_EV_NOISE_MD [300,576] : 0
x EKF2_EV_POS_TO [301,577] : 1000
x EKF2_EV_POS_X [302,578] : 0.0000
x EKF2_EV_POS_Y [303,579] : 0.0000
x EKF2_EV_POS_Z [304,580] : 0.0000
x + EKF2_EV_QMIN [305,581] : 1
x EKF2_FUSE_BETA [306,582] : 0
x EKF2_GBIAS_INIT [307,583] : 0.1000
x EKF2_GND_EFF_DZ [308,584] : 4.0000
x EKF2_GND_MAX_HGT [309,585] : 0.5000
x EKF2_GPS_CHECK [310,586] : 245
x + EKF2_GPS_CTRL [311,587] : 0
x EKF2_GPS_DELAY [312,588] : 110.0000
x EKF2_GPS_POS_X [313,589] : 0.0000
x EKF2_GPS_POS_Y [314,590] : 0.0000
x EKF2_GPS_POS_Z [315,591] : 0.0000
x EKF2_GPS_P_GATE [316,592] : 5.0000
x EKF2_GPS_P_NOISE [317,593] : 0.5000
x EKF2_GPS_V_GATE [318,594] : 5.0000
x EKF2_GPS_V_NOISE [319,595] : 0.3000
x EKF2_GRAV_NOISE [320,596] : 1.0000
x EKF2_GSF_TAS [321,597] : 15.0000
x EKF2_GYR_B_LIM [322,598] : 0.1500
x EKF2_GYR_B_NOISE [323,599] : 0.0010
x EKF2_GYR_NOISE [324,600] : 0.0150
x EKF2_HDG_GATE [325,601] : 2.6000
x EKF2_HEAD_NOISE [326,602] : 0.3000
x + EKF2_HGT_REF [327,603] : 3
x EKF2_IMU_CTRL [328,604] : 3
x + EKF2_IMU_POS_X [329,605] : 0.0050
x + EKF2_IMU_POS_Y [330,606] : 0.0080
x + EKF2_IMU_POS_Z [331,607] : -0.0116
x EKF2_MAG_ACCLIM [332,608] : 0.5000
x EKF2_MAG_B_NOISE [333,609] : 0.0001
x EKF2_MAG_CHECK [334,610] : 1
x EKF2_MAG_DECL [335,611] : 0.0000
x EKF2_MAG_DELAY [336,612] : 0.0000
x EKF2_MAG_E_NOISE [337,613] : 0.0010
x EKF2_MAG_GATE [338,614] : 3.0000
x EKF2_MAG_NOISE [339,615] : 0.0500
x + EKF2_MAG_TYPE [340,616] : 5
x EKF2_MAG_YAWLIM [341,617] : 0.2000
x EKF2_MCOEF [342,618] : 0.1500
x EKF2_MIN_RNG [343,619] : 0.1000
x EKF2_NOAID_NOISE [344,622] : 10.0000
x EKF2_NOAID_TOUT [345,623] : 5000000
x EKF2_OF_CTRL [346,624] : 0
x EKF2_OF_DELAY [347,625] : 20.0000
x EKF2_OF_GATE [348,626] : 3.0000
x EKF2_OF_N_MAX [349,627] : 0.5000
x EKF2_OF_N_MIN [350,628] : 0.1500
x EKF2_OF_POS_X [351,629] : 0.0000
x EKF2_OF_POS_Y [352,630] : 0.0000
x EKF2_OF_POS_Z [353,631] : 0.0000
x EKF2_OF_QMIN [354,632] : 1
x EKF2_PCOEF_XN [355,633] : 0.0000
x EKF2_PCOEF_XP [356,634] : 0.0000
x EKF2_PCOEF_YN [357,635] : 0.0000
x EKF2_PCOEF_YP [358,636] : 0.0000
x EKF2_PCOEF_Z [359,637] : 0.0000
x EKF2_PREDICT_US [360,638] : 10000
x EKF2_REQ_EPH [361,639] : 3.0000
x EKF2_REQ_EPV [362,640] : 5.0000
x + EKF2_REQ_GPS_H [363,641] : 5.0000
x EKF2_REQ_HDRIFT [364,642] : 0.1000
x EKF2_REQ_NSATS [365,643] : 6
x EKF2_REQ_PDOP [366,644] : 2.5000
x + EKF2_REQ_SACC [367,645] : 1.5000
x EKF2_REQ_VDRIFT [368,646] : 0.2000
x EKF2_RNG_A_HMAX [369,647] : 5.0000
x EKF2_RNG_A_IGATE [370,648] : 1.0000
x EKF2_RNG_A_VMAX [371,649] : 1.0000
x + EKF2_RNG_CTRL [372,650] : 0
x EKF2_RNG_DELAY [373,651] : 5.0000
x EKF2_RNG_GATE [374,652] : 5.0000
x EKF2_RNG_K_GATE [375,653] : 1.0000
x EKF2_RNG_NOISE [376,654] : 0.1000
x EKF2_RNG_PITCH [377,655] : 0.0000
x EKF2_RNG_POS_X [378,656] : 0.0000
x EKF2_RNG_POS_Y [379,657] : 0.0000
x EKF2_RNG_POS_Z [380,658] : 0.0000
x EKF2_RNG_QLTY_T [381,659] : 1.0000
x EKF2_RNG_SFE [382,660] : 0.0500
x EKF2_SYNT_MAG_Z [383,666] : 0
x EKF2_TAS_GATE [384,667] : 3.0000
x EKF2_TAU_POS [385,668] : 0.2500
x EKF2_TAU_VEL [386,669] : 0.2500
x EKF2_TERR_GRAD [387,670] : 0.5000
x EKF2_TERR_MASK [388,671] : 3
x EKF2_TERR_NOISE [389,672] : 5.0000
x EKF2_WIND_NSD [390,673] : 0.0100
x FD_ACT_EN [391,679] : 1
x FD_ACT_MOT_C2T [392,680] : 2.0000
x FD_ACT_MOT_THR [393,681] : 0.2000
x FD_ACT_MOT_TOUT [394,682] : 100
x FD_ESCS_EN [395,683] : 1
x FD_EXT_ATS_EN [396,684] : 0
x FD_EXT_ATS_TRIG [397,685] : 1900
x FD_FAIL_P [398,686] : 60
x FD_FAIL_P_TTRI [399,687] : 0.3000
x FD_FAIL_R [400,688] : 60
x FD_FAIL_R_TTRI [401,689] : 0.3000
x FD_IMB_PROP_THR [402,690] : 30
x FLW_TGT_ALT_M [403,691] : 0
x FLW_TGT_DST [404,692] : 8.0000
x FLW_TGT_FA [405,693] : 180.0000
x FLW_TGT_HT [406,694] : 8.0000
x FLW_TGT_MAX_VEL [407,695] : 5.0000
x FLW_TGT_RS [408,696] : 0.1000
x FW_AIRSPD_MAX [409,700] : 20.0000
x FW_AIRSPD_TRIM [410,703] : 15.0000
x FW_ARSP_MODE [411,704] : 0
x FW_PSP_OFF [412,754] : 0.0000
x FW_T_CLMB_R_SP [413,783] : 3.0000
x FW_T_SINK_R_SP [414,792] : 2.0000
x GF_ACTION [415,816] : 2
x GF_ALTMODE [416,817] : 0
x GF_COUNT [417,818] : -1
x GF_MAX_HOR_DIST [418,819] : 0.0000
x + GF_MAX_VER_DIST [419,820] : 30.4800
x GF_PREDICT [420,821] : 0
x GF_SOURCE [421,822] : 0
x GND_SPEED_THR_SC [422,833] : 1.0000
x GPIO_CTL_CH [423,840] : 0
x HTE_ACC_GATE [424,870] : 3.0000
x HTE_HT_ERR_INIT [425,871] : 0.1000
x HTE_HT_NOISE [426,872] : 0.0036
x HTE_THR_RANGE [427,873] : 0.2000
x HTE_VXY_THR [428,874] : 10.0000
x HTE_VZ_THR [429,875] : 2.0000
x + IMU_ACCEL_CUTOFF [430,876] : 60.0000
x + IMU_DGYRO_CUTOFF [431,877] : 40.0000
x + IMU_GYRO_CUTOFF [432,879] : 80.0000
x IMU_GYRO_DNF_BW [433,880] : 15.0000
x + IMU_GYRO_DNF_EN [434,881] : 1
x IMU_GYRO_DNF_HMC [435,882] : 3
x IMU_GYRO_DNF_MIN [436,883] : 25.0000
x IMU_GYRO_NF0_BW [437,889] : 20.0000
x IMU_GYRO_NF0_FRQ [438,890] : 0.0000
x IMU_GYRO_NF1_BW [439,891] : 20.0000
x IMU_GYRO_NF1_FRQ [440,892] : 0.0000
x + IMU_GYRO_RATEMAX [441,893] : 800
x IMU_INTEG_RATE [442,894] : 200
x LNDMC_ALT_GND [443,916] : 2.0000
x LNDMC_ALT_MAX [444,917] : -1.0000
x + LNDMC_ROT_MAX [445,918] : 30.0000
x + LNDMC_TRIG_TIME [446,919] : 0.5000
x LNDMC_XY_VEL_MAX [447,920] : 1.5000
x LNDMC_Z_VEL_MAX [448,921] : 0.2500
x + LND_FLIGHT_T_HI [449,922] : 1
x + LND_FLIGHT_T_LO [450,923] : 301798580
x MAN_ARM_GESTURE [451,974] : 1
x MAV_COMP_ID [452,990] : 1
x MAV_FWDEXTSP [453,991] : 1
x MAV_HASH_CHK_EN [454,992] : 1
x MAV_HB_FORW_EN [455,993] : 1
x MAV_PROTO_VER [456,994] : 0
x MAV_RADIO_TOUT [457,995] : 5
x MAV_SIK_RADIO_ID [458,996] : 0
x MAV_SYS_ID [459,997] : 1
x + MAV_TYPE [460,998] : 2
x MAV_USEHILGPS [461,999] : 0
x MC_ACRO_EXPO [462,1002] : 0.6900
x MC_ACRO_EXPO_Y [463,1003] : 0.6900
x MC_ACRO_P_MAX [464,1004] : 720.0000
x MC_ACRO_R_MAX [465,1005] : 720.0000
x MC_ACRO_SUPEXPO [466,1006] : 0.7000
x MC_ACRO_SUPEXPOY [467,1007] : 0.7000
x MC_ACRO_Y_MAX [468,1008] : 540.0000
x MC_AIRMODE [469,1009] : 0
x MC_AT_APPLY [470,1010] : 1
x MC_AT_AXES [471,1011] : 3
x MC_AT_RISE_TIME [472,1013] : 0.1400
x MC_AT_START [473,1014] : 0
x MC_AT_SYSID_AMP [474,1015] : 0.7000
x MC_BAT_SCALE_EN [475,1016] : 0
x MC_INJECT_AMP [476,1017] : 0.0500
x MC_INJECT_CNT [477,1018] : 12
x MC_INJECT_EN [478,1019] : 0
x MC_INJECT_INC [479,1020] : 1.0000
x MC_INJECT_REST_T [480,1021] : 1.0000
x MC_INJECT_RPY [481,1022] : 2
x MC_INJECT_SINE_T [482,1023] : 5.0000
x MC_INJECT_START [483,1024] : 3.0000
x MC_MAN_TILT_TAU [484,1025] : 0.0000
x MC_ORBIT_RAD_MAX [485,1026] : 1000.0000
x + MC_PITCHRATE_D [486,1027] : 0.0011
x MC_PITCHRATE_FF [487,1028] : 0.0000
x + MC_PITCHRATE_I [488,1029] : 0.0960
x MC_PITCHRATE_K [489,1030] : 1.0000
x + MC_PITCHRATE_MAX [490,1031] : 130.0000
x + MC_PITCHRATE_P [491,1032] : 0.0640
x + MC_PITCH_CUTOFF [492,1033] : 25.0000
x + MC_PITCH_P [493,1034] : 8.0000
x MC_PR_INT_LIM [494,1035] : 0.3000
x + MC_ROLLRATE_D [495,1036] : 0.0013
x MC_ROLLRATE_FF [496,1037] : 0.0000
x + MC_ROLLRATE_I [497,1038] : 0.1000
x MC_ROLLRATE_K [498,1039] : 1.0000
x + MC_ROLLRATE_MAX [499,1040] : 130.0000
x + MC_ROLLRATE_P [500,1041] : 0.0640
x + MC_ROLL_CUTOFF [501,1042] : 25.0000
x + MC_ROLL_P [502,1043] : 8.0000
x MC_RR_INT_LIM [503,1044] : 0.3000
x MC_THR_CURVE_ACR [504,1045] : 0
x MC_YAWRATE_D [505,1046] : 0.0000
x MC_YAWRATE_FF [506,1047] : 0.0000
x + MC_YAWRATE_I [507,1048] : 0.5000
x MC_YAWRATE_K [508,1049] : 1.0000
x + MC_YAWRATE_MAX [509,1050] : 150.0000
x + MC_YAWRATE_P [510,1051] : 0.0700
x + MC_YAW_CUTOFF [511,1052] : 15.0000
x MC_YAW_P [512,1053] : 2.8000
x MC_YAW_WEIGHT [513,1054] : 0.4000
x MC_YR_INT_LIM [514,1055] : 0.3000
x MIS_DIST_1WP [515,1056] : 900.0000
x MIS_LND_ABRT_ALT [516,1057] : 30
x MIS_MNT_YAW_CTL [517,1058] : 0
x MIS_PD_TO [518,1059] : 5.0000
x + MIS_TAKEOFF_ALT [519,1060] : 0.3048
x MIS_TKO_LAND_REQ [520,1061] : 0
x MIS_YAW_ERR [521,1062] : 12.0000
x MIS_YAW_TMT [522,1063] : -1.0000
x MODALAI_CONFIG [523,1083] : 0
x MOT_SLEW_MAX [524,1085] : 0.0000
x MPC_ACC_DOWN_MAX [525,1086] : 3.0000
x + MPC_ACC_HOR [526,1087] : 6.0000
x + MPC_ACC_HOR_MAX [527,1088] : 1000.0000
x MPC_ACC_UP_MAX [528,1089] : 4.0000
x MPC_ALT_MODE [529,1090] : 0
x MPC_HOLD_DZ [530,1091] : 0.1000
x + MPC_HOLD_MAX_XY [531,1092] : 0.0000
x + MPC_HOLD_MAX_Z [532,1093] : 0.0000
x MPC_JERK_AUTO [533,1094] : 4.0000
x + MPC_JERK_MAX [534,1095] : 40.0000
x MPC_LAND_ALT1 [535,1096] : 10.0000
x MPC_LAND_ALT2 [536,1097] : 5.0000
x MPC_LAND_ALT3 [537,1098] : 1.0000
x MPC_LAND_CRWL [538,1099] : 0.3000
x MPC_LAND_RADIUS [539,1100] : 1000.0000
x MPC_LAND_RC_HELP [540,1101] : 0
x + MPC_LAND_SPEED [541,1102] : 1.2000
x + MPC_MANTHR_MIN [542,1103] : 0.0400
x + MPC_MAN_TILT_MAX [543,1104] : 45.0000
x MPC_MAN_Y_MAX [544,1105] : 150.0000
x MPC_MAN_Y_TAU [545,1106] : 0.0800
x MPC_POS_MODE [546,1107] : 4
x MPC_THR_CURVE [547,1108] : 0
x + MPC_THR_HOVER [548,1109] : 0.1200
x + MPC_THR_MAX [549,1110] : 0.6000
x + MPC_THR_MIN [550,1111] : 0.0400
x MPC_THR_XY_MARG [551,1112] : 0.3000
x MPC_TILTMAX_AIR [552,1113] : 45.0000
x MPC_TILTMAX_LND [553,1114] : 12.0000
x + MPC_TKO_RAMP_T [554,1115] : 1.0000
x MPC_TKO_SPEED [555,1116] : 1.5000
x MPC_USE_HTE [556,1117] : 1
x MPC_VELD_LP [557,1118] : 5.0000
x + MPC_VEL_MANUAL [558,1119] : 20.0000
x MPC_VEL_MAN_BACK [559,1120] : -1.0000
x MPC_VEL_MAN_SIDE [560,1121] : -1.0000
x + MPC_XY_CRUISE [561,1122] : 0.5000
x MPC_XY_ERR_MAX [562,1123] : 2.0000
x + MPC_XY_MAN_EXPO [563,1124] : 0.4500
x MPC_XY_P [564,1125] : 0.9500
x MPC_XY_TRAJ_P [565,1126] : 0.5000
x MPC_XY_VEL_ALL [566,1127] : -10.0000
x MPC_XY_VEL_D_ACC [567,1128] : 0.2000
x MPC_XY_VEL_I_ACC [568,1129] : 0.4000
x + MPC_XY_VEL_MAX [569,1130] : 20.0000
x MPC_XY_VEL_P_ACC [570,1131] : 1.8000
x MPC_YAWRAUTO_MAX [571,1132] : 45.0000
x + MPC_YAW_EXPO [572,1133] : 0.3000
x MPC_YAW_MODE [573,1134] : 0
x + MPC_Z_MAN_EXPO [574,1135] : 0.1000
x + MPC_Z_P [575,1136] : 5.0000
x MPC_Z_VEL_ALL [576,1137] : -3.0000
x MPC_Z_VEL_D_ACC [577,1138] : 0.0000
x MPC_Z_VEL_I_ACC [578,1139] : 2.0000
x + MPC_Z_VEL_MAX_DN [579,1140] : 4.0000
x + MPC_Z_VEL_MAX_UP [580,1141] : 10.0000
x + MPC_Z_VEL_P_ACC [581,1142] : 8.0000
x + MPC_Z_V_AUTO_DN [582,1143] : 3.0000
x + MPC_Z_V_AUTO_UP [583,1144] : 10.0000
x NAV_ACC_RAD [584,1148] : 10.0000
x NAV_DLL_ACT [585,1149] : 0
x NAV_FORCE_VT [586,1150] : 1
x NAV_FW_ALTL_RAD [587,1151] : 5.0000
x NAV_FW_ALT_RAD [588,1152] : 10.0000
x NAV_LOITER_RAD [589,1153] : 80.0000
x NAV_MC_ALT_RAD [590,1154] : 0.8000
x NAV_MIN_LTR_ALT [591,1155] : -1.0000
x NAV_RCL_ACT [592,1156] : 2
x NAV_TRAFF_AVOID [593,1157] : 1
x NAV_TRAFF_A_HOR [594,1158] : 500.0000
x NAV_TRAFF_A_VER [595,1159] : 500.0000
x NAV_TRAFF_COLL_T [596,1160] : 60
x PLD_BTOUT [597,1215] : 5.0000
x PLD_FAPPR_ALT [598,1216] : 0.1000
x PLD_HACC_RAD [599,1217] : 0.2000
x PLD_MAX_SRCH [600,1218] : 3
x PLD_SRCH_ALT [601,1219] : 10.0000
x PLD_SRCH_TOUT [602,1220] : 10.0000
x RC10_DZ [603,1267] : 0.0000
x RC10_MAX [604,1268] : 2000.0000
x RC10_MIN [605,1269] : 1000.0000
x RC10_REV [606,1270] : 1.0000
x RC10_TRIM [607,1271] : 1500.0000
x RC11_DZ [608,1272] : 0.0000
x RC11_MAX [609,1273] : 2000.0000
x RC11_MIN [610,1274] : 1000.0000
x RC11_REV [611,1275] : 1.0000
x RC11_TRIM [612,1276] : 1500.0000
x RC12_DZ [613,1277] : 0.0000
x RC12_MAX [614,1278] : 2000.0000
x RC12_MIN [615,1279] : 1000.0000
x RC12_REV [616,1280] : 1.0000
x RC12_TRIM [617,1281] : 1500.0000
x RC13_DZ [618,1282] : 0.0000
x RC13_MAX [619,1283] : 2000.0000
x RC13_MIN [620,1284] : 1000.0000
x RC13_REV [621,1285] : 1.0000
x RC13_TRIM [622,1286] : 1500.0000
x RC14_DZ [623,1287] : 0.0000
x RC14_MAX [624,1288] : 2000.0000
x RC14_MIN [625,1289] : 1000.0000
x RC14_REV [626,1290] : 1.0000
x RC14_TRIM [627,1291] : 1500.0000
x RC15_DZ [628,1292] : 0.0000
x RC15_MAX [629,1293] : 2000.0000
x RC15_MIN [630,1294] : 1000.0000
x RC15_REV [631,1295] : 1.0000
x RC15_TRIM [632,1296] : 1500.0000
x RC16_DZ [633,1297] : 0.0000
x RC16_MAX [634,1298] : 2000.0000
x RC16_MIN [635,1299] : 1000.0000
x RC16_REV [636,1300] : 1.0000
x RC16_TRIM [637,1301] : 1500.0000
x RC17_DZ [638,1302] : 0.0000
x RC17_MAX [639,1303] : 2000.0000
x RC17_MIN [640,1304] : 1000.0000
x RC17_REV [641,1305] : 1.0000
x RC17_TRIM [642,1306] : 1500.0000
x RC18_DZ [643,1307] : 0.0000
x RC18_MAX [644,1308] : 2000.0000
x RC18_MIN [645,1309] : 1000.0000
x RC18_REV [646,1310] : 1.0000
x RC18_TRIM [647,1311] : 1500.0000
x RC1_DZ [648,1312] : 10.0000
x RC1_MAX [649,1313] : 2000.0000
x RC1_MIN [650,1314] : 1000.0000
x RC1_REV [651,1315] : 1.0000
x RC1_TRIM [652,1316] : 1500.0000
x RC2_DZ [653,1317] : 10.0000
x RC2_MAX [654,1318] : 2000.0000
x RC2_MIN [655,1319] : 1000.0000
x RC2_REV [656,1320] : 1.0000
x RC2_TRIM [657,1321] : 1500.0000
x RC3_DZ [658,1322] : 10.0000
x RC3_MAX [659,1323] : 2000.0000
x RC3_MIN [660,1324] : 1000.0000
x RC3_REV [661,1325] : 1.0000
x RC3_TRIM [662,1326] : 1500.0000
x RC4_DZ [663,1327] : 10.0000
x RC4_MAX [664,1328] : 2000.0000
x RC4_MIN [665,1329] : 1000.0000
x RC4_REV [666,1330] : 1.0000
x RC4_TRIM [667,1331] : 1500.0000
x RC5_DZ [668,1332] : 10.0000
x + RC5_MAX [669,1333] : 1980.0000
x + RC5_MIN [670,1334] : 1030.0000
x RC5_REV [671,1335] : 1.0000
x + RC5_TRIM [672,1336] : 1505.0000
x RC6_DZ [673,1337] : 10.0000
x + RC6_MAX [674,1338] : 1980.0000
x + RC6_MIN [675,1339] : 1030.0000
x RC6_REV [676,1340] : 1.0000
x + RC6_TRIM [677,1341] : 1505.0000
x RC7_DZ [678,1342] : 10.0000
x + RC7_MAX [679,1343] : 1980.0000
x + RC7_MIN [680,1344] : 1030.0000
x RC7_REV [681,1345] : 1.0000
x + RC7_TRIM [682,1346] : 1505.0000
x RC8_DZ [683,1347] : 10.0000
x + RC8_MAX [684,1348] : 1980.0000
x + RC8_MIN [685,1349] : 1030.0000
x RC8_REV [686,1350] : 1.0000
x + RC8_TRIM [687,1351] : 1505.0000
x RC9_DZ [688,1352] : 0.0000
x RC9_MAX [689,1353] : 2000.0000
x RC9_MIN [690,1354] : 1000.0000
x RC9_REV [691,1355] : 1.0000
x RC9_TRIM [692,1356] : 1500.0000
x RC_ARMSWITCH_TH [693,1357] : 0.7500
x + RC_CHAN_CNT [694,1358] : 16
x RC_ENG_MOT_TH [695,1360] : 0.7500
x RC_FAILS_THR [696,1361] : 0
x RC_GEAR_TH [697,1362] : 0.7500
x RC_KILLSWITCH_TH [698,1364] : 0.7500
x RC_LOITER_TH [699,1365] : 0.7500
x RC_MAP_ACRO_SW [700,1366] : 0
x RC_MAP_ARM_SW [701,1367] : 0
x RC_MAP_AUX1 [702,1368] : 0
x RC_MAP_AUX2 [703,1369] : 0
x RC_MAP_AUX3 [704,1370] : 0
x RC_MAP_AUX4 [705,1371] : 0
x RC_MAP_AUX5 [706,1372] : 0
x RC_MAP_AUX6 [707,1373] : 0
x RC_MAP_ENG_MOT [708,1374] : 0
x RC_MAP_FAILSAFE [709,1375] : 0
x RC_MAP_FLAPS [710,1376] : 0
x + RC_MAP_FLTMODE [711,1377] : 6
x RC_MAP_FLTM_BTN [712,1378] : 0
x RC_MAP_GEAR_SW [713,1379] : 0
x + RC_MAP_KILL_SW [714,1380] : 5
x RC_MAP_LOITER_SW [715,1381] : 0
x RC_MAP_MAN_SW [716,1382] : 0
x RC_MAP_MODE_SW [717,1383] : 0
x RC_MAP_OFFB_SW [718,1384] : 0
x RC_MAP_PARAM1 [719,1385] : 0
x RC_MAP_PARAM2 [720,1386] : 0
x RC_MAP_PARAM3 [721,1387] : 0
x + RC_MAP_PITCH [722,1388] : 2
x RC_MAP_POSCTL_SW [723,1389] : 0
x RC_MAP_RATT_SW [724,1390] : 0
x RC_MAP_RETURN_SW [725,1391] : 0
x + RC_MAP_ROLL [726,1392] : 1
x RC_MAP_STAB_SW [727,1393] : 0
x + RC_MAP_THROTTLE [728,1394] : 3
x RC_MAP_TRANS_SW [729,1395] : 0
x + RC_MAP_YAW [730,1396] : 4
x RC_OFFB_TH [731,1397] : 0.7500
x RC_RETURN_TH [732,1398] : 0.7500
x RC_TRANS_TH [733,1402] : 0.7500
x RTL_CONE_ANG [734,1403] : 45
x RTL_DESCEND_ALT [735,1404] : 30.0000
x RTL_HDG_MD [736,1405] : 0
x RTL_LAND_DELAY [737,1406] : 0.0000
x RTL_LOITER_RAD [738,1407] : 80.0000
x RTL_MIN_DIST [739,1408] : 10.0000
x RTL_PLD_MD [740,1409] : 0
x RTL_RETURN_ALT [741,1410] : 60.0000
x RTL_TIME_FACTOR [742,1411] : 1.1000
x RTL_TIME_MARGIN [743,1412] : 100
x RTL_TYPE [744,1413] : 0
x SDLOG_BOOT_BAT [745,1424] : 0
x SDLOG_DIRS_MAX [746,1425] : 0
x SDLOG_MISSION [747,1428] : 0
x SDLOG_MODE [748,1429] : 0
x + SDLOG_PROFILE [749,1430] : 129
x SDLOG_UTC_OFFSET [750,1431] : 0
x SDLOG_UUID [751,1432] : 1
x SENS_BARO_QNH [752,1434] : 1013.2500
x SENS_BARO_RATE [753,1435] : 20.0000
x SENS_BOARD_ROT [754,1436] : 0
x + SENS_BOARD_X_OFF [755,1437] : 1.3898
x + SENS_BOARD_Y_OFF [756,1438] : -1.4985
x SENS_BOARD_Z_OFF [757,1439] : 0.0000
x SENS_DPRES_OFF [758,1442] : 0.0000
x SENS_IMU_AUTOCAL [759,1487] : 0
x SENS_IMU_MODE [760,1488] : 1
x SYS_AUTOCONFIG [761,1645] : 0
x + SYS_AUTOSTART [762,1646] : 4001
x SYS_CAL_TDEL [763,1651] : 24
x SYS_CAL_TMAX [764,1652] : 10
x SYS_CAL_TMIN [765,1653] : 5
x SYS_FAC_CAL_MODE [766,1655] : 0
x SYS_FAILURE_EN [767,1656] : 0
x SYS_HAS_BARO [768,1657] : 1
x + SYS_HAS_GPS [769,1658] : 0
x + SYS_HAS_MAG [770,1659] : 0
x SYS_HAS_NUM_DIST [771,1660] : 0
x SYS_HITL [772,1661] : 0
x SYS_MC_EST_GROUP [773,1662] : 2
x SYS_RGB_MAXBRT [774,1663] : 1.0000
x SYS_STCK_EN [775,1664] : 1
x SYS_VEHICLE_RESP [776,1666] : -0.4000
x + THR_MDL_FAC [777,1866] : 0.9000
x TRIG_MODE [778,1872] : 0
x UAVCAN_ENABLE [779,1913] : 0
x + VOXL_ESC_BAUD [780,2095] : 2000000
x + VOXL_ESC_CONFIG [781,2096] : 1
x + VOXL_ESC_FUNC1 [782,2097] : 102
x + VOXL_ESC_FUNC2 [783,2098] : 103
x + VOXL_ESC_FUNC3 [784,2099] : 101
x + VOXL_ESC_FUNC4 [785,2100] : 104
x VOXL_ESC_MODE [786,2101] : 0
x VOXL_ESC_PUB_BST [787,2102] : 1
x VOXL_ESC_REV [788,2103] : 0
x + VOXL_ESC_RPM_MAX [789,2104] : 12000
x + VOXL_ESC_RPM_MIN [790,2105] : 2000
x VOXL_ESC_SDIR1 [791,2106] : 0
x VOXL_ESC_SDIR2 [792,2107] : 0
x VOXL_ESC_SDIR3 [793,2108] : 0
x VOXL_ESC_SDIR4 [794,2109] : 0
x VOXL_ESC_T_COSP [795,2110] : 0.9900
x VOXL_ESC_T_DEAD [796,2111] : 20
x VOXL_ESC_T_EXPO [797,2112] : 35
x VOXL_ESC_T_MINF [798,2113] : 0.1500
x VOXL_ESC_T_OVER [799,2114] : 0
x VOXL_ESC_T_PERC [800,2115] : 90
x VOXL_ESC_T_WARN [801,2116] : 0
x + VOXL_ESC_VLOG [802,2117] : 1
x VTO_LOITER_ALT [803,2118] : 80.0000
x VT_B_DEC_MSS [804,2123] : 2.0000
x WV_EN [805,2156] : 0
x WV_GAIN [806,2157] : 1.0000
x WV_ROLL_MIN [807,2158] : 1.0000
x WV_YRATE_MAX [808,2159] : 90.0000
x XRCE_DDS_DOM_ID [809,2160] : 0
x XRCE_DDS_KEY [810,2161] : 1

811/2162 parameters used.

Could you kindly assist me in resolving this issue? Any guidance or recommendations would be greatly appreciated.

Thank you for your support!

@Moderator Thank you for the response; I was going through the https://www.youtube.com/watch?v=Cpbbye3Z6co in that the drone does not have any drift in the manual mode, so I thought I might have missed any configuration changes.

When I changed my mode to "indoor_vio_missing_gps.params" and when I controlled it with the Remote Controller, I was able to fly it in the position mode, and when I changed it to Off-board mode on RC, it did the figure 8.

The Drone still drifts off when I run the below code in the Position mode

#!/usr/bin/env python3

"""
Caveat when attempting to run the examples in non-gps environments:

drone.offboard.stop() will return a COMMAND_DENIED result because it
requires a mode switch to HOLD, something that is currently not supported in a
non-gps environment.
"""

import asyncio

from mavsdk import System
from mavsdk.offboard import (OffboardError, PositionNedYaw)

async def run():
""" Does Offboard control using position NED coordinates. """

drone = System()
print("Connecting to vehicle using port 14550")
await drone.connect(system_address="udp://:14550")

print("Waiting for drone to connect...")
async for state in drone.core.connection_state():
    if state.is_connected:
        print(f"-- Connected to drone!")
        break



print("-- Arming")
await drone.action.arm()

max_speed = await drone.action.get_maximum_speed()


print(f"Maximum speed: {max_speed} m/s")

await drone.action.set_maximum_speed(0.5)
await asyncio.sleep(4)

max_speed = await drone.action.get_maximum_speed()

await asyncio.sleep(5)

print("-- Setting initial setpoint")
await drone.offboard.set_position_ned(PositionNedYaw(0.0, 0.0, 0.0, 0.0))




print("-- Starting offboard")
try:
    await drone.offboard.start()
except OffboardError as error:
    print(f"Starting offboard mode failed \
            with error code: {error._result.result}")
    print("-- Disarming")
    await drone.action.disarm()
    return

await asyncio.sleep(5)

print("-- Go 0m North, 0m East, -0.20m Down \
        within local coordinate system")
await drone.offboard.set_position_ned(
        PositionNedYaw(0.0, 0.0, -0.20, 0.0))
await asyncio.sleep(3)

#print("-- Go 0m North, 0m East, 0m Down within local coordinate system")
#await drone.offboard.set_position_ned(PositionNedYaw(0.0, 0.0, 0.0, 0.0)
#await asyncio.sleep(5)

print("Trying to land")
try:
    await drone.action.land()
except:
    print("Failed to land")

print("-- Disarming")
try:
    await drone.action.disarm()
except:
    print("Disarming failed")

if name == "main":
# Run the asyncio loop
asyncio.run(run())

I ran the above code and after taking off the drone again drifted off

here are the attached videos

Flight video

Questions:

1. Is there a configuration or calibration step I may have missed to prevent drifting?
2. Does the script require any additional commands for better stability ?
3. Could this be related to parameter tuning or sensor limitations in a non-GPS environment?
   Thank you for your assistance!

Hi Team,

I am using Starling 2 max, and I was trying to fly the drone in manual mode using the remote controller to do initial basic checks before using Mavsdk to fly the drone.

When I try to fly the drone, it drifts toward the left instead of vertical take-off.

I tried to run
systemctl stop voxl-px4
./voxl-esc-spin.py --id 255 --power 60 --ramp-time 3.0 --timeout 4.0 --enable-plot 1 without having any propellers and screws to check if there is any rpm difference in the motors the below are the results

I am unsure if the deviation of 264.00 rpm is causing this issue.

please find the attached px4 logs -> https://review.px4.io/plot_app?log=23827d44-827c-4f54-897c-b0ccac53c96a

Can you please help me with this issue?

@Zachary-Lowell-0 Thank you for letting me know. this is my first time working with a multi-cell battery and a smart charger. I will be careful not to connect multiple batteries at the same time.

@tom Thank you for the response I now know what the issue is I will just connect a single battery, use 2s in the settings, and use an XT30 to XT60 converter to connect my XT30 to the "Battery" on the charger.