Below is a comparison of parameters in v1.15 with the params in main today (20241204). It shows new params, params removed, and changed defaults.
I want to identify what of these reflect new docs or updates to existing docs that have to be written.
I will do a search in PX4-Autopilot to find out where some of these appeared, but hoping dev team can reduce the task by identifying broadly what is relevant/not relevant up front.
@sfuhrer @MaEtUgR @Benja @Jaeyoung-Lim @rroche ?
main new params added
Do any of these need docs? They might not, but their existence indicates some new configurable functionality exists, so even if not all of them are relevant, it is likely that some of them are.
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ASPD_FP_T_WINDOW’,
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‘BAT1_I_OVERWRITE’,
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‘BAT2_I_OVERWRITE’,
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‘BMM350_AVG’,
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‘BMM350_DRIVE’,
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‘BMM350_ODR’,
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‘COM_POS_LOW_ACT’,
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‘COM_RAM_MAX’,
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‘DSHOT_BIDIR_EN’, - SOmething in dshot docs!
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‘EKF2_GPS_YAW_OFF’, - Something in GPS or compass docs? EKF tuning docs?
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‘EKF2_LOG_VERBOSE’ - something in logging topic?
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‘EKF2_OF_GYR_SRC’,
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‘EKF2_RNG_FOG’,
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‘EKF2_VEL_LIM’,
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‘FW_T_F_ALT_ERR’,
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‘FW_T_THR_LOW_HGT’,
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‘MAV_0_HL_FREQ’,
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‘MAV_1_HL_FREQ’,
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‘MAV_2_HL_FREQ’,
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‘MC_ORBIT_YAW_MOD’,
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‘MIS_COMMAND_TOUT’, - Added Mission command timeout by hamishwillee · Pull Request #3495 · PX4/PX4-user_guide · GitHub
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‘MPC_VEL_LP’,
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‘MPC_VEL_NF_BW’,
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‘MPC_VEL_NF_FRQ’,
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‘NAV_MIN_GND_DIST’,
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‘RC_DSM_PRT_CFG’,
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‘RC_GHST_PRT_CFG’, - New type of RC protocol? Update to RC docs?
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‘RC_GHST_TEL_EN’,
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‘RC_SBUS_PRT_CFG’,
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‘SCH16T_ACC_FILT’,
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‘SCH16T_DECIM’,
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‘SCH16T_GYRO_FILT’,
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‘SENS_EN_AUAVX’,
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‘SENS_EN_SCH16T’,
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‘SENS_EN_SPA06’,
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‘SENS_FLOW_SCALE’,
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‘SIM_GZ_WH_DIS3’,
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‘SIM_GZ_WH_DIS4’,
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‘SIM_GZ_WH_FAIL3’,
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‘SIM_GZ_WH_FAIL4’,
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‘SIM_GZ_WH_FUNC3’,
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‘SIM_GZ_WH_FUNC4’,
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‘SIM_GZ_WH_MAX3’,
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‘SIM_GZ_WH_MAX4’,
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‘SIM_GZ_WH_MIN3’,
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‘SIM_GZ_WH_MIN4’,
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‘SYS_PARAM_VER’,
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‘UAVCAN_ECU_FUELT’,
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‘UAVCAN_ECU_MAXF’,
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‘UAVCAN_SUB_FUEL’,
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‘UCAN1_FB0_SUB’,
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‘UCAN1_FB1_SUB’ - ‘UCAN1_FB7_SUB’,
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‘UCAN1_READ_PUB’,
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'SIM_AGP_FAIL asked in SIH: Publish Aux Global Positon by bresch · Pull Request #24051 · PX4/PX4-Autopilot · GitHub
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‘SENS_EN_AGPSIM’ - asked in SIH: Publish Aux Global Positon by bresch · Pull Request #24051 · PX4/PX4-Autopilot · GitHub
VTQ
What is a VTQ? Do any of these imply need for new docs?
- ‘VERTIQ_IO_CFG’,
- ‘VTQ_ARM_BEHAVE’,
- ‘VTQ_BAUD’,
- ‘VTQ_CONTROL_MODE’,
- ‘VTQ_DISARM_TRIG’,
- ‘VTQ_DISARM_VELO’,
- ‘VTQ_FC_DIR’,
- ‘VTQ_IO_DIS0’ - ‘VTQ_IO_DIS15’
- ‘VTQ_IO_FAIL0’ - ‘VTQ_IO_FAIL15’
- ‘VTQ_IO_FUNC0’ - ‘VTQ_IO_FUNC15’
- ‘VTQ_IO_MAX0’ - ‘VTQ_IO_MAX15’
- ‘VTQ_IO_MIN0’ - ‘VTQ_IO_MIN15’
- ‘VTQ_IO_REV’,
- ‘VTQ_MAX_VELOCITY’,
- ‘VTQ_MAX_VOLTS’,
- ‘VTQ_MOTOR_DIR’,
- ‘VTQ_NUM_CVS’,
- ‘VTQ_PULSE_V_LIM’,
- ‘VTQ_PULSE_V_MODE’,
- ‘VTQ_REDO_READ’,
- ‘VTQ_TELEM_IDS_1’,
- ‘VTQ_TELEM_IDS_2’,
- ‘VTQ_THROTTLE_CVI’,
- ‘VTQ_TQUE_OFF_ANG’,
- ‘VTQ_TRGT_MOD_ID’,
- ‘VTQ_VELO_CUTOFF’,
- ‘VTQ_X_CVI’,
- ‘VTQ_Y_CVI’,
- ‘VTQ_ZERO_ANGLE’}
Rover additions
In own group, because I think these are all dealt with by @Christian_Friedrich (can you confirm, and for any of the others you are familiar with?)
- ‘PP_LOOKAHD_GAIN’,
- ‘PP_LOOKAHD_MAX’,
- ‘PP_LOOKAHD_MIN’,
- ‘RA_ACC_RAD_GAIN’,
- ‘RA_ACC_RAD_MAX’,
- ‘RA_LAT_ACCEL_I’,
- ‘RA_LAT_ACCEL_P’,
- ‘RA_MAX_ACCEL’,
- ‘RA_MAX_DECEL’,
- ‘RA_MAX_JERK’,
- ‘RA_MAX_LAT_ACCEL’,
- ‘RA_MAX_SPEED’,
- ‘RA_MAX_STR_ANG’,
- ‘RA_MAX_STR_RATE’,
- ‘RA_MAX_THR_SPEED’,
- ‘RA_SPEED_I’,
- ‘RA_SPEED_P’,
- ‘RA_WHEEL_BASE’,
- ‘RD_MAX_ACCEL’,
- ‘RD_MAX_DECEL’,
- ‘RD_MAX_JERK’,
- ‘RD_MAX_SPEED’,
- ‘RD_MAX_THR_SPD’,
- ‘RD_MAX_THR_YAW_R’,
- ‘RD_MAX_YAW_ACCEL’,
- ‘RD_MAX_YAW_RATE’,
- ‘RD_MISS_SPD_GAIN’,
- ‘RD_SPEED_I’,
- ‘RD_SPEED_P’,
- ‘RD_TRANS_DRV_TRN’,
- ‘RD_TRANS_TRN_DRV’,
- ‘RD_WHEEL_TRACK’,
- ‘RD_YAW_I’,
- ‘RD_YAW_P’,
- ‘RD_YAW_RATE_I’,
- ‘RD_YAW_RATE_P’,
- ‘RM_MAX_ACCEL’,
- ‘RM_MAX_DECEL’,
- ‘RM_MAX_JERK’,
- ‘RM_MAX_SPEED’,
- ‘RM_MAX_THR_SPD’,
- ‘RM_MAX_THR_YAW_R’,
- ‘RM_MAX_YAW_ACCEL’,
- ‘RM_MAX_YAW_RATE’,
- ‘RM_MISS_VEL_GAIN’,
- ‘RM_SPEED_I’,
- ‘RM_SPEED_P’,
- ‘RM_WHEEL_TRACK’,
- ‘RM_YAW_I’,
- ‘RM_YAW_P’,
- ‘RM_YAW_RATE_I’,
- ‘RM_YAW_RATE_P’,
Params with changed defaults
Are any of these known to be significant, or known to be irrelevant?
- param: ASPD_FS_T_STOP: old_default: 2, new_default: 1.0
- param: BAT1_R_INTERNAL: old_default: 0.005, new_default: -1.0
- param: BAT2_R_INTERNAL: old_default: 0.005, new_default: -1.0
- param: BAT3_R_INTERNAL: old_default: 0.005, new_default: -1.0
- param: COM_ARM_BAT_MIN: old_default: 0.0, new_default: -1.0
- param: EKF2_AGP_CTRL: old_default: 1, new_default: 0
- param: EKF2_EV_CTRL: old_default: 15, new_default: 0
- param: EKF2_GPS_CHECK: old_default: 245, new_default: 1023
- param: EKF2_OF_CTRL: old_default: 0, new_default: 1
- param: MIS_DIST_1WP: old_default: 900.0, new_default: 10000.0
- param: SIH_LOC_H0: old_default: 32.34, new_default: 489.4
- param: SIH_LOC_LAT0: old_default: 454671160, new_default: 47.397742
- param: SIH_LOC_LON0: old_default: -737578370, new_default: 8.545594
- param: SF45_ORIENT_CFG: old_default: 0, new_default: 24
- param: SF45_UPDATE_CFG: old_default: 1, new_default: 5
v1.15 only params (removed)
Most of these are probably not significant, because I catch changes as they come. Putting them in for completeness.
Same question though - are there any docs implications associated with the changes that made these be removed?
- ‘BAT1_V_LOAD_DROP’,
- ‘BAT2_V_LOAD_DROP’,
- ‘BAT3_V_LOAD_DROP’,
- ‘BAT_N_CELLS’,
- ‘BAT_V_CHARGED’,
- ‘BAT_V_EMPTY’,
- ‘BAT_V_LOAD_DROP’,
- ‘COM_ARM_EKF_HGT’,
- ‘COM_ARM_EKF_POS’,
- ‘COM_ARM_EKF_VEL’,
- ‘COM_ARM_EKF_YAW’,
- ‘COM_POS_FS_DELAY’, - Position loss failsafe configurable delay removed (COM_POS_FS_DELAY) by hamishwillee · Pull Request #3479 · PX4/PX4-user_guide · GitHub
- ‘EKF2_TERR_MASK’,
- ‘FW_SPOILERS_DESC’,
- ‘MIS_PD_TO’, - Removed Mission command timeout by hamishwillee · Pull Request #3495 · PX4/PX4-user_guide · GitHub
- ‘MOT_SLEW_MAX’,
- ‘RC_MAP_ACRO_SW’,
- ‘RC_MAP_MAN_SW’,
- ‘RC_MAP_POSCTL_SW’,
- ‘RC_MAP_RATT_SW’,
- ‘RC_MAP_STAB_SW’,
Removed Rover params
These are all captured already - were renamed as part of differential rover rework
- ‘RDD_ANG_SCALE’,
- ‘RDD_I_ANG_VEL’,
- ‘RDD_I_SPEED’,
- ‘RDD_MAX_ACCEL’,
- ‘RDD_MAX_JERK’,
- ‘RDD_P_ANG_VEL’,
- ‘RDD_P_HEADING’,
- ‘RDD_P_SPEED’,
- ‘RDD_SPEED_SCALE’,
- ‘RDD_WHEEL_BASE’,
- ‘RDD_WHEEL_RADIUS’,
- ‘RDD_WHEEL_SPEED’}