# PX4 v1.15 public changes - what needs docs? **URL:** \ **Category:** PX4 Autopilot\ **Created:** [July 23, 2024, 10:50pm UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850 "2024-07-23T22:50:37Z")\ **Posts on this page:** 15\ **Page:** 1
**Author:** ![hamishwillee](https://discuss.px4.io/user_avatar/discuss.px4.io/hamishwillee/32/3469_2.png) [@hamishwillee](https://discuss.px4.io/u/hamishwillee)\ **Post date:** [July 23, 2024, 10:50pm UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/1 "2024-07-23T22:50:37Z")
Param changes are a good way of detecting things that perhaps need documentation. For example COM\_ARMABLE is new in v1.15 but there are no docs. Perhaps it should be added to [Arm, Disarm, Prearm Configuration | PX4 Guide (main)](https://docs.px4.io/main/en/advanced_config/prearm_arm_disarm.html) though? The list of params added/removed/default value changes are listed below: Some of this [may already have been documented](https://docs.px4.io/main/en/releases/1.15.html) \*\*EDIT - LIST Might include or omit a few things. Due to bug in JSON param generation these groups are not included in output so I get false positives. I have tried to clean up, but if there are any you can ignore them for now. ```auto Geometry ModalAI Custom Configuration Payload Deliverer RC RC Input Roboclaw Roboclaw Driver Rover Ackermann Rover Differential Drive Septentrio UWB UXRCE-DDS Client Zenoh ``` [[Bug] Param metadata missing for json and xml files · Issue #23442 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/issues/23442). I have tried to clean it up a bit.\*\* ## Removed in v1.15 and status unknown or maybe needs docs [I’ve moved the things with “known” statuses down - eventually this should be empty] ## Added in V1.15 and docs status unknown [I’ve moved the things with docs or decision not to doc down - eventually this should be empty] - ‘UAVCAN\_SUB\_GPS\_R’, - Done in [UAVCAN\_SUB\_GPS\_R - update dronecan and Ark docs by hamishwillee · Pull Request #3330 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3330) ## Added and documented #### Slow mode params > **[Position Slow Mode (Multicopter)](https://docs.px4.io/main/en/flight_modes_mc/position_slow)** > > Open-source flight stack for drones and autonomous vehicles. - ‘MC\_SLOW\_DEF\_HVEL’, ‘MC\_SLOW\_DEF\_VVEL’, ‘MC\_SLOW\_DEF\_YAWR’, ‘MC\_SLOW\_MAP\_HVEL’, ‘MC\_SLOW\_MAP\_VVEL’, ‘MC\_SLOW\_MAP\_YAWR’, ‘MC\_SLOW\_MIN\_HVEL’, ‘MC\_SLOW\_MIN\_VVEL’, ‘MC\_SLOW\_MIN\_YAWR’, #### Throw mode [Throw Launch (Multicopter) | PX4 Guide (main)](https://docs.px4.io/main/en/flight_modes_mc/throw_launch.html#parameters) (and in relnote) - ‘COM\_THROW\_EN’, ‘COM\_THROW\_SPEED’, #### Advanced config FW - ‘FW\_SERVICE\_CEIL’, (used with) [Advanced TECS Tuning (Weight and Altitude) | PX4 Guide (main)](https://docs.px4.io/main/en/config_fw/weight_and_altitude_tuning.html#specify-a-service-ceiling) - ‘VT\_BT\_TILT\_DUR’ - already done [VTOL Back-transition Tuning | PX4 Guide (main)](https://docs.px4.io/main/en/config_vtol/vtol_back_transition_tuning.html#back-transition-duration) #### Safety updates - COM\_ARMABLE [PX4 v115 docs around safety/arming params by hamishwillee · Pull Request #3308 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3308) - COM\_ARM\_BAT\_MIN [PX4 v115 docs around safety/arming params by hamishwillee · Pull Request #3308 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3308) - COM\_DISARM\_MAN [PX4 v115 docs around safety/arming params by hamishwillee · Pull Request #3308 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3308) - COM\_FLTT\_LOW\_ACT [PX4 v115 docs around safety/arming params by hamishwillee · Pull Request #3308 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3308) - (release note?) - COM\_WIND\_MAX\_ACT [PX4 v115 docs around safety/arming params by hamishwillee · Pull Request #3308 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3308) - (release note?) - FW\_ACRO\_YAW\_EN’ [PX4 v115 docs around safety/arming params by hamishwillee · Pull Request #3308 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3308) - ‘MAN\_KILL\_GEST\_T’, [[v1.15] Kill gesture docs by hamishwillee · Pull Request #3316 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3316) #### Distance sensors - ‘SF1XX\_MODE’, - Added tkadd to [LightWare Lidar (SF1X/SF02/LW20/SF45/GRF250/GRF500) | PX4 Guide (main)](https://docs.px4.io/main/en/sensor/sfxx_lidar.html#parameter-setup) #### Battery SIM - ‘SIM\_BAT\_ENABLE’, - added to low battery in [Simulate Failsafes | PX4 Guide (main)](https://docs.px4.io/main/en/simulation/failsafes.html#low-battery) #### USB0C - ‘SYS\_USB\_AUTO’, - add to here: [Serial Port Configuration | PX4 Guide (main)](https://docs.px4.io/main/en/peripherals/serial_configuration.html#default-serial-port-configuration) #### Do nothing (much) - ‘FW\_AT\_SYSID\_F0’, ‘FW\_AT\_SYSID\_F1’, ‘FW\_AT\_SYSID\_TIME’, ‘FW\_AT\_SYSID\_TYPE’, - Ignore - you don’t need to know about them, though I did add link in [Autotuning - link to params by hamishwillee · Pull Request #3322 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3322) Because no one is showing any interest, and I believe them to be not something desrving of separate mention. - ‘MPC\_ACC\_DECOUPLE’, - when would this be set? - ‘MPC\_YAWRAUTO\_ACC’, - Does this need to be added to tuning docs or is it too rare to change? - ‘RTL\_APPR\_FORCE’, - @sfuhrer What’s a force approach landing? - Is this for MC/FW or both? - Important enough to add to param list in RTL docs such as [Return Mode (Fixed-Wing) | PX4 Guide (main)](https://docs.px4.io/main/en/flight_modes_fw/return.html#parameters) ? - ‘SENS\_AFBR\_HYSTER’, ‘SENS\_AFBR\_L\_RATE’, ‘SENS\_AFBR\_MODE’, ‘SENS\_AFBR\_S\_RATE’, ‘SENS\_AFBR\_THRESH’, - All related to “AFBR Rangefinder” - Could we get a docs page on this? - Is that this [AFBR-S50MV85G | 3D multipixel ToF sensor with \850 nm VCSEL](https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50mv85g) ? Or are there variants? - Are their wiring and setup instructions? - Who would know? - ‘SENS\_EN\_ASP5033’, - We should generally track new sensors that are supported, particular those for drivers etc that can be inferred from folder locations etc. - For this case we should add it to [Airspeed Sensors | PX4 Guide (main)](https://docs.px4.io/main/en/sensor/airspeed.html) and take info from [Modules Reference: Airspeed Sensor (Driver) | PX4 Guide (main)](https://docs.px4.io/main/en/modules/modules_driver_airspeed_sensor.html#asp5033) - ‘SENS\_IMU\_CLPNOTI’, - Presumably an event - should this be documented anywhere other than params? I.e. when would you change this? #### Renames - ‘FW\_T\_THR\_DAMPING’, ‘FW\_T\_THR\_INTEG’, ## Removed and documented > > > Adds some new uorb topics > > Fixes up link in serial config since MODAL\_IO\_CONFI…G was removed (see https://github.com/PX4/PX4-Autopilot/pull/22588) > > > Added update about mainline support and newer VOXL 2 based developer kits Renamed to VOXL\_ESC due to driver change (from note added below) - ‘MODAL\_IO\_BAUD’, ‘MODAL\_IO\_CONFIG’, ‘MODAL\_IO\_MODE’, ‘MODAL\_IO\_RPM\_MAX’, ‘MODAL\_IO\_RPM\_MIN’, ‘MODAL\_IO\_SDIR1’, ‘MODAL\_IO\_SDIR2’, ‘MODAL\_IO\_SDIR3’, ‘MODAL\_IO\_SDIR4’, ‘MODAL\_IO\_T\_COSP’, ‘MODAL\_IO\_T\_DEAD’, ‘MODAL\_IO\_T\_EXPO’, ‘MODAL\_IO\_T\_MINF’, ‘MODAL\_IO\_T\_PERC’, ‘MODAL\_IO\_VLOG’, > **[Usage/Configuration Options ​ - Gazebo Simulation](https://docs.px4.io/main/en/sim_gazebo_gz/#usage-configuration-options)** > > WARNING | Open-source flight stack for drones and autonomous vehicles. (you can use PX4\_GZ\_MODEL\_POSE for position) - ‘SIM\_GZ\_HOME\_ALT’, ‘SIM\_GZ\_HOME\_LAT’, ‘SIM\_GZ\_HOME\_LON’, -{‘CANNODE\_NODE\_ID’, - removed as was never used [Cannode boot immediatly and get node ID later by AlexKlimaj · Pull Request #21270 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/21270) Removed in [Some parameter cleanup by sfuhrer · Pull Request #21736 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/21736) (not really used and not documented to start with): - ‘COM\_ARM\_ARSP\_EN’, VT\_B\_DEC\_FF These not doc’ed before so assume not needed to be doc’d now - ‘FW\_T\_I\_GAIN\_THR’, - Renamed to FW\_T\_THR\_INTEG in [TECS throttle gains default reduction and transition values from previous PX4 version by sfuhrer · Pull Request #22548 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/22548) - ‘FW\_T\_THR\_DAMP’, - renamed **FW\_T\_THR\_DAMPING** in [TECS throttle gains default reduction and transition values from previous PX4 version by sfuhrer · Pull Request #22548 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/22548) [Navigator: Geofence improvements by sfuhrer · Pull Request #22394 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/22394) - removed not needed: - ‘GF\_ALTMODE’, ‘GF\_COUNT’, [https://github.com/PX4/PX4-Autopilot/pull/22376](https://github.com/PX4/PX4-Autopilot/pull/22376) - ‘LNDMC\_ALT\_MAX’, Removed - GF\_MAX\_VER\_DIST used instead - ‘VT\_TILT\_SPINUP’ - Removed in [Tiltrotor: move spin up tilt to control allocation by sfuhrer · Pull Request #21991 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/21991) ## In release note - ‘FW\_ARSP\_MODE’, - ‘SYS\_MC\_EST\_GROUP’ + ‘ATT\_EN’, + ‘LPE\_EN’, - ‘SYS\_HAS\_NUM\_ASPD’, ---
**Author:** ![ekatzfey](https://discuss.px4.io/user_avatar/discuss.px4.io/ekatzfey/32/7967_2.png) [@ekatzfey](https://discuss.px4.io/u/ekatzfey)\ **Post date:** [July 25, 2024, 12:25am UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/2 "2024-07-25T00:25:48Z")
Yes, all MODAL\_IO parameters become VOXL\_ESC parameters due to a driver renaming. ---
**Author:** ![hamishwillee](https://discuss.px4.io/user_avatar/discuss.px4.io/hamishwillee/32/3469_2.png) [@hamishwillee](https://discuss.px4.io/u/hamishwillee)\ **Post date:** [July 25, 2024, 12:48am UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/3 "2024-07-25T00:48:00Z")
@sfuhrer @MaEtUgR These params changed default value in v1.15: Is there anything specific that needs to be pulled out in docs about these? For example, MPC\_ALT\_MODE changed from altitude following to terrain hold - so I presume that means if you have a rangefinder you will terrain follow by default? param: ASPD\_BETA\_NOISE: old\_default: 0.3, new\_default: 0.15 param: ASPD\_TAS\_GATE: old\_default: 3, new\_default: 4 param: ASPD\_WIND\_NSD: old\_default: 0.01, new\_default: 0.1 param: ATT\_ACC\_COMP: old\_default: 1, new\_default: 0 param: MC\_ACRO\_EXPO: old\_default: 0.69, new\_default: 0.0 param: MC\_ACRO\_EXPO\_Y: old\_default: 0.69, new\_default: 0.0 param: MC\_ACRO\_P\_MAX: old\_default: 720.0, new\_default: 100.0 param: MC\_ACRO\_R\_MAX: old\_default: 720.0, new\_default: 100.0 param: MC\_ACRO\_SUPEXPO: old\_default: 0.7, new\_default: 0.0 param: MC\_ACRO\_SUPEXPOY: old\_default: 0.7, new\_default: 0.0 param: MC\_ACRO\_Y\_MAX: old\_default: 540.0, new\_default: 100.0 param: MPC\_ALT\_MODE: old\_default: 0, new\_default: 2 ALSO, does this need docs? - ‘RTL\_HDG\_MD’, [RTL: change when to set a heading setpoint, generally leave it up to executer by sfuhrer · Pull Request #22731 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/22731) - removed. Does this need a relnote? - [Advanced TECS Tuning (Weight and Altitude) | PX4 Guide (main)](https://docs.px4.io/main/en/config_fw/weight_and_altitude_tuning.html#specify-a-service-ceiling) (added FW\_SERVICE\_CEIL) MAN\_KILL\_GEST\_T is the timeout for a “kill gesture”: - My assumption is that you have the arm/disarm gesture and that arms/disarms if you hold in the right position for 1 second (or as long as the setting for this) - So the kill gesture is the same thing but for longer, and “one-way”, and it is a kill gesture because you have done it in flight. Is that correct? (i.e. a kill is like a disarm in flight - that also does the flight termination behaviour). - The reason I question this is there is also `COM_DISARM_MAN` which sets whether you can disarm in flight in thrust modes … but isn’t that the same as a Kill? So why do we need this? (COM\_DISARM\_MAN) ---
**Author:** ![MaEtUgR](https://discuss.px4.io/user_avatar/discuss.px4.io/maetugr/32/2707_2.png) [@MaEtUgR](https://discuss.px4.io/u/MaEtUgR)\ **Post date:** [July 29, 2024, 12:01pm UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/4 "2024-07-29T12:01:57Z")
For the maximum Acro rates and stick expo I made a pr with my suggestion here: > > > Follow-up to https://github.com/PX4/PX4-Autopilot/pull/22098 > after reading http…s://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/3 I wanted to change this for a while and now seems the right moment to update 👍 > MAN\_KILL\_GEST\_T We should document that in [Safety | PX4 Guide (main)](https://docs.px4.io/main/en/config/safety_intro.html) since that’s a new safety feature that you can enable a kill gesture that is not enabled by default (yet). Reference: [Stick gesture to kill by MaEtUgR · Pull Request #18509 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/18509) > COM\_DISARM\_MAN but isn’t that the same as a Kill? No, in manual thrust modes (Acro, Stabilized, Manual) you can by default always disarm also using the gesture even if the autopilot did not detect a landing (in which case it would anyways auto disarm `COM_DISARM_LAND`). Killing is a separate mechanism that just stops the motors. If mapped to a switch it could be undone immediately again (not sure how useful that is) but with the cesture it’s one way. And if you stay killed for 5 seconds it will disarm (see `COM_KILL_DISARM`). I think we should simplify this to a controlled, normal way to turn off (disarm) and an irreversible safety switch (terminate/kill). But this was not tackled yet. ---
**Author:** ![hamishwillee](https://discuss.px4.io/user_avatar/discuss.px4.io/hamishwillee/32/3469_2.png) [@hamishwillee](https://discuss.px4.io/u/hamishwillee)\ **Post date:** [July 31, 2024, 2:08am UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/5 "2024-07-31T02:08:36Z")
> MAN\_KILL\_GEST\_T Thanks @MaEtUgR - fixed in [[v1.15] Kill gesture docs by hamishwillee · Pull Request #3316 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3316) There are questions there for your consideration. ---
**Author:** ![sfuhrer](https://discuss.px4.io/user_avatar/discuss.px4.io/sfuhrer/32/3931_2.png) [@sfuhrer](https://discuss.px4.io/u/sfuhrer)\ **Post date:** [August 2, 2024, 10:02am UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/6 "2024-08-02T10:02:44Z")
> the param default changes of ASPD\_BETA\_NOISE, ASPD\_TAS\_GATE, ASPD\_WIND\_NSD are not something that the needs special highlighting, but it actually would be nice to have a complete list of param changes in the release notes. One section about added params, one about removed params, one about params with changes defaults and one where the param interpretation changed. I’m happy to fill it out - @hamishwillee if you agree that it would be useful, could you help with setting up the format/page? > ALSO, does this need docs? ‘RTL\_HDG\_MD’ No, this extra feature was not documented before and was removed because we deemed it not important enough, so I don’t think we need to worry about it for the release notes/docs in general. > Does this need a relnote? [Advanced TECS Tuning (Weight and Altitude) Yes that one is a bigger change, and needs a checkup on the docs side and a mention in the release notes. @Roman could you handle it? ---
**Author:** ![hamishwillee](https://discuss.px4.io/user_avatar/discuss.px4.io/hamishwillee/32/3469_2.png) [@hamishwillee](https://discuss.px4.io/u/hamishwillee)\ **Post date:** [August 3, 2024, 4:57am UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/7 "2024-08-03T04:57:42Z")
FYI @sfuhrer , @Roman updated [Advanced TECS Tuning (Weight and Altitude)](https://docs.px4.io/main/en/config_fw/weight_and_altitude_tuning.html#advanced-tecs-tuning-weight-and-altitude) - 7 months ago in [[WIP] Fixed-wing performance model docs by RomanBapst · Pull Request #2842 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/2842) but omitted the release note. So it may be up to date and just need that note. ---
**Author:** ![hamishwillee](https://discuss.px4.io/user_avatar/discuss.px4.io/hamishwillee/32/3469_2.png) [@hamishwillee](https://discuss.px4.io/u/hamishwillee)\ **Post date:** [August 7, 2024, 7:31am UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/8 "2024-08-07T07:31:19Z")
Params issue fixed. Here are the new items for v1.15 that were not covered from above (also removed things like VOXL that I know changed names). @sfuhrer @MaEtUgR Could you cast your eyes over these and see if there is anything obvious that is in need of docs. E.g. I imagine that the battery params indicate a new battery, so that would imply listing in docs that we support more than two. ## REMOVED ‘GPS\_PITCH\_OFFSET’, ‘PCA9685\_RATE’, ## ADDED - Addition of another battery? ‘BAT3\_CAPACITY’, ‘BAT3\_N\_CELLS’, ‘BAT3\_R\_INTERNAL’, ‘BAT3\_SOURCE’, ‘BAT3\_V\_CHARGED’, ‘BAT3\_V\_EMPTY’, ‘BAT3\_V\_LOAD\_DROP’, - ? ‘CAL\_MAG0\_PITCH’, ‘CAL\_MAG0\_ROLL’, ‘CAL\_MAG0\_YAW’, ‘COM\_MODE0\_HASH’, - repeat to mode 7 ‘EKF2\_AGP\_CTRL’, ‘EKF2\_AGP\_DELAY’, ‘EKF2\_AGP\_GATE’, ‘EKF2\_AGP\_NOISE’, ‘EKF2\_DELAY\_MAX’, ‘EKF2\_EN’, ‘EKF2\_MAG\_CHK\_INC’, ‘EKF2\_MAG\_CHK\_STR’, ‘MODALAI\_CONFIG’, ‘PCA9685\_DUTY\_EN’, ‘PCA9685\_PWM\_FREQ’, ‘PCA9685\_SCHD\_HZ’, - New roboclaw implementation. Who owns it to document? ‘RBCLW\_ADDRESS’, ‘RBCLW\_COUNTS\_REV’, ‘RBCLW\_DIS1’, ‘RBCLW\_DIS2’, ‘RBCLW\_FAIL1’, ‘RBCLW\_FAIL2’, ‘RBCLW\_FUNC1’, ‘RBCLW\_FUNC2’, ‘RBCLW\_MAX1’, ‘RBCLW\_MAX2’, ‘RBCLW\_MIN1’, ‘RBCLW\_MIN2’, ‘RBCLW\_REV’, ‘RBCLW\_SER\_CFG’, - This is Ackermann? If not, what? ‘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’, This presumably configures new sensor. I’ll look at it. ‘SENS\_FTX\_CFG’, - this - Sep docs all should be good though need to backport ‘SEP\_AUTO\_CONFIG’, - Are these relevant to end users? ‘SIM\_GZ\_WH\_DIS1’, ‘SIM\_GZ\_WH\_DIS2’, ‘SIM\_GZ\_WH\_FAIL1’, ‘SIM\_GZ\_WH\_FAIL2’, ‘SIM\_GZ\_WH\_FUNC1’, ‘SIM\_GZ\_WH\_FUNC2’, ‘SIM\_GZ\_WH\_MAX1’, ‘SIM\_GZ\_WH\_MAX2’, ‘SIM\_GZ\_WH\_MIN1’, ‘SIM\_GZ\_WH\_MIN2’, ‘SIM\_GZ\_WH\_REV’, - UXRCE! @Benja - do these need docs? ‘UXRCE\_DDS\_PTCFG’, ‘UXRCE\_DDS\_SYNCC’, ‘UXRCE\_DDS\_SYNCT’, ‘VN\_MODE’, ‘VT\_BT\_TILT\_DUR’, ‘ZENOH\_ENABLE’} param: PCA9685\_MAX1: old\_default: 2000, new\_default: 1900 .. repeat param: PCA9685\_MIN1: old\_default: 1000, new\_default: 1100 … repeate param: EKF2\_DECL\_TYPE: old\_default: 7, new\_default: 3 param: EKF2\_IMU\_CTRL: old\_default: 3, new\_default: 7 param: EKF2\_TAS\_GATE: old\_default: 3.0, new\_default: 5.0 param: EKF2\_WIND\_NSD: old\_default: 0.01, new\_default: 0.05 param: UWB\_PORT\_CFG: old\_default: 102, new\_default: 0 ---
**Author:** ![MaEtUgR](https://discuss.px4.io/user_avatar/discuss.px4.io/maetugr/32/2707_2.png) [@MaEtUgR](https://discuss.px4.io/u/MaEtUgR)\ **Post date:** [August 7, 2024, 9:11am UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/9 "2024-08-07T09:11:34Z")
> ‘CAL\_MAG0\_PITCH’, > ‘CAL\_MAG0\_ROLL’, > ‘CAL\_MAG0\_YAW’, @hamishwillee A new feature by @bresch that you can set arbitrary magnetometer orientations by setting `CAL_MAGn_ROT` to 100 and specifying the above parameters. See [Enable arbitrary euler angle for Mag rotation [NEW] by bresch · Pull Request #22000 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/22000) ---
**Author:** ![MaEtUgR](https://discuss.px4.io/user_avatar/discuss.px4.io/maetugr/32/2707_2.png) [@MaEtUgR](https://discuss.px4.io/u/MaEtUgR)\ **Post date:** [August 7, 2024, 11:30am UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/10 "2024-08-07T11:30:48Z")
> New roboclaw implementation. Who owns it to document? @Per_Frivik and/or @Christian_Friedrich > > > Documentation for the Rover Differential Drive module in PX4. > > This documenta…tion needs to wait for one or two PX4 PR's before we can merge this documentation, as it is based on some changes that I want to implement based on user feedback ( > > \- \[\] https://github.com/PX4/PX4-Autopilot/pull/22877 > This is Ackermann? If not, what? RDD - Rover differential drive, related to above. > Are these relevant to end users? `SIM_GZ_WH` simulated rover wheel related to above. ---
**Author:** ![bresch](https://discuss.px4.io/user_avatar/discuss.px4.io/bresch/32/2343_2.png) [@bresch](https://discuss.px4.io/u/bresch)\ **Post date:** [August 7, 2024, 11:59am UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/11 "2024-08-07T11:59:34Z")
> param: EKF2\_DECL\_TYPE: old\_default: 7, new\_default: 3 We removed the option to enable or disable declination fusion. This is now automatically enabled when needed. The rest is the same (bit 3 got removed, that’s why 7-\>3) > param: EKF2\_IMU\_CTRL: old\_default: 3, new\_default: 7 Gravity tilt fusion is now enabled by default (i.e.: the EKF is allowed to use it when needed). The EKF uses gravity tilt fusion when no other velocity or measurements are available to constrain the inevitable tilt drift experienced when performing pure gyro integration. > param: EKF2\_TAS\_GATE: old\_default: 3.0, new\_default: 5.0 > param: EKF2\_WIND\_NSD: old\_default: 0.01, new\_default: 0.05 Both changed in [Fixed-wing/VTOL: High wind hardening by sfuhrer · Pull Request #21764 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/21764) to improve the behavior when flying in strong wind conditions. ---
**Author:** ![bresch](https://discuss.px4.io/user_avatar/discuss.px4.io/bresch/32/2343_2.png) [@bresch](https://discuss.px4.io/u/bresch)\ **Post date:** [August 7, 2024, 12:04pm UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/12 "2024-08-07T12:04:16Z")
> [@hamishwillee](#): > > ‘MPC\_ACC\_DECOUPLE’, - when would this be set? This is set by default as it provides a smoother flight experience in position and auto modes, however, the tracking is a bit worse than when disabled. It can be disabled when accurate position tracking during dynamic maneuvers is more important than a smooth flight. ---
**Author:** ![Christian\_Friedrich](https://discuss.px4.io/user_avatar/discuss.px4.io/christian_friedrich/32/17208_2.png) [@Christian\_Friedrich](https://discuss.px4.io/u/Christian_Friedrich)\ **Post date:** [August 7, 2024, 1:32pm UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/13 "2024-08-07T13:32:56Z")
On the RDD parameters: These are superseded by the restructure of the differential module [Restructure and update differential rover module by chfriedrich98 · Pull Request #23430 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/23430) the documentation of which will be added with [Restructure rover docs by chfriedrich98 · Pull Request #3311 · PX4/PX4-user\_guide · GitHub](https://github.com/PX4/PX4-user_guide/pull/3311) (This also deprecates the open docs PR you linked). However, these changes are not part of v1.15. I don’t think it is worth to write a “temporary” documentation for the version of the differential module that seems to be part of this release. My suggestion would be to keep it “hidden” and update the docs with the full rover restructure in v1.16. ---
**Author:** ![hamishwillee](https://discuss.px4.io/user_avatar/discuss.px4.io/hamishwillee/32/3469_2.png) [@hamishwillee](https://discuss.px4.io/u/hamishwillee)\ **Post date:** [August 8, 2024, 5:52am UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/14 "2024-08-08T05:52:01Z")
THANK YOU ALL. TLDR: I don’t think there is anything to do _now_. @MaEtUgR - We captured MAG changes already in [Flight Controller/Sensor Orientation \> Setting the Compass Orientation](https://docs.px4.io/main/en/config/flight_controller_orientation.html#setting-the-compass-orientation) @Christian_Friedrich - Re RDD/Differential drive/SIM\_WH… I agree we shouldn’t talk about them until the full implementation is in. For v1.15 ignore. I can’t hide the parameters, but no will worry about them if they are not linked from broader docs. - I assume Roboclaw stuff is part of this, and will get documented with it? @bresch - Re the EKF param changes I don’t think we need to capture anything from this. - Re [MPC\_ACC\_DECOUPLE](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#MPC_ACC_DECOUPLE) I don’t think we should update the broad docs, but perhaps we could make this more useful by making the description a little less opaque. Let’s PR in your text [MPC\_ACC\_DECOUPLE - better description by hamishwillee · Pull Request #23518 · PX4/PX4-Autopilot · GitHub](https://github.com/PX4/PX4-Autopilot/pull/23518) ---
**Author:** ![Benja](https://discuss.px4.io/user_avatar/discuss.px4.io/benja/32/11872_2.png) [@Benja](https://discuss.px4.io/u/Benja)\ **Post date:** [August 9, 2024, 10:07pm UTC](https://discuss.px4.io/t/px4-v1-15-public-changes-what-needs-docs/39850/15 "2024-08-09T22:07:04Z")
@hamishwillee , UXRCE DDS `main` doc is aligned with v1.15 - no need to add / change anything.