Parameter groups and variables

Index

a

B

c

d

f

h

i

k

l

m

p

q

r

s

t

u

v


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activeMarker

The Active Marker deck is mainly designed for Qualisys mocap systems and supports Qualisys Active markers, but it can also be used with other systems in a simplified mode. The deck has 4 arms with one IR LED on the tip of each arm and a light sensor in the center of the deck.

The deck is configured using the parameter sub system, for details on which parameter to use, see below.

Variables

Name Core Type Description
activeMarker.front Core PARAM_UINT8, PARAM_PERSISTENT Qualisys id of marker for front (default: 1)
activeMarker.back Core PARAM_UINT8, PARAM_PERSISTENT Qualisys id of marker for back (default: 3)
activeMarker.left Core PARAM_UINT8, PARAM_PERSISTENT Qualisys id of marker for left (default: 4)
activeMarker.right Core PARAM_UINT8, PARAM_PERSISTENT Qualisys id of marker for right (default: 2)
activeMarker.mode Core PARAM_UINT8, PARAM_PERSISTENT Off(0), pwm(1), modulated(2) or qualisys(3)
activeMarker.poll   PARAM_UINT8  

Detailed Variable Information

activeMarker.front

src/deck/drivers/src/activeMarkerDeck.c (L232)

Qualisys id of marker for front (default: 1)

In Qualisys mode the front LED act as an Active marker with IDs that are in the range 0 - 170.

activeMarker.back

src/deck/drivers/src/activeMarkerDeck.c (L240)

Qualisys id of marker for back (default: 3)

In Qualisys mode the back LED act as an Active marker with IDs that are in the range 0 - 170.

activeMarker.left

src/deck/drivers/src/activeMarkerDeck.c (L248)

Qualisys id of marker for left (default: 4)

In Qualisys mode the left LED act as an Active marker with IDs that are in the range 0 - 170.

activeMarker.right

src/deck/drivers/src/activeMarkerDeck.c (L256)

Qualisys id of marker for right (default: 2)

In Qualisys mode the right LED act as an Active marker with IDs that are in the range 0 - 170.

activeMarker.mode

src/deck/drivers/src/activeMarkerDeck.c (L291)

Off(0), pwm(1), modulated(2) or qualisys(3)

Mode Value Comment
OFF 0 Always off
PWM 1 Always on, PWM modulated
MODULATED 2 Switching
QUALISYS 3 (default) Qualisys Active Marker mode

Off mode

All marker LEDs are turned off.

PWM mode

The marker LEDs are turned on and PWM modulated. The brightness of each LED is controlled by the marker parameters below, in the range 0 - 255.

Modulated mode

The LEDs are switched on and off at around 42 kHz (24 micro seconds cycle). The brightness of the LEDs during the “on” part of the cycle is controlled by the marker parameters below, in the range 0 - 255.

Qualisys mode

In this mode the LEDs act as Active markers with IDs that are identified by the Qualisys system and used for better 6-dof identification and tracking. The IDs are controlled by the marker parameters. The Qualisys systems and the deck currently supports IDs in the range [0 - 170]

activeMarker.poll

src/deck/drivers/src/activeMarkerDeck.c (L293)


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amarkUartTest

Variables

Name Core Type Description
amarkUartTest.trigger   PARAM_UINT8  

Detailed Variable Information

amarkUartTest.trigger

src/deck/drivers/src/test/activeMarkerUartTest.c (L101)


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asc37800

Variables

Name Core Type Description
asc37800.currZtrim   PARAM_UINT16  
asc37800.writeTrim   PARAM_UINT8  

Detailed Variable Information

asc37800.currZtrim

src/deck/drivers/src/acs37800.c (L332)

asc37800.writeTrim

src/deck/drivers/src/acs37800.c (L333)


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BigQuadTest

Variables

Name Core Type Description
BigQuadTest.pass   PARAM_UINT8  

Detailed Variable Information

BigQuadTest.pass

src/deck/drivers/src/test/bigquadtest.c (L142)


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colAv

Onboard collision avoidance algorithm.

Buffered Voronoi collision avoidance (BVCA) is a reactive multi-robot collision avoidance method [1]. It is suitable for scenarios with low to medium spatial contention

We obtain the positions of neighbors on the same radio channel from the

BVCA acts by modifying the setpoints sent from the commander to the controller. The new setpoint will be as close as possible to the original while respecting the buffered Voronoi cell constraint. Our motion within the cell also depends on a planning horizon (longer horizon will lead to more conservative behavior) and a maximum speed. The commander and controller do not need to know if BVCA is enabled.

BVCA does not attempt to smooth the modified setpoints, so the output may be discontinuous or far from the current robot state. The controller must be able to handle this kind of input. Currently, only the PID controller is confirmed to work with BVCA. High-gain controllers like Mellinger may become unstable.

The volume for collision checking is a tall ellipsoid. This accounts for the downwash effect: Due to the fast-moving stream of air produced by the rotors, the safe distance to pass underneath another rotorcraft is much further than the safe distance to pass to the side. The radii of the ellipsoid can be set by using the parameters below.

A bounding box may be specified, for example when using a motion capture system. The box is applied to the Crazyflie’s center point only; the ellipsoid collision volume is ignored. The box can be set to +/- infinity if the flight space is unbounded.

[1] Zhou, Dingjiang, et al. “Fast, on-line collision avoidance for dynamic vehicles using buffered voronoi cells.” IEEE Robotics and Automation Letters 2.2 (2017): 1047-1054.

Variables

Name Core Type Description
colAv.enable Core PARAM_UINT8 Nonzero to enable collision avoidance.
colAv.ellipsoidX Core PARAM_FLOAT The x radius of the ellipsoid collision volume.
colAv.ellipsoidY Core PARAM_FLOAT The y radius of the ellipsoid collision volume.
colAv.ellipsoidZ Core PARAM_FLOAT The z radius of the ellipsoid collision volume.
colAv.bboxMinX   PARAM_FLOAT  
colAv.bboxMinY   PARAM_FLOAT  
colAv.bboxMinZ   PARAM_FLOAT  
colAv.bboxMaxX   PARAM_FLOAT  
colAv.bboxMaxY   PARAM_FLOAT  
colAv.bboxMaxZ   PARAM_FLOAT  
colAv.horizon   PARAM_FLOAT  
colAv.maxSpeed   PARAM_FLOAT  
colAv.sidestepThrsh   PARAM_FLOAT  
colAv.maxPeerLocAge   PARAM_INT32  
colAv.vorTol   PARAM_FLOAT  
colAv.vorIters   PARAM_INT32  

Detailed Variable Information

colAv.enable

src/modules/src/collision_avoidance.c (L398)

Nonzero to enable collision avoidance.

Used to enable or disable the collision avoidance module.

colAv.ellipsoidX

src/modules/src/collision_avoidance.c (L403)

The x radius of the ellipsoid collision volume.

colAv.ellipsoidY

src/modules/src/collision_avoidance.c (L408)

The y radius of the ellipsoid collision volume.

colAv.ellipsoidZ

src/modules/src/collision_avoidance.c (L413)

The z radius of the ellipsoid collision volume.

colAv.bboxMinX

src/modules/src/collision_avoidance.c (L415)

colAv.bboxMinY

src/modules/src/collision_avoidance.c (L416)

colAv.bboxMinZ

src/modules/src/collision_avoidance.c (L417)

colAv.bboxMaxX

src/modules/src/collision_avoidance.c (L419)

colAv.bboxMaxY

src/modules/src/collision_avoidance.c (L420)

colAv.bboxMaxZ

src/modules/src/collision_avoidance.c (L421)

colAv.horizon

src/modules/src/collision_avoidance.c (L423)

colAv.maxSpeed

src/modules/src/collision_avoidance.c (L424)

colAv.sidestepThrsh

src/modules/src/collision_avoidance.c (L425)

colAv.maxPeerLocAge

src/modules/src/collision_avoidance.c (L426)

colAv.vorTol

src/modules/src/collision_avoidance.c (L427)

colAv.vorIters

src/modules/src/collision_avoidance.c (L428)


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commander

The high level commander handles the setpoints from within the firmware based on a predefined trajectory. This was merged as part of the Crazyswarm project of the USC ACT lab (see this blogpost). The high-level commander uses a planner to generate smooth trajectories based on actions like ‘take off’, ‘go to’ or ‘land’ with 7th order polynomials. The planner generates a group of setpoints, which will be handled by the High level commander and send one by one to the commander framework.

It is also possible to upload your own custom trajectory to the memory of the Crazyflie, which you can try out with the script examples/autonomous_sequence_high_level of.py in the Crazyflie python library repository.

Variables

Name Core Type Description
commander.enHighLevel Core PARAM_UINT8 Enable high level commander - deprecated (removed after August 2023)

Detailed Variable Information

commander.enHighLevel

src/modules/src/commander.c (L157)

Enable high level commander - deprecated (removed after August 2023)

This parameter does not change anything and does not provide any functionality. There is no need to set it before using the high level commander. See https://github.com/bitcraze/crazyflie-firmware/pull/903


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cppm

The CPPM (Combined Pulse Position Modulation) parameters configure the maximum angle/rate output given a maximum stick input for CRTP packets with emulated CPPM channels (e.g. RC transmitters connecting directly to the NRF radio, often with a 4-in-1 Multimodule), or for CPPM channels from an external receiver.

Variables

Name Core Type Description
cppm.rateRoll   PARAM_FLOAT, PARAM_PERSISTENT Config of max roll rate at max stick input [DPS] (default: 720)
cppm.ratePitch   PARAM_FLOAT, PARAM_PERSISTENT Config of max pitch rate at max stick input [DPS] (default: 720)
cppm.angPitch   PARAM_FLOAT, PARAM_PERSISTENT Config of max pitch angle at max stick input [DEG] (default: 50)
cppm.angRoll   PARAM_FLOAT, PARAM_PERSISTENT Config of max roll angle at max stick input [DEG] (default: 50)
cppm.rateYaw   PARAM_FLOAT, PARAM_PERSISTENT Config of max yaw rate at max stick input [DPS] (default: 400)

Detailed Variable Information

cppm.rateRoll

src/modules/src/crtp_commander_generic.c (L446)

Config of max roll rate at max stick input [DPS] (default: 720)

cppm.ratePitch

src/modules/src/crtp_commander_generic.c (L450)

Config of max pitch rate at max stick input [DPS] (default: 720)

cppm.angPitch

src/modules/src/crtp_commander_generic.c (L454)

Config of max pitch angle at max stick input [DEG] (default: 50)

cppm.angRoll

src/modules/src/crtp_commander_generic.c (L458)

Config of max roll angle at max stick input [DEG] (default: 50)

cppm.rateYaw

src/modules/src/crtp_commander_generic.c (L462)

Config of max yaw rate at max stick input [DPS] (default: 400)


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cpu

This parameter group contain read-only parameters pertaining to the CPU in the Crazyflie.

These could be used to identify an unique quad.

Variables

Name Core Type Description
cpu.flash Core PARAM_UINT16, PARAM_RONLY Size in kB of the device flash memory.
cpu.id0 Core PARAM_UINT32, PARAM_RONLY Byte 0 - 3 of device unique id.
cpu.id1 Core PARAM_UINT32, PARAM_RONLY Byte 4 - 7 of device unique id.
cpu.id2 Core PARAM_UINT32, PARAM_RONLY Byte 8 - 11 of device unique id.

Detailed Variable Information

cpu.flash

src/modules/src/system.c (L429)

Size in kB of the device flash memory.

cpu.id0

src/modules/src/system.c (L434)

Byte 0 - 3 of device unique id.

cpu.id1

src/modules/src/system.c (L439)

Byte 4 - 7 of device unique id.

cpu.id2

src/modules/src/system.c (L444)

Byte 8 - 11 of device unique id.


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crtpsrv

Variables

Name Core Type Description
crtpsrv.echoDelay   PARAM_UINT16  

Detailed Variable Information

crtpsrv.echoDelay

src/modules/src/crtpservice.c (L102)


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ctrlAtt

Variables

Name Core Type Description
ctrlAtt.tau_xy   PARAM_FLOAT  
ctrlAtt.zeta_xy   PARAM_FLOAT  
ctrlAtt.tau_z   PARAM_FLOAT  
ctrlAtt.zeta_z   PARAM_FLOAT  
ctrlAtt.tau_rp   PARAM_FLOAT  
ctrlAtt.mixing_factor   PARAM_FLOAT  
ctrlAtt.coll_fairness   PARAM_FLOAT  

Detailed Variable Information

ctrlAtt.tau_xy

src/modules/src/controller/controller_brescianini.c (L411)

ctrlAtt.zeta_xy

src/modules/src/controller/controller_brescianini.c (L412)

ctrlAtt.tau_z

src/modules/src/controller/controller_brescianini.c (L413)

ctrlAtt.zeta_z

src/modules/src/controller/controller_brescianini.c (L414)

ctrlAtt.tau_rp

src/modules/src/controller/controller_brescianini.c (L415)

ctrlAtt.mixing_factor

src/modules/src/controller/controller_brescianini.c (L416)

ctrlAtt.coll_fairness

src/modules/src/controller/controller_brescianini.c (L417)


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ctrlINDI

Tuning settings for INDI controller for the attitude and accelerations of the Crazyflie

Variables

Name Core Type Description
ctrlINDI.thrust_threshold   PARAM_FLOAT INDI Minimum thrust threshold [motor units].
ctrlINDI.bound_ctrl_input   PARAM_FLOAT INDI bounding for control input [motor units].
ctrlINDI.g1_p   PARAM_FLOAT INDI Controller effeciveness G1 p.
ctrlINDI.g1_q   PARAM_FLOAT INDI Controller effectiveness G1 q.
ctrlINDI.g1_r   PARAM_FLOAT INDI Controller effectiveness G1 r.
ctrlINDI.g2   PARAM_FLOAT INDI Controller effectiveness G2.
ctrlINDI.ref_err_p   PARAM_FLOAT INDI proportional gain, attitude error p.
ctrlINDI.ref_err_q   PARAM_FLOAT INDI proportional gain, attitude error q.
ctrlINDI.ref_err_r   PARAM_FLOAT INDI proportional gain, attitude error r.
ctrlINDI.ref_rate_p   PARAM_FLOAT INDI proportional gain, attitude rate error p.
ctrlINDI.ref_rate_q   PARAM_FLOAT INDI proportional gain, attitude rate error q.
ctrlINDI.ref_rate_r   PARAM_FLOAT INDI proportional gain, attitude rate error r.
ctrlINDI.act_dyn_p   PARAM_FLOAT INDI actuator dynamics parameter p.
ctrlINDI.act_dyn_q   PARAM_FLOAT INDI actuator dynamics parameter q.
ctrlINDI.act_dyn_r   PARAM_FLOAT INDI actuator dynamics parameter r.
ctrlINDI.filt_cutoff   PARAM_FLOAT INDI Filtering for the raw angular rates [Hz].
ctrlINDI.filt_cutoff_r   PARAM_FLOAT INDI Filtering for the raw angular rates [Hz].
ctrlINDI.outerLoopActive   PARAM_UINT8 Activate INDI for position control.

Detailed Variable Information

ctrlINDI.thrust_threshold

src/modules/src/controller/controller_indi.c (L345)

INDI Minimum thrust threshold [motor units].

ctrlINDI.bound_ctrl_input

src/modules/src/controller/controller_indi.c (L349)

INDI bounding for control input [motor units].

ctrlINDI.g1_p

src/modules/src/controller/controller_indi.c (L354)

INDI Controller effeciveness G1 p.

ctrlINDI.g1_q

src/modules/src/controller/controller_indi.c (L358)

INDI Controller effectiveness G1 q.

ctrlINDI.g1_r

src/modules/src/controller/controller_indi.c (L362)

INDI Controller effectiveness G1 r.

ctrlINDI.g2

src/modules/src/controller/controller_indi.c (L366)

INDI Controller effectiveness G2.

ctrlINDI.ref_err_p

src/modules/src/controller/controller_indi.c (L371)

INDI proportional gain, attitude error p.

ctrlINDI.ref_err_q

src/modules/src/controller/controller_indi.c (L375)

INDI proportional gain, attitude error q.

ctrlINDI.ref_err_r

src/modules/src/controller/controller_indi.c (L379)

INDI proportional gain, attitude error r.

ctrlINDI.ref_rate_p

src/modules/src/controller/controller_indi.c (L384)

INDI proportional gain, attitude rate error p.

ctrlINDI.ref_rate_q

src/modules/src/controller/controller_indi.c (L388)

INDI proportional gain, attitude rate error q.

ctrlINDI.ref_rate_r

src/modules/src/controller/controller_indi.c (L392)

INDI proportional gain, attitude rate error r.

ctrlINDI.act_dyn_p

src/modules/src/controller/controller_indi.c (L397)

INDI actuator dynamics parameter p.

ctrlINDI.act_dyn_q

src/modules/src/controller/controller_indi.c (L401)

INDI actuator dynamics parameter q.

ctrlINDI.act_dyn_r

src/modules/src/controller/controller_indi.c (L405)

INDI actuator dynamics parameter r.

ctrlINDI.filt_cutoff

src/modules/src/controller/controller_indi.c (L410)

INDI Filtering for the raw angular rates [Hz].

ctrlINDI.filt_cutoff_r

src/modules/src/controller/controller_indi.c (L414)

INDI Filtering for the raw angular rates [Hz].

ctrlINDI.outerLoopActive

src/modules/src/controller/controller_indi.c (L419)

Activate INDI for position control.


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ctrlMel

Tunning variables for the full state Mellinger Controller

Variables

Name Core Type Description
ctrlMel.kp_xy Core PARAM_FLOAT, PARAM_PERSISTENT Position P-gain (horizontal xy plane)
ctrlMel.kd_xy Core PARAM_FLOAT, PARAM_PERSISTENT Position D-gain (horizontal xy plane)
ctrlMel.ki_xy Core PARAM_FLOAT, PARAM_PERSISTENT Position I-gain (horizontal xy plane)
ctrlMel.i_range_xy   PARAM_FLOAT, PARAM_PERSISTENT Attitude maximum accumulated error (roll and pitch)
ctrlMel.kp_z Core PARAM_FLOAT, PARAM_PERSISTENT Position P-gain (vertical z plane)
ctrlMel.kd_z Core PARAM_FLOAT, PARAM_PERSISTENT Position D-gain (vertical z plane)
ctrlMel.ki_z Core PARAM_FLOAT, PARAM_PERSISTENT Position I-gain (vertical z plane)
ctrlMel.i_range_z   PARAM_FLOAT, PARAM_PERSISTENT Position maximum accumulated error (vertical z plane)
ctrlMel.mass Core PARAM_FLOAT, PARAM_PERSISTENT total mass [kg]
ctrlMel.massThrust Core PARAM_FLOAT, PARAM_PERSISTENT Force to PWM stretch factor.
ctrlMel.kR_xy Core PARAM_FLOAT, PARAM_PERSISTENT Attitude P-gain (roll and pitch)
ctrlMel.kR_z Core PARAM_FLOAT, PARAM_PERSISTENT Attitude P-gain (yaw)
ctrlMel.kw_xy Core PARAM_FLOAT, PARAM_PERSISTENT Attitude D-gain (roll and pitch)
ctrlMel.kw_z Core PARAM_FLOAT, PARAM_PERSISTENT Attitude D-gain (yaw)
ctrlMel.ki_m_xy Core PARAM_FLOAT, PARAM_PERSISTENT Attitude I-gain (roll and pitch)
ctrlMel.ki_m_z Core PARAM_FLOAT, PARAM_PERSISTENT Attitude I-gain (yaw)
ctrlMel.kd_omega_rp Core PARAM_FLOAT, PARAM_PERSISTENT Angular velocity D-Gain (roll and pitch)
ctrlMel.i_range_m_xy   PARAM_FLOAT, PARAM_PERSISTENT Attitude maximum accumulated error (roll and pitch)
ctrlMel.i_range_m_z   PARAM_FLOAT, PARAM_PERSISTENT Attitude maximum accumulated error (yaw)

Detailed Variable Information

ctrlMel.kp_xy

src/modules/src/controller/controller_mellinger.c (L345)

Position P-gain (horizontal xy plane)

ctrlMel.kd_xy

src/modules/src/controller/controller_mellinger.c (L349)

Position D-gain (horizontal xy plane)

ctrlMel.ki_xy

src/modules/src/controller/controller_mellinger.c (L353)

Position I-gain (horizontal xy plane)

ctrlMel.i_range_xy

src/modules/src/controller/controller_mellinger.c (L357)

Attitude maximum accumulated error (roll and pitch)

ctrlMel.kp_z

src/modules/src/controller/controller_mellinger.c (L361)

Position P-gain (vertical z plane)

ctrlMel.kd_z

src/modules/src/controller/controller_mellinger.c (L365)

Position D-gain (vertical z plane)

ctrlMel.ki_z

src/modules/src/controller/controller_mellinger.c (L369)

Position I-gain (vertical z plane)

ctrlMel.i_range_z

src/modules/src/controller/controller_mellinger.c (L373)

Position maximum accumulated error (vertical z plane)

ctrlMel.mass

src/modules/src/controller/controller_mellinger.c (L377)

total mass [kg]

ctrlMel.massThrust

src/modules/src/controller/controller_mellinger.c (L381)

Force to PWM stretch factor.

ctrlMel.kR_xy

src/modules/src/controller/controller_mellinger.c (L385)

Attitude P-gain (roll and pitch)

ctrlMel.kR_z

src/modules/src/controller/controller_mellinger.c (L389)

Attitude P-gain (yaw)

ctrlMel.kw_xy

src/modules/src/controller/controller_mellinger.c (L393)

Attitude D-gain (roll and pitch)

ctrlMel.kw_z

src/modules/src/controller/controller_mellinger.c (L397)

Attitude D-gain (yaw)

ctrlMel.ki_m_xy

src/modules/src/controller/controller_mellinger.c (L401)

Attitude I-gain (roll and pitch)

ctrlMel.ki_m_z

src/modules/src/controller/controller_mellinger.c (L405)

Attitude I-gain (yaw)

ctrlMel.kd_omega_rp

src/modules/src/controller/controller_mellinger.c (L409)

Angular velocity D-Gain (roll and pitch)

ctrlMel.i_range_m_xy

src/modules/src/controller/controller_mellinger.c (L413)

Attitude maximum accumulated error (roll and pitch)

ctrlMel.i_range_m_z

src/modules/src/controller/controller_mellinger.c (L417)

Attitude maximum accumulated error (yaw)


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deck

The deck parameter group tells us which decks are connected. There is one parameter per official deck and the parameter is nonzero if the deck is connected.

Variables

Name Core Type Description
deck.bcACS37800   PARAM_UINT8, PARAM_RONLY  
deck.bcActiveMarker Core PARAM_UINT8, PARAM_RONLY Nonzero if Active Marker deck is attached.
deck.bcAI Core PARAM_UINT8, PARAM_RONLY Nonzero if AI deck is attached.
deck.bcBuzzer Core PARAM_UINT8, PARAM_RONLY Nonzero if Buzzer deck is attached.
deck.bcCPPM   PARAM_UINT8, PARAM_RONLY  
deck.cpxOverUART2 Core PARAM_UINT8, PARAM_RONLY Nonzero if CRTP over UART has been forced.
deck.bcFlapperDeck Core PARAM_UINT8, PARAM_RONLY  
deck.bcFlow Core PARAM_UINT8, PARAM_RONLY Nonzero if Flow deck v1 is attached.
deck.bcFlow2 Core PARAM_UINT8, PARAM_RONLY Nonzero if Flow deck v2 is attached.
deck.bcGTGPS   PARAM_UINT8, PARAM_RONLY  
deck.bcLedRing Core PARAM_UINT8, PARAM_RONLY Nonzero if LED-ring deck is attached.
deck.bcLhTester   PARAM_UINT8, PARAM_RONLY  
deck.bcLighthouse4 Core PARAM_UINT8, PARAM_RONLY Nonzero if Lighthouse positioning deck is attached.
deck.bcLoadcell   PARAM_UINT8, PARAM_RONLY  
deck.bcDWM1000 Core PARAM_UINT8, PARAM_RONLY Deprecated (removed after August 2023). Use the “deck.bcLoco” parameter instead.
deck.bcLoco Core PARAM_UINT8, PARAM_RONLY Nonzero if Loco positioning deck is attached.
deck.bcMultiranger Core PARAM_UINT8, PARAM_RONLY Nonzero if Multi-ranger deck is attached.
deck.bcOA   PARAM_UINT8, PARAM_RONLY  
deck.bcServo Core PARAM_UINT8, PARAM_RONLY  
deck.bcUSD Core PARAM_UINT8, PARAM_RONLY Nonzero if SD-card deck is attached.
deck.bcZRanger Core PARAM_UINT8, PARAM_RONLY Nonzero if Z-ranger deck is attached.
deck.bcZRanger2 Core PARAM_UINT8, PARAM_RONLY Nonzero if Z-ranger deck v2 is attached.

Detailed Variable Information

deck.bcACS37800

src/deck/drivers/src/acs37800.c (L328)

deck.bcActiveMarker

src/deck/drivers/src/activeMarkerDeck.c (L311)

Nonzero if Active Marker deck is attached.

deck.bcAI

src/deck/drivers/src/aideck.c (L396)

Nonzero if AI deck is attached.

deck.bcBuzzer

src/deck/drivers/src/buzzdeck.c (L85)

Nonzero if Buzzer deck is attached.

deck.bcCPPM

src/deck/drivers/src/cppmdeck.c (L76)

deck.cpxOverUART2

src/deck/drivers/src/cpx-host-on-uart2.c (L78)

Nonzero if CRTP over UART has been forced.

deck.bcFlapperDeck

src/deck/drivers/src/flapperdeck.c (L132)

deck.bcFlow

src/deck/drivers/src/flowdeck_v1v2.c (L329)

Nonzero if Flow deck v1 is attached.

deck.bcFlow2

src/deck/drivers/src/flowdeck_v1v2.c (L334)

Nonzero if Flow deck v2 is attached.

deck.bcGTGPS

src/deck/drivers/src/gtgps.c (L316)

deck.bcLedRing

src/deck/drivers/src/ledring12.c (L1262)

Nonzero if LED-ring deck is attached.

deck.bcLhTester

src/deck/drivers/src/lhtesterdeck.c (L167)

deck.bcLighthouse4

src/deck/drivers/src/lighthouse.c (L109)

Nonzero if Lighthouse positioning deck is attached.

deck.bcLoadcell

src/deck/drivers/src/loadcell.c (L197)

deck.bcDWM1000

src/deck/drivers/src/locodeck.c (L608)

Deprecated (removed after August 2023). Use the “deck.bcLoco” parameter instead.

Nonzero if Loco positioning deck is attached

deck.bcLoco

src/deck/drivers/src/locodeck.c (L613)

Nonzero if Loco positioning deck is attached.

deck.bcMultiranger

src/deck/drivers/src/multiranger.c (L215)

Nonzero if Multi-ranger deck is attached.

deck.bcOA

src/deck/drivers/src/oa.c (L183)

deck.bcServo

src/deck/drivers/src/servo.c (L230)

deck.bcUSD

src/deck/drivers/src/usddeck.c (L1093)

Nonzero if SD-card deck is attached.

deck.bcZRanger

src/deck/drivers/src/zranger.c (L134)

Nonzero if Z-ranger deck is attached.

deck.bcZRanger2

src/deck/drivers/src/zranger2.c (L166)

Nonzero if Z-ranger deck v2 is attached.


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firmware

Read-only parameters that describe the current quad firmware.

Variables

Name Core Type Description
firmware.revision0 Core PARAM_UINT32, PARAM_RONLY Byte 0 - 7 of firmware revision.
firmware.revision1 Core PARAM_UINT16, PARAM_RONLY Byte 8 - 11 of firmware revision.
firmware.modified Core PARAM_UINT8, PARAM_RONLY Nonzero if firmware has local changes.

Detailed Variable Information

firmware.revision0

src/utils/src/version.vtpl (L51)

Byte 0 - 7 of firmware revision.

firmware.revision1

src/utils/src/version.vtpl (L56)

Byte 8 - 11 of firmware revision.

firmware.modified

src/utils/src/version.vtpl (L61)

Nonzero if firmware has local changes.


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flapper

Current sensor parameters

Flapper Drone configration parameters

Variables

Name Core Type Description
flapper.ampsPerVolt   PARAM_FLOAT, PARAM_PERSISTENT Current sensor constant (A/V)
flapper.filtAlpha   PARAM_FLOAT, PARAM_PERSISTENT Current filter parameter <0; 1), set 0 to disable, 0.9999 for max effect.
flapper.motBiasRoll   PARAM_INT8, PARAM_PERSISTENT Roll bias <-25%; 25%> (default 0%)
flapper.servPitchNeutr   PARAM_UINT8, PARAM_PERSISTENT Pitch servo neutral <25%; 75%> (default 50%)
flapper.servYawNeutr   PARAM_UINT8, PARAM_PERSISTENT Yaw servo neutral <25%; 75%> (default 50%)
flapper.flapperMaxThrust   PARAM_UINT16, PARAM_PERSISTENT Yaw servo neutral <25%; 75%> (default 50%)

Detailed Variable Information

flapper.ampsPerVolt

src/deck/drivers/src/flapperdeck.c (L150)

Current sensor constant (A/V)

flapper.filtAlpha

src/deck/drivers/src/flapperdeck.c (L154)

Current filter parameter <0; 1), set 0 to disable, 0.9999 for max effect.

flapper.motBiasRoll

src/modules/src/power_distribution_flapper.c (L239)

Roll bias <-25%; 25%> (default 0%)

This parameter can be used if uneven performance of the left and right flapping mechanaisms and/or wings is observed, which in flight results in a drift in roll/sideways flight. Positive values make the drone roll more to the right, negative values to the left.

flapper.servPitchNeutr

src/modules/src/power_distribution_flapper.c (L247)

Pitch servo neutral <25%; 75%> (default 50%)

The parameter sets the neutral position of the pitch servo, such that the left and right wing-pairs are aligned when observed from the side. If in flight you observe too much drift forward (nose down) increase the value and vice versa if the drift is backward (nose up).

flapper.servYawNeutr

src/modules/src/power_distribution_flapper.c (L254)

Yaw servo neutral <25%; 75%> (default 50%)

The parameter sets the neutral position of the yaw servo, such that the yaw control arm is pointed spanwise. If in flight you observe drift in the clock-wise direction, increase this parameter and vice-versa if the drift is counter-clock-wise.

flapper.flapperMaxThrust

src/modules/src/power_distribution_flapper.c (L261)

Yaw servo neutral <25%; 75%> (default 50%)

The parameter sets the neutral position of the yaw servo, such that the yaw control arm is pointed spanwise. If in flight you observe drift in the clock-wise direction, increase this parameter and vice-versa if the drift is counter-clock-wise.


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flightmode

There are 2 levels to control: Position (X, Y, Z) and Attitude (pitch, roll, yaw or in quaternions)

These can be controlled in different modes: Absolute mode, Velocity mode or Disabled

These parameters have impact on which level and mode to use.

Variables

Name Core Type Description
flightmode.althold Core PARAM_UINT8 Keeps the quad at its current altitude automatically.
flightmode.poshold Core PARAM_UINT8 Keeps the quad at its current 3D position.
flightmode.posSet Core PARAM_UINT8 Set to nonzero to select absolute mode for positioning.
flightmode.yawMode   PARAM_UINT8 Carefree(0), plusmode(1), xmode(2)
flightmode.stabModeRoll Core PARAM_UINT8 Stabilization type for roll: rate(0) or angle(1)
flightmode.stabModePitch Core PARAM_UINT8 Stabilization type for pitch: rate(0) or angle(1)
flightmode.stabModeYaw Core PARAM_UINT8 Stabilization type for yaw: rate(0) or angle(1)

Detailed Variable Information

flightmode.althold

src/modules/src/crtp_commander_rpyt.c (L240)

Keeps the quad at its current altitude automatically.

Thrust control becomes height velocity control.

flightmode.poshold

src/modules/src/crtp_commander_rpyt.c (L248)

Keeps the quad at its current 3D position.

Pitch/Roll/Thrust control becomes X/Y/Z velocity control. X and U

flightmode.posSet

src/modules/src/crtp_commander_rpyt.c (L253)

Set to nonzero to select absolute mode for positioning.

flightmode.yawMode

src/modules/src/crtp_commander_rpyt.c (L258)

Carefree(0), plusmode(1), xmode(2)

flightmode.stabModeRoll

src/modules/src/crtp_commander_rpyt.c (L263)

Stabilization type for roll: rate(0) or angle(1)

flightmode.stabModePitch

src/modules/src/crtp_commander_rpyt.c (L268)

Stabilization type for pitch: rate(0) or angle(1)

flightmode.stabModeYaw

src/modules/src/crtp_commander_rpyt.c (L273)

Stabilization type for yaw: rate(0) or angle(1)


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health

Health modules that is trying to find problems such as unbalanced propellers or a bad power path/battery.

Variables

Name Core Type Description
health.startPropTest Core PARAM_UINT8 Set nonzero to initiate test of propellers.
health.startBatTest Core PARAM_UINT8 Set nonzero to initiate test of battery.
health.propTestPWMRatio Core PARAM_UINT16, PARAM_PERSISTENT PWM ratio to use when testing propellers. Required for brushless motors. [0 - UINT16_MAX].
health.batTestPWMRatio Core PARAM_UINT16, PARAM_PERSISTENT PWM ratio to use when testing the battery. [0 - UINT16_MAX].

Detailed Variable Information

health.startPropTest

src/modules/src/health.c (L330)

Set nonzero to initiate test of propellers.

health.startBatTest

src/modules/src/health.c (L335)

Set nonzero to initiate test of battery.

health.propTestPWMRatio

src/modules/src/health.c (L340)

PWM ratio to use when testing propellers. Required for brushless motors. [0 - UINT16_MAX].

health.batTestPWMRatio

src/modules/src/health.c (L345)

PWM ratio to use when testing the battery. [0 - UINT16_MAX].


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hlCommander

computes smooth setpoints based on high-level inputs such as: take-off, landing, polynomial trajectories.

Variables

Name Core Type Description
hlCommander.vtoff Core PARAM_FLOAT Default take off velocity (m/s)
hlCommander.vland Core PARAM_FLOAT Default landing velocity (m/s)
hlCommander.groupmask Core PARAM_UINT8 Group mask of this Crazyflie.

Detailed Variable Information

hlCommander.vtoff

src/modules/src/crtp_commander_high_level.c (L1024)

Default take off velocity (m/s)

hlCommander.vland

src/modules/src/crtp_commander_high_level.c (L1029)

Default landing velocity (m/s)

hlCommander.groupmask

src/modules/src/crtp_commander_high_level.c (L1038)

Group mask of this Crazyflie.

There are up to 8 groups each robot may belong to. Use 0 to indicate no group, i.e., this Crazyflie will react to all commands. Otherwise, for each group this robot should belong to set the corresponding bit to 1.


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imu_sensors

An inertial measurement unit (IMU) is an electronic device that measures and reports a body’s specific force, angular rate, and sometimes the orientation of the body, using a combination of accelerometers, gyroscopes, and sometimes magnetometers.

Variables

Name Core Type Description
imu_sensors.BMP3XX   PARAM_UINT8, PARAM_RONLY Nonzero if BMP3XX barometer is present.
imu_sensors.imuPhi   PARAM_FLOAT, PARAM_PERSISTENT Euler angle Phi defining IMU orientation on the airframe (in degrees)
imu_sensors.imuTheta   PARAM_FLOAT, PARAM_PERSISTENT Euler angle Theta defining IMU orientation on the airframe (in degrees)
imu_sensors.imuPsi   PARAM_FLOAT, PARAM_PERSISTENT Euler angle Psi defining IMU orientation on the airframe (in degrees)
imu_sensors.BoschGyrSel   PARAM_UINT8  
imu_sensors.BoschAccSel   PARAM_UINT8  
imu_sensors.BMM150   PARAM_UINT8, PARAM_RONLY  
imu_sensors.BMP285   PARAM_UINT8, PARAM_RONLY  
imu_sensors.AK8963   PARAM_UINT8, PARAM_RONLY Nonzero if AK8963 magnetometer is present.
imu_sensors.LPS25H   PARAM_UINT8, PARAM_RONLY Nonzero if LPS25H barometer is present.

Detailed Variable Information

imu_sensors.BMP3XX

src/hal/src/sensors_bmi088_bmp3xx.c (L1018)

Nonzero if BMP3XX barometer is present.

imu_sensors.imuPhi

src/hal/src/sensors_bmi088_bmp3xx.c (L1023)

Euler angle Phi defining IMU orientation on the airframe (in degrees)

imu_sensors.imuTheta

src/hal/src/sensors_bmi088_bmp3xx.c (L1028)

Euler angle Theta defining IMU orientation on the airframe (in degrees)

imu_sensors.imuPsi

src/hal/src/sensors_bmi088_bmp3xx.c (L1033)

Euler angle Psi defining IMU orientation on the airframe (in degrees)

imu_sensors.BoschGyrSel

src/hal/src/sensors_bosch.c (L962)

imu_sensors.BoschAccSel

src/hal/src/sensors_bosch.c (L963)

imu_sensors.BMM150

src/hal/src/sensors_bosch.c (L964)

imu_sensors.BMP285

src/hal/src/sensors_bosch.c (L965)

imu_sensors.AK8963

src/hal/src/sensors_mpu9250_lps25h.c (L975)

Nonzero if AK8963 magnetometer is present.

imu_sensors.LPS25H

src/hal/src/sensors_mpu9250_lps25h.c (L980)

Nonzero if LPS25H barometer is present.


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imu_tests

Variables

Name Core Type Description
imu_tests.MPU6500   PARAM_UINT8, PARAM_RONLY Nonzero if the MPU6500 self-test passes.
imu_tests.AK8963   PARAM_UINT8, PARAM_RONLY Nonzero if the AK8963 self-test passes.
imu_tests.LPS25H   PARAM_UINT8, PARAM_RONLY Nonzero if the LPS25H self-test passes.
imu_tests.imuPhi   PARAM_FLOAT, PARAM_PERSISTENT Euler angle Phi defining IMU orientation on the airframe (in degrees)
imu_tests.imuTheta   PARAM_FLOAT, PARAM_PERSISTENT Euler angle Theta defining IMU orientation on the airframe (in degrees)
imu_tests.imuPsi   PARAM_FLOAT, PARAM_PERSISTENT Euler angle Psi defining IMU orientation on the airframe (in degrees)

Detailed Variable Information

imu_tests.MPU6500

src/hal/src/sensors_mpu9250_lps25h.c (L989)

Nonzero if the MPU6500 self-test passes.

imu_tests.AK8963

src/hal/src/sensors_mpu9250_lps25h.c (L994)

Nonzero if the AK8963 self-test passes.

imu_tests.LPS25H

src/hal/src/sensors_mpu9250_lps25h.c (L999)

Nonzero if the LPS25H self-test passes.

imu_tests.imuPhi

src/hal/src/sensors_mpu9250_lps25h.c (L1004)

Euler angle Phi defining IMU orientation on the airframe (in degrees)

imu_tests.imuTheta

src/hal/src/sensors_mpu9250_lps25h.c (L1009)

Euler angle Theta defining IMU orientation on the airframe (in degrees)

imu_tests.imuPsi

src/hal/src/sensors_mpu9250_lps25h.c (L1014)

Euler angle Psi defining IMU orientation on the airframe (in degrees)


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kalman

Tuning parameters for the Extended Kalman Filter (EKF) estimator

Variables

Name Core Type Description
kalman.resetEstimation Core PARAM_UINT8 Reset the kalman estimator.
kalman.robustTdoa Core PARAM_UINT8 Nonzero to use robust TDOA method (default: 0)
kalman.robustTwr Core PARAM_UINT8 Nonzero to use robust TWR method (default: 0)
kalman.pNAcc_xy Core PARAM_FLOAT, PARAM_PERSISTENT Process noise for x and y acceleration.
kalman.pNAcc_z Core PARAM_FLOAT, PARAM_PERSISTENT Process noise for z acceleration.
kalman.pNVel Core PARAM_FLOAT, PARAM_PERSISTENT Process noise for velocity.
kalman.pNPos Core PARAM_FLOAT, PARAM_PERSISTENT Process noise for position.
kalman.pNAtt Core PARAM_FLOAT, PARAM_PERSISTENT Process noise for attitude.
kalman.mNBaro Core PARAM_FLOAT, PARAM_PERSISTENT Measurement noise for barometer.
kalman.mNGyro_rollpitch Core PARAM_FLOAT, PARAM_PERSISTENT Measurement noise for roll/pitch gyros.
kalman.mNGyro_yaw Core PARAM_FLOAT, PARAM_PERSISTENT Measurement noise for yaw gyro.
kalman.initialX Core PARAM_FLOAT Initial X after reset [m].
kalman.initialY Core PARAM_FLOAT Initial Y after reset [m].
kalman.initialZ Core PARAM_FLOAT Initial Z after reset [m].
kalman.initialYaw Core PARAM_FLOAT Initial yaw after reset [rad].
kalman.maxPos Core PARAM_FLOAT Maximum accepted coordinate before kalman supervisor resets estimator.
kalman.maxVel Core PARAM_FLOAT Maximum accepted velocity before kalman supervisor resets estimator.

Detailed Variable Information

kalman.resetEstimation

src/modules/src/estimator/estimator_kalman.c (L516)

Reset the kalman estimator.

kalman.robustTdoa

src/modules/src/estimator/estimator_kalman.c (L520)

Nonzero to use robust TDOA method (default: 0)

kalman.robustTwr

src/modules/src/estimator/estimator_kalman.c (L524)

Nonzero to use robust TWR method (default: 0)

kalman.pNAcc_xy

src/modules/src/estimator/estimator_kalman.c (L528)

Process noise for x and y acceleration.

kalman.pNAcc_z

src/modules/src/estimator/estimator_kalman.c (L532)

Process noise for z acceleration.

kalman.pNVel

src/modules/src/estimator/estimator_kalman.c (L536)

Process noise for velocity.

kalman.pNPos

src/modules/src/estimator/estimator_kalman.c (L540)

Process noise for position.

kalman.pNAtt

src/modules/src/estimator/estimator_kalman.c (L544)

Process noise for attitude.

kalman.mNBaro

src/modules/src/estimator/estimator_kalman.c (L548)

Measurement noise for barometer.

kalman.mNGyro_rollpitch

src/modules/src/estimator/estimator_kalman.c (L552)

Measurement noise for roll/pitch gyros.

kalman.mNGyro_yaw

src/modules/src/estimator/estimator_kalman.c (L556)

Measurement noise for yaw gyro.

kalman.initialX

src/modules/src/estimator/estimator_kalman.c (L560)

Initial X after reset [m].

kalman.initialY

src/modules/src/estimator/estimator_kalman.c (L564)

Initial Y after reset [m].

kalman.initialZ

src/modules/src/estimator/estimator_kalman.c (L568)

Initial Z after reset [m].

kalman.initialYaw

src/modules/src/estimator/estimator_kalman.c (L572)

Initial yaw after reset [rad].

kalman.maxPos

src/modules/src/kalman_supervisor.c (L64)

Maximum accepted coordinate before kalman supervisor resets estimator.

kalman.maxVel

src/modules/src/kalman_supervisor.c (L69)

Maximum accepted velocity before kalman supervisor resets estimator.


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led

Parameters governing the onboard LEDs

Variables

Name Core Type Description
led.bitmask   PARAM_UINT8 Control onboard LEDs using a bitmask. Enabling it will override the led sequencer.

Detailed Variable Information

led.bitmask

src/drivers/src/led.c (L253)

Control onboard LEDs using a bitmask. Enabling it will override the led sequencer.

| 7:ENABLE | 6:N/A | 5:BLUE_R | 4:RED_R | 3:GREEN_R | 2:RED_L | 1:GREEN_L | 0:BLUE_L |


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lighthouse

Parameters and settings for the Lighthouse positioning system

Variables

Name Core Type Description
lighthouse.method Core PARAM_UINT8 Estimation Method: 0:CrossingBeam, 1:Sweep in EKF (default: 1)
lighthouse.bsCalibReset Core PARAM_UINT8 Reset calibration data status.
lighthouse.systemType Core PARAM_UINT8 Lighthouse baseStation version: 1: LighthouseV1, 2:LighthouseV2 (default: 2)
lighthouse.bsAvailable Core PARAM_UINT16, PARAM_RONLY Bit field that indicates which base stations that are supported by the system - deprecated (removed after August 2023)
lighthouse.sweepStd Core PARAM_FLOAT Standard deviation Sweep angles Lighthouse V1.
lighthouse.sweepStd2 Core PARAM_FLOAT Standard deviation Sweep angles Lighthouse V2.
lighthouse.lh2maxRate   PARAM_UINT16 Maximum rate of samples sent to the estimator.
lighthouse.enLhRawStream   PARAM_UINT8  

Detailed Variable Information

lighthouse.method

src/modules/src/lighthouse/lighthouse_core.c (L922)

Estimation Method: 0:CrossingBeam, 1:Sweep in EKF (default: 1)

lighthouse.bsCalibReset

src/modules/src/lighthouse/lighthouse_core.c (L926)

Reset calibration data status.

lighthouse.systemType

src/modules/src/lighthouse/lighthouse_core.c (L931)

Lighthouse baseStation version: 1: LighthouseV1, 2:LighthouseV2 (default: 2)

lighthouse.bsAvailable

src/modules/src/lighthouse/lighthouse_core.c (L938)

Bit field that indicates which base stations that are supported by the system - deprecated (removed after August 2023)

The lowest bit maps to base station channel 1 and the highest to channel 16.

lighthouse.sweepStd

src/modules/src/lighthouse/lighthouse_position_est.c (L501)

Standard deviation Sweep angles Lighthouse V1.

lighthouse.sweepStd2

src/modules/src/lighthouse/lighthouse_position_est.c (L505)

Standard deviation Sweep angles Lighthouse V2.

lighthouse.lh2maxRate

src/modules/src/lighthouse/lighthouse_throttle.c (L72)

Maximum rate of samples sent to the estimator.

When many LH V2 base stations are available in a system, the over all rate of samples sent to the estimator might be too high to handle. This parameter sets the (approximate) maximum rate (samples/s). 50 By default.

lighthouse.enLhRawStream

src/modules/src/lighthouse/lighthouse_transmit.c (L177)


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loadcell

Variables

Name Core Type Description
loadcell.enable   PARAM_UINT8  
loadcell.a   PARAM_FLOAT  
loadcell.b   PARAM_FLOAT  
loadcell.sampleRate   PARAM_UINT8  
loadcell.channel   PARAM_UINT8  

Detailed Variable Information

loadcell.enable

src/deck/drivers/src/loadcell.c (L201)

loadcell.a

src/deck/drivers/src/loadcell.c (L202)

loadcell.b

src/deck/drivers/src/loadcell.c (L203)

loadcell.sampleRate

src/deck/drivers/src/loadcell_nau7802.c (L558)

loadcell.channel

src/deck/drivers/src/loadcell_nau7802.c (L559)


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loco

The Loco Positioning System implements three different positioning modes: Two Way Ranging (TWR), Time Difference of Arrival 2 (TDoA 2) and Time Difference of Arrival 3 (TDoA 3)

TWR mode

In this mode, the tag pings the anchors in sequence, this allows it to measure the distance between the tag and the anchors. Using this information a theoretical minimum of 4 Anchors is required to calculate the 3D position of a Tag, but a more realistic number is 6 to add redundancy and accuracy. This mode is the most accurate mode and also works when the tag or quad leaves the space delimited by the anchors. The tag is actively communicating with the anchors in a time slotted fashion and in this mode only one tag or quad can be positioned with a maximum of 8 anchors.

TDoA 2 mode

In TDoA 2 mode, the anchor system is continuously sending synchronization packets. A tag listening to these packets can calculate the relative distance to two anchors by measuring the time difference of arrival of the packets. From the TDoA information it is possible to calculate the 3D position in space. In this mode the tag is only passively listening, so new tags do not add any load to the system which makes it possible to position any number of tags or quads simultaneously. This makes it a perfect mode for swarming.

Compared to TWR, TDoA 2 is more restrictive when it comes to the space where positioning works, ideally the tag should be within, or very close to, the space delimited by the anchor system. This means that TDoA 2 works best with 8 anchors placed in the corners of the flying space. In this space the accuracy and precision is comparable to TWR.

In this mode the anchor system is time slotted and synchronized and the number of anchors is limited to 8.

TDoA 3 mode

The TDoA 3 mode has many similarities with TDoA 2 and supports any number of tags or quads. The main difference is that the time slotted scheme of TDoA 2 has been replaced by a randomized transmission schedule which makes it possible to add more anchors. By adding more anchors the system can be scaled to larger spaces or span multiple rooms without line of sight between all anchors. It also makes it more robust and can handle loss or addition of anchors dynamically. The estimated position in this mode might be slightly more noisy compared to TDoA 2.

Variables

Name Core Type Description
loco.mode Core PARAM_UINT8 The Loco positioning mode to use (default: 0)

Detailed Variable Information

loco.mode

src/deck/drivers/src/locodeck.c (L699)

The Loco positioning mode to use (default: 0)

Value Mode
0 Auto
1 TWR
2 TDoA 2
3 TDoA 3

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locSrv

Service parameters for (external) positioning data stream through ctrp

Variables

Name Core Type Description
locSrv.enRangeStreamFP32 Core PARAM_UINT8 Enable CRTP stream of Loco node distance.
locSrv.enLhAngleStream Core PARAM_UINT8 Enable CRTP stream of Lighthouse sweep angles.
locSrv.extPosStdDev Core PARAM_FLOAT Standard deviation of external position.
locSrv.extQuatStdDev Core PARAM_FLOAT Standard deviation of the quarternion data to kalman filter.

Detailed Variable Information

locSrv.enRangeStreamFP32

src/modules/src/crtp_localization_service.c (L465)

Enable CRTP stream of Loco node distance.

locSrv.enLhAngleStream

src/modules/src/crtp_localization_service.c (L469)

Enable CRTP stream of Lighthouse sweep angles.

locSrv.extPosStdDev

src/modules/src/crtp_localization_service.c (L473)

Standard deviation of external position.

locSrv.extQuatStdDev

src/modules/src/crtp_localization_service.c (L477)

Standard deviation of the quarternion data to kalman filter.


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memTst

Variables

Name Core Type Description
memTst.resetW   PARAM_UINT8  

Detailed Variable Information

memTst.resetW

src/modules/src/mem.c (L233)


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motion

Settings and parameters for handling of the flowdecks measurements

Variables

Name Core Type Description
motion.disable   PARAM_UINT8 Nonzero to not push the flow measurement in the EKF (default: 0)
motion.adaptive   PARAM_UINT8 Nonzero to turn on adaptive standard deviation estimation (default: 0)
motion.flowStdFixed Core PARAM_FLOAT Set standard deviation flow measurement (default: 2.0f)

Detailed Variable Information

motion.disable

src/deck/drivers/src/flowdeck_v1v2.c (L313)

Nonzero to not push the flow measurement in the EKF (default: 0)

motion.adaptive

src/deck/drivers/src/flowdeck_v1v2.c (L317)

Nonzero to turn on adaptive standard deviation estimation (default: 0)

motion.flowStdFixed

src/deck/drivers/src/flowdeck_v1v2.c (L321)

Set standard deviation flow measurement (default: 2.0f)


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motorPowerSet

Override power distribution to motors.

Variables

Name Core Type Description
motorPowerSet.enable Core PARAM_UINT8 Nonzero to override controller with set values.
motorPowerSet.m1 Core PARAM_UINT16 motor power for m1: 0 - UINT16_MAX
motorPowerSet.m2 Core PARAM_UINT16 motor power for m2: 0 - UINT16_MAX
motorPowerSet.m3 Core PARAM_UINT16 motor power for m3: 0 - UINT16_MAX
motorPowerSet.m4 Core PARAM_UINT16 motor power for m4: 0 - UINT16_MAX

Detailed Variable Information

motorPowerSet.enable

src/drivers/src/motors.c (L720)

Nonzero to override controller with set values.

motorPowerSet.m1

src/drivers/src/motors.c (L725)

motor power for m1: 0 - UINT16_MAX

motorPowerSet.m2

src/drivers/src/motors.c (L730)

motor power for m2: 0 - UINT16_MAX

motorPowerSet.m3

src/drivers/src/motors.c (L735)

motor power for m3: 0 - UINT16_MAX

motorPowerSet.m4

src/drivers/src/motors.c (L740)

motor power for m4: 0 - UINT16_MAX


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multiranger

Variables

Name Core Type Description
multiranger.filterMask   PARAM_UINT16 Filter mask determining which range measurements is to be let through based on the range status of the VL53L1 chip.

Detailed Variable Information

multiranger.filterMask

src/deck/drivers/src/multiranger.c (L223)

Filter mask determining which range measurements is to be let through based on the range status of the VL53L1 chip.


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pid_attitude

Tuning settings for the gains of the PID controller for the attitude of the Crazyflie which consists of the Yaw Pitch and Roll

Variables

Name Core Type Description
pid_attitude.roll_kp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the PID roll controller.
pid_attitude.roll_ki   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the PID roll controller.
pid_attitude.roll_kd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the PID roll controller.
pid_attitude.roll_kff   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the PID roll controller.
pid_attitude.pitch_kp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the PID pitch controller.
pid_attitude.pitch_ki   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the PID pitch controller.
pid_attitude.pitch_kd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the PID pitch controller.
pid_attitude.pitch_kff   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the PID pitch controller.
pid_attitude.yaw_kp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the PID yaw controller.
pid_attitude.yaw_ki   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the PID yaw controller.
pid_attitude.yaw_kd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the PID yaw controller.
pid_attitude.yaw_kff   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the PID yaw controller.
pid_attitude.yawMaxDelta   PARAM_FLOAT, PARAM_PERSISTENT If nonzero, yaw setpoint can only be set within +/- yawMaxDelta from the current yaw.
pid_attitude.attFiltEn   PARAM_INT8, PARAM_PERSISTENT Low pass filter enable.
pid_attitude.attFiltCut   PARAM_FLOAT, PARAM_PERSISTENT Low pass filter cut-off frequency (Hz)

Detailed Variable Information

pid_attitude.roll_kp

src/modules/src/controller/attitude_pid_controller.c (L322)

Proportional gain for the PID roll controller.

pid_attitude.roll_ki

src/modules/src/controller/attitude_pid_controller.c (L326)

Integral gain for the PID roll controller.

pid_attitude.roll_kd

src/modules/src/controller/attitude_pid_controller.c (L330)

Derivative gain for the PID roll controller.

pid_attitude.roll_kff

src/modules/src/controller/attitude_pid_controller.c (L334)

Feedforward gain for the PID roll controller.

pid_attitude.pitch_kp

src/modules/src/controller/attitude_pid_controller.c (L338)

Proportional gain for the PID pitch controller.

pid_attitude.pitch_ki

src/modules/src/controller/attitude_pid_controller.c (L342)

Integral gain for the PID pitch controller.

pid_attitude.pitch_kd

src/modules/src/controller/attitude_pid_controller.c (L346)

Derivative gain for the PID pitch controller.

pid_attitude.pitch_kff

src/modules/src/controller/attitude_pid_controller.c (L350)

Feedforward gain for the PID pitch controller.

pid_attitude.yaw_kp

src/modules/src/controller/attitude_pid_controller.c (L354)

Proportional gain for the PID yaw controller.

pid_attitude.yaw_ki

src/modules/src/controller/attitude_pid_controller.c (L358)

Integral gain for the PID yaw controller.

pid_attitude.yaw_kd

src/modules/src/controller/attitude_pid_controller.c (L362)

Derivative gain for the PID yaw controller.

pid_attitude.yaw_kff

src/modules/src/controller/attitude_pid_controller.c (L366)

Feedforward gain for the PID yaw controller.

pid_attitude.yawMaxDelta

src/modules/src/controller/attitude_pid_controller.c (L370)

If nonzero, yaw setpoint can only be set within +/- yawMaxDelta from the current yaw.

pid_attitude.attFiltEn

src/modules/src/controller/attitude_pid_controller.c (L374)

Low pass filter enable.

pid_attitude.attFiltCut

src/modules/src/controller/attitude_pid_controller.c (L378)

Low pass filter cut-off frequency (Hz)


back to group index

pid_rate

Tuning settings for the gains of the PID controller for the rate angles of the Crazyflie, which consists of the yaw, pitch and roll rates

Variables

Name Core Type Description
pid_rate.roll_kp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the PID roll rate controller.
pid_rate.roll_ki   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the PID roll rate controller.
pid_rate.roll_kd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the PID roll rate controller.
pid_rate.roll_kff   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the PID roll rate controller.
pid_rate.pitch_kp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the PID pitch rate controller.
pid_rate.pitch_ki   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the PID pitch rate controller.
pid_rate.pitch_kd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the PID pitch rate controller.
pid_rate.pitch_kff   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the PID pitch rate controller.
pid_rate.yaw_kp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the PID yaw rate controller.
pid_rate.yaw_ki   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the PID yaw rate controller.
pid_rate.yaw_kd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the PID yaw rate controller.
pid_rate.yaw_kff   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the PID yaw rate controller.
pid_rate.rateFiltEn   PARAM_INT8, PARAM_PERSISTENT Low pass filter enable.
pid_rate.omxFiltCut   PARAM_FLOAT, PARAM_PERSISTENT Low pass filter cut-off frequency, roll axis (Hz)
pid_rate.omyFiltCut   PARAM_FLOAT, PARAM_PERSISTENT Low pass filter cut-off frequency, pitch axis (Hz)
pid_rate.omzFiltCut   PARAM_FLOAT, PARAM_PERSISTENT Low pass filter cut-off frequency, yaw axis (Hz)

Detailed Variable Information

pid_rate.roll_kp

src/modules/src/controller/attitude_pid_controller.c (L389)

Proportional gain for the PID roll rate controller.

pid_rate.roll_ki

src/modules/src/controller/attitude_pid_controller.c (L393)

Integral gain for the PID roll rate controller.

pid_rate.roll_kd

src/modules/src/controller/attitude_pid_controller.c (L397)

Derivative gain for the PID roll rate controller.

pid_rate.roll_kff

src/modules/src/controller/attitude_pid_controller.c (L401)

Feedforward gain for the PID roll rate controller.

pid_rate.pitch_kp

src/modules/src/controller/attitude_pid_controller.c (L405)

Proportional gain for the PID pitch rate controller.

pid_rate.pitch_ki

src/modules/src/controller/attitude_pid_controller.c (L409)

Integral gain for the PID pitch rate controller.

pid_rate.pitch_kd

src/modules/src/controller/attitude_pid_controller.c (L413)

Derivative gain for the PID pitch rate controller.

pid_rate.pitch_kff

src/modules/src/controller/attitude_pid_controller.c (L417)

Feedforward gain for the PID pitch rate controller.

pid_rate.yaw_kp

src/modules/src/controller/attitude_pid_controller.c (L421)

Proportional gain for the PID yaw rate controller.

pid_rate.yaw_ki

src/modules/src/controller/attitude_pid_controller.c (L425)

Integral gain for the PID yaw rate controller.

pid_rate.yaw_kd

src/modules/src/controller/attitude_pid_controller.c (L429)

Derivative gain for the PID yaw rate controller.

pid_rate.yaw_kff

src/modules/src/controller/attitude_pid_controller.c (L433)

Feedforward gain for the PID yaw rate controller.

pid_rate.rateFiltEn

src/modules/src/controller/attitude_pid_controller.c (L437)

Low pass filter enable.

pid_rate.omxFiltCut

src/modules/src/controller/attitude_pid_controller.c (L441)

Low pass filter cut-off frequency, roll axis (Hz)

pid_rate.omyFiltCut

src/modules/src/controller/attitude_pid_controller.c (L445)

Low pass filter cut-off frequency, pitch axis (Hz)

pid_rate.omzFiltCut

src/modules/src/controller/attitude_pid_controller.c (L449)

Low pass filter cut-off frequency, yaw axis (Hz)


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pm

Power management parameters.

Variables

Name Core Type Description
pm.lowVoltage Core PARAM_FLOAT, PARAM_PERSISTENT At what voltage power management will indicate low battery.
pm.criticalLowVoltage Core PARAM_FLOAT, PARAM_PERSISTENT At what voltage power management will indicate critical low battery.

Detailed Variable Information

pm.lowVoltage

src/hal/src/pm_stm32f4.c (L562)

At what voltage power management will indicate low battery.

pm.criticalLowVoltage

src/hal/src/pm_stm32f4.c (L566)

At what voltage power management will indicate critical low battery.


back to group index

posCtlPid

Tuning settings for the gains of the PID controller for the position of the Crazyflie ¨ in the body-yaw-aligned X & Y and global Z directions.

Variables

Name Core Type Description
posCtlPid.xKp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the position PID in the body-yaw-aligned X direction.
posCtlPid.xKi   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the position PID in the body-yaw-aligned X direction.
posCtlPid.xKd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the position PID in the body-yaw-aligned X direction.
posCtlPid.xKff   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the position PID in the body-yaw-aligned X direction.
posCtlPid.yKp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the position PID in the body-yaw-aligned Y direction.
posCtlPid.yKi   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the position PID in the body-yaw-aligned Y direction.
posCtlPid.yKd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the position PID in the body-yaw-aligned Y direction.
posCtlPid.yKff   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the position PID in the body-yaw-aligned Y direction.
posCtlPid.zKp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the position PID in the global Z direction.
posCtlPid.zKi   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the position PID in the global Z direction.
posCtlPid.zKd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the position PID in the global Z direction.
posCtlPid.zKff   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the position PID in the body-yaw-aligned Z direction.
posCtlPid.thrustBase   PARAM_UINT16, PARAM_PERSISTENT Approx. thrust needed for hover.
posCtlPid.thrustMin   PARAM_UINT16, PARAM_PERSISTENT Min. thrust value to output.
posCtlPid.rLimit   PARAM_FLOAT, PARAM_PERSISTENT Roll absolute limit.
posCtlPid.pLimit   PARAM_FLOAT, PARAM_PERSISTENT Pitch absolute limit.
posCtlPid.xVelMax   PARAM_FLOAT, PARAM_PERSISTENT Maximum body-yaw-aligned X velocity.
posCtlPid.yVelMax   PARAM_FLOAT, PARAM_PERSISTENT Maximum body-yaw-aligned Y velocity.
posCtlPid.zVelMax   PARAM_FLOAT, PARAM_PERSISTENT Maximum Z Velocity.

Detailed Variable Information

posCtlPid.xKp

src/modules/src/controller/position_controller_pid.c (L525)

Proportional gain for the position PID in the body-yaw-aligned X direction.

posCtlPid.xKi

src/modules/src/controller/position_controller_pid.c (L529)

Integral gain for the position PID in the body-yaw-aligned X direction.

posCtlPid.xKd

src/modules/src/controller/position_controller_pid.c (L533)

Derivative gain for the position PID in the body-yaw-aligned X direction.

posCtlPid.xKff

src/modules/src/controller/position_controller_pid.c (L537)

Feedforward gain for the position PID in the body-yaw-aligned X direction.

posCtlPid.yKp

src/modules/src/controller/position_controller_pid.c (L542)

Proportional gain for the position PID in the body-yaw-aligned Y direction.

posCtlPid.yKi

src/modules/src/controller/position_controller_pid.c (L546)

Integral gain for the position PID in the body-yaw-aligned Y direction.

posCtlPid.yKd

src/modules/src/controller/position_controller_pid.c (L550)

Derivative gain for the position PID in the body-yaw-aligned Y direction.

posCtlPid.yKff

src/modules/src/controller/position_controller_pid.c (L554)

Feedforward gain for the position PID in the body-yaw-aligned Y direction.

posCtlPid.zKp

src/modules/src/controller/position_controller_pid.c (L559)

Proportional gain for the position PID in the global Z direction.

posCtlPid.zKi

src/modules/src/controller/position_controller_pid.c (L563)

Integral gain for the position PID in the global Z direction.

posCtlPid.zKd

src/modules/src/controller/position_controller_pid.c (L567)

Derivative gain for the position PID in the global Z direction.

posCtlPid.zKff

src/modules/src/controller/position_controller_pid.c (L571)

Feedforward gain for the position PID in the body-yaw-aligned Z direction.

posCtlPid.thrustBase

src/modules/src/controller/position_controller_pid.c (L576)

Approx. thrust needed for hover.

posCtlPid.thrustMin

src/modules/src/controller/position_controller_pid.c (L580)

Min. thrust value to output.

posCtlPid.rLimit

src/modules/src/controller/position_controller_pid.c (L585)

Roll absolute limit.

posCtlPid.pLimit

src/modules/src/controller/position_controller_pid.c (L589)

Pitch absolute limit.

posCtlPid.xVelMax

src/modules/src/controller/position_controller_pid.c (L593)

Maximum body-yaw-aligned X velocity.

posCtlPid.yVelMax

src/modules/src/controller/position_controller_pid.c (L597)

Maximum body-yaw-aligned Y velocity.

posCtlPid.zVelMax

src/modules/src/controller/position_controller_pid.c (L601)

Maximum Z Velocity.


back to group index

posCtrlIndi

Tuning settings for the gains of the INDI controller for the position and velocity of the Crazyflie in the X, Y and Z direction in the global coordinate system.

Variables

Name Core Type Description
posCtrlIndi.K_xi_x   PARAM_FLOAT INDI position controller X proportional gain.
posCtrlIndi.K_xi_y   PARAM_FLOAT INDI position controller Y proportional gain.
posCtrlIndi.K_xi_z   PARAM_FLOAT INDI position controller Z proportional gain.
posCtrlIndi.K_dxi_x   PARAM_FLOAT INDI velocity controller X proportional gain.
posCtrlIndi.K_dxi_y   PARAM_FLOAT INDI velocity controller Y proportional gain.
posCtrlIndi.K_dxi_z   PARAM_FLOAT INDI velocity controller Z proportional gain.
posCtrlIndi.pq_clamping   PARAM_FLOAT INDI Clamping value for the INDI roll and pitch command to inner loop [degrees].

Detailed Variable Information

posCtrlIndi.K_xi_x

src/modules/src/controller/position_controller_indi.c (L282)

INDI position controller X proportional gain.

posCtrlIndi.K_xi_y

src/modules/src/controller/position_controller_indi.c (L286)

INDI position controller Y proportional gain.

posCtrlIndi.K_xi_z

src/modules/src/controller/position_controller_indi.c (L290)

INDI position controller Z proportional gain.

posCtrlIndi.K_dxi_x

src/modules/src/controller/position_controller_indi.c (L295)

INDI velocity controller X proportional gain.

posCtrlIndi.K_dxi_y

src/modules/src/controller/position_controller_indi.c (L299)

INDI velocity controller Y proportional gain.

posCtrlIndi.K_dxi_z

src/modules/src/controller/position_controller_indi.c (L303)

INDI velocity controller Z proportional gain.

posCtrlIndi.pq_clamping

src/modules/src/controller/position_controller_indi.c (L308)

INDI Clamping value for the INDI roll and pitch command to inner loop [degrees].


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posEstAlt

Tuning setttings for the altitude estimator/filtering

Variables

Name Core Type Description
posEstAlt.estAlphaAsl Core PARAM_FLOAT, PARAM_PERSISTENT parameter alpha IIR Filter above sea level/true altitude (baro)
posEstAlt.estAlphaZr Core PARAM_FLOAT, PARAM_PERSISTENT parameter alpha IIR Filter Height (zranger)
posEstAlt.velFactor   PARAM_FLOAT, PARAM_PERSISTENT Multiplying factor for adding velocity.
posEstAlt.velZAlpha   PARAM_FLOAT, PARAM_PERSISTENT Blendning factor to avoid accumulate error.
posEstAlt.vAccDeadband Core PARAM_FLOAT, PARAM_PERSISTENT Vertical acceleration deadband.

Detailed Variable Information

posEstAlt.estAlphaAsl

src/modules/src/estimator/position_estimator_altitude.c (L137)

parameter alpha IIR Filter above sea level/true altitude (baro)

posEstAlt.estAlphaZr

src/modules/src/estimator/position_estimator_altitude.c (L141)

parameter alpha IIR Filter Height (zranger)

posEstAlt.velFactor

src/modules/src/estimator/position_estimator_altitude.c (L145)

Multiplying factor for adding velocity.

posEstAlt.velZAlpha

src/modules/src/estimator/position_estimator_altitude.c (L149)

Blendning factor to avoid accumulate error.

posEstAlt.vAccDeadband

src/modules/src/estimator/position_estimator_altitude.c (L153)

Vertical acceleration deadband.


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powerDist

Power distribution parameters

Variables

Name Core Type Description
powerDist.idleThrust Core PARAM_UINT32, PARAM_PERSISTENT Motor thrust to set at idle (default: 0)

Detailed Variable Information

powerDist.idleThrust

src/modules/src/power_distribution_flapper.c (L224)

Motor thrust to set at idle (default: 0)

This is often needed for brushless motors as it takes time to start up the motor. Then a common value is between 3000 - 6000.


back to group index

quadSysId

System identification parameters for quad rotor

Variables

Name Core Type Description
quadSysId.thrustToTorque   PARAM_FLOAT  
quadSysId.pwmToThrustA   PARAM_FLOAT  
quadSysId.pwmToThrustB   PARAM_FLOAT  
quadSysId.armLength   PARAM_FLOAT Length of arms (m)

Detailed Variable Information

quadSysId.thrustToTorque

src/modules/src/power_distribution_quadrotor.c (L216)

quadSysId.pwmToThrustA

src/modules/src/power_distribution_quadrotor.c (L217)

quadSysId.pwmToThrustB

src/modules/src/power_distribution_quadrotor.c (L218)

quadSysId.armLength

src/modules/src/power_distribution_quadrotor.c (L225)

Length of arms (m)

The distance from the center to a motor


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radiotest

Variables

Name Core Type Description
radiotest.channel   PARAM_UINT8  
radiotest.power   PARAM_INT8  
radiotest.contwave   PARAM_UINT8  

Detailed Variable Information

radiotest.channel

src/deck/drivers/src/test/radiotest.c (L147)

radiotest.power

src/deck/drivers/src/test/radiotest.c (L148)

radiotest.contwave

src/deck/drivers/src/test/radiotest.c (L149)


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ring

The LED ring expansion deck contains two powerful front-facing white LEDs and 12 bottom-facing RGB individually addressable LEDs (it uses the same LEDs as used in the NeoPixel products by Adafruit).

The deck is designed to be installed as the last deck on the bottom of the quad. It does not have pass-through holes for the expansion port connector.

Variables

Name Core Type Description
ring.effect Core PARAM_UINT8, PARAM_PERSISTENT Id of effect to use (default: 6)
ring.neffect Core PARAM_UINT32, PARAM_RONLY Number of effects available.
ring.solidRed Core PARAM_UINT8 Intensity of Red for Solid color effect (default: 20)
ring.solidGreen Core PARAM_UINT8 Intensity of Green for solid color effect (default: 20)
ring.solidBlue Core PARAM_UINT8 Intensity of Blue for solid color effect (default: 20)
ring.headlightEnable Core PARAM_UINT8 Nonzero to Enable headlights (default: 0)
ring.emptyCharge Core PARAM_FLOAT At what volt the Battery effect indicates empty.
ring.fullCharge Core PARAM_FLOAT At what volt the battery effect indicates full.
ring.fadeColor Core PARAM_UINT32 Color to fade to for Fade color effect.
ring.fadeTime Core PARAM_FLOAT The time for face effect to complete.

Detailed Variable Information

ring.effect

src/deck/drivers/src/ledring12.c (L1178)

Id of effect to use (default: 6)

Id Effect
0 Off
1 White spinner
2 Color spinner
3 Tilt
4 Brightness
5 Color spinner 2
6 Double spinner
7 Solid color effect
8 Factory test
9 Battery status
10 Boat lights
11 Alert
12 Gravity
13 Virtual Memory
14 Fade color
15 Communication Signal Strength
16 Status Localization Service
17 LED timing from memory
18 Lighthouse Positioning

ring.neffect

src/deck/drivers/src/ledring12.c (L1183)

Number of effects available.

ring.solidRed

src/deck/drivers/src/ledring12.c (L1188)

Intensity of Red for Solid color effect (default: 20)

ring.solidGreen

src/deck/drivers/src/ledring12.c (L1193)

Intensity of Green for solid color effect (default: 20)

ring.solidBlue

src/deck/drivers/src/ledring12.c (L1198)

Intensity of Blue for solid color effect (default: 20)

ring.headlightEnable

src/deck/drivers/src/ledring12.c (L1203)

Nonzero to Enable headlights (default: 0)

ring.emptyCharge

src/deck/drivers/src/ledring12.c (L1208)

At what volt the Battery effect indicates empty.

ring.fullCharge

src/deck/drivers/src/ledring12.c (L1214)

At what volt the battery effect indicates full.

ring.fadeColor

src/deck/drivers/src/ledring12.c (L1224)

Color to fade to for Fade color effect.

Encoded as:

bit 32 0 00000000 RRRRRRRR GGGGGGGG BBBBBBBB

ring.fadeTime

src/deck/drivers/src/ledring12.c (L1229)

The time for face effect to complete.


back to group index

sensfusion6

Sensor fusion is the process of combining sensory data or data derived from disparate sources such that the resulting information has less uncertainty than would be possible when these sources were used individually.

The sensfusion6 module uses an 3 axis accelerometer and a 3 axis gyro to get accurate attitude measurements.

Variables

Name Core Type Description
sensfusion6.kp Core PARAM_FLOAT, PARAM_PERSISTENT Integral gain (default: 0.002)
sensfusion6.ki Core PARAM_FLOAT, PARAM_PERSISTENT Propotional gain (default: 0.8)
sensfusion6.baseZacc   PARAM_FLOAT  

Detailed Variable Information

sensfusion6.kp

src/modules/src/sensfusion6.c (L376)

Integral gain (default: 0.002)

sensfusion6.ki

src/modules/src/sensfusion6.c (L381)

Propotional gain (default: 0.8)

sensfusion6.baseZacc

src/modules/src/sensfusion6.c (L383)


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servo

“Servo” deck parameters

Variables

Name Core Type Description
servo.servoMINus   PARAM_UINT16, PARAM_PERSISTENT PWM pulse width for minimal servo position (in microseconds)
servo.servoMAXus   PARAM_UINT16, PARAM_PERSISTENT PWM pulse width for maximal servo position (in microseconds)
servo.servoRange   PARAM_UINT8, PARAM_PERSISTENT Servo range, i.e. angle between the min and max positions (in degrees)
servo.servoIdle   PARAM_UINT8, PARAM_PERSISTENT Servo idle (startup) angular position (in degrees, min = 0, max = servoRange)
servo.servoAngle   PARAM_UINT8 Servo angular position (in degrees, min = 0, max = servoRange)

Detailed Variable Information

servo.servoMINus

src/deck/drivers/src/servo.c (L241)

PWM pulse width for minimal servo position (in microseconds)

servo.servoMAXus

src/deck/drivers/src/servo.c (L245)

PWM pulse width for maximal servo position (in microseconds)

servo.servoRange

src/deck/drivers/src/servo.c (L249)

Servo range, i.e. angle between the min and max positions (in degrees)

servo.servoIdle

src/deck/drivers/src/servo.c (L253)

Servo idle (startup) angular position (in degrees, min = 0, max = servoRange)

servo.servoAngle

src/deck/drivers/src/servo.c (L257)

Servo angular position (in degrees, min = 0, max = servoRange)


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sound

The buzzer deck contains a low profile piezo buzzer.

Variables

Name Core Type Description
sound.effect Core PARAM_UINT8, PARAM_PERSISTENT Id of effect to use (default: 0)
sound.neffect Core PARAM_UINT32, PARAM_RONLY Number of effects available.
sound.freq Core PARAM_UINT16 Frequency to use for Bypass effect.

Detailed Variable Information

sound.effect

src/modules/src/sound_cf2.c (L397)

Id of effect to use (default: 0)

Id Effect
0 Off
1 Factory test
2 USB connected
3 USB disconnected
4 Charging done
5 Low battery
6 Startup
7 Calibrated
8 Range slow
9 Range fast
10 Star Wars Imperial March
11 Bypass
12 Siren
13 Tilt quad to play sound

sound.neffect

src/modules/src/sound_cf2.c (L402)

Number of effects available.

sound.freq

src/modules/src/sound_cf2.c (L407)

Frequency to use for Bypass effect.


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stabilizer

Parameters to set the estimator and controller type for the stabilizer module

Variables

Name Core Type Description
stabilizer.estimator Core PARAM_UINT8 Estimator type Auto select(0), complementary(1), extended kalman(2), **unscented kalman(3) (Default: 0)
stabilizer.controller Core PARAM_UINT8 Controller type Auto select(0), PID(1), Mellinger(2), INDI(3), Brescianini(4), Lee(5) (Default: 0)
stabilizer.stop Core PARAM_UINT8 If set to nonzero will turn off motors.

Detailed Variable Information

stabilizer.estimator

src/modules/src/stabilizer.c (L387)

Estimator type Auto select(0), complementary(1), extended kalman(2), **unscented kalman(3) (Default: 0)

** Experimental, needs to be enabled in kbuild

stabilizer.controller

src/modules/src/stabilizer.c (L391)

Controller type Auto select(0), PID(1), Mellinger(2), INDI(3), Brescianini(4), Lee(5) (Default: 0)

stabilizer.stop

src/modules/src/supervisor.c (L493)

If set to nonzero will turn off motors.


back to group index

supervisor

The purpose of the supervisor is to monitor the system and its state. Depending on the situation, the supervisor can enable/disable functionality as well as take action to protect the system or humans close by.

Variables

Name Core Type Description
supervisor.infdmp   PARAM_UINT8 Set to nonzero to dump information about the current supervisor state to the console log.
supervisor.landedTimeout   PARAM_UINT16, PARAM_PERSISTENT Landing timeout duration (ms)
supervisor.tmblChckEn   PARAM_UINT8, PARAM_PERSISTENT Set to zero to disable tumble check.

Detailed Variable Information

supervisor.infdmp

src/modules/src/supervisor.c (L535)

Set to nonzero to dump information about the current supervisor state to the console log.

supervisor.landedTimeout

src/modules/src/supervisor.c (L540)

Landing timeout duration (ms)

supervisor.tmblChckEn

src/modules/src/supervisor.c (L545)

Set to zero to disable tumble check.


back to group index

Variables

Name Core Type Description
syslink.probe   PARAM_UINT8 Trigger syslink debug probe in the NRF by setting to 1.

Detailed Variable Information

syslink.probe

src/hal/src/syslink.c (L202)

Trigger syslink debug probe in the NRF by setting to 1.


back to group index

system

Variables

Name Core Type Description
system.highlight Core PARAM_UINT8 Highlight quad.
system.storageStats   PARAM_UINT8 Set to nonzero to dump CPU and stack usage to console.
system.storageReformat   PARAM_UINT8 Set to nonzero to re-format the storage. Warning: all data will be lost!
system.arm Core PARAM_INT8 Set to nonzero to arm the system. A nonzero value enables the auto arm functionality.
system.taskDump Core PARAM_UINT8 Set to nonzero to dump CPU and stack usage to console.
system.selftestPassed Core PARAM_INT8, PARAM_RONLY All tests passed when booting.
system.assertInfo   PARAM_UINT8 Set to nonzero to trigger dump of assert information to the log.
system.testLogParam   PARAM_UINT8 Test util for log and param. This param sets the value of the sys.testLogParam log variable.
system.doAssert   PARAM_UINT8 Set to non-zero to trigger a failed assert, useful for debugging.

Detailed Variable Information

system.highlight

src/deck/drivers/src/ledring12.c (L1241)

Highlight quad.

Uses functionality available, such as LEDs to highlight a quad, useful for swarms.

system.storageStats

src/hal/src/storage.c (L284)

Set to nonzero to dump CPU and stack usage to console.

system.storageReformat

src/hal/src/storage.c (L289)

Set to nonzero to re-format the storage. Warning: all data will be lost!

system.arm

src/modules/src/supervisor.c (L504)

Set to nonzero to arm the system. A nonzero value enables the auto arm functionality.

Deprecated, will be removed after 2024-06-01. Use the CRTP PlatformCommand armSystem on the CRTP_PORT_PLATFORM port instead.

system.taskDump

src/modules/src/sysload.c (L126)

Set to nonzero to dump CPU and stack usage to console.

system.selftestPassed

src/modules/src/system.c (L453)

All tests passed when booting.

system.assertInfo

src/modules/src/system.c (L458)

Set to nonzero to trigger dump of assert information to the log.

system.testLogParam

src/modules/src/system.c (L464)

Test util for log and param. This param sets the value of the sys.testLogParam log variable.

system.doAssert

src/modules/src/system.c (L470)

Set to non-zero to trigger a failed assert, useful for debugging.


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tdoa2

Variables

Name Core Type Description
tdoa2.stddev   PARAM_FLOAT The measurement noise to use when sending TDoA measurements to the estimator.

Detailed Variable Information

tdoa2.stddev

src/deck/drivers/src/lpsTdoa2Tag.c (L403)

The measurement noise to use when sending TDoA measurements to the estimator.


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tdoa3

Variables

Name Core Type Description
tdoa3.stddev   PARAM_FLOAT The measurement noise to use when sending TDoA measurements to the estimator.

Detailed Variable Information

tdoa3.stddev

src/deck/drivers/src/lpsTdoa3Tag.c (L739)

The measurement noise to use when sending TDoA measurements to the estimator.


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tdoaEngine

The TDoA engine processes TDoA data from the Loco Positioning System.

Variables

Name Core Type Description
tdoaEngine.logId Core PARAM_UINT8 Id of anchor used for logging, primary anchor.
tdoaEngine.logOthrId Core PARAM_UINT8 Id of anchor used for logging, secondary anchor.
tdoaEngine.matchAlgo   PARAM_UINT8  

Detailed Variable Information

tdoaEngine.logId

src/modules/src/tdoaEngineInstance.c (L107)

Id of anchor used for logging, primary anchor.

tdoaEngine.logOthrId

src/modules/src/tdoaEngineInstance.c (L111)

Id of anchor used for logging, secondary anchor.

tdoaEngine.matchAlgo

src/modules/src/tdoaEngineInstance.c (L116)


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ukf

Parameter values used for tuning the Unscented Kalman Filter (experimental)

Variables

Name Core Type Description
ukf.resetEstimation   PARAM_UINT8  
ukf.useNavFilter   PARAM_UINT8  
ukf.sigmaInitPos_xy   PARAM_FLOAT  
ukf.sigmaInitPos_z   PARAM_FLOAT  
ukf.sigmaInitVel   PARAM_FLOAT  
ukf.sigmaInitAtt   PARAM_FLOAT  
ukf.procNoiseA_h   PARAM_FLOAT  
ukf.procNoiseA_z   PARAM_FLOAT  
ukf.procNoiseVel_h   PARAM_FLOAT  
ukf.procNoiseVel_z   PARAM_FLOAT  
ukf.procNoiseRate_h   PARAM_FLOAT  
ukf.procNoiseRate_z   PARAM_FLOAT  
ukf.baroNoise   PARAM_FLOAT  
ukf.qualityGateTof   PARAM_FLOAT  
ukf.qualityGateFlow   PARAM_FLOAT  
ukf.qualityGateTdoa   PARAM_FLOAT  
ukf.qualityGateBaro   PARAM_FLOAT  
ukf.qualityGateSweep   PARAM_FLOAT  
ukf.ukfw0   PARAM_FLOAT  

Detailed Variable Information

ukf.resetEstimation

src/modules/src/estimator/estimator_ukf.c (L1599)

ukf.useNavFilter

src/modules/src/estimator/estimator_ukf.c (L1600)

ukf.sigmaInitPos_xy

src/modules/src/estimator/estimator_ukf.c (L1601)

ukf.sigmaInitPos_z

src/modules/src/estimator/estimator_ukf.c (L1602)

ukf.sigmaInitVel

src/modules/src/estimator/estimator_ukf.c (L1603)

ukf.sigmaInitAtt

src/modules/src/estimator/estimator_ukf.c (L1604)

ukf.procNoiseA_h

src/modules/src/estimator/estimator_ukf.c (L1605)

ukf.procNoiseA_z

src/modules/src/estimator/estimator_ukf.c (L1606)

ukf.procNoiseVel_h

src/modules/src/estimator/estimator_ukf.c (L1607)

ukf.procNoiseVel_z

src/modules/src/estimator/estimator_ukf.c (L1608)

ukf.procNoiseRate_h

src/modules/src/estimator/estimator_ukf.c (L1609)

ukf.procNoiseRate_z

src/modules/src/estimator/estimator_ukf.c (L1610)

ukf.baroNoise

src/modules/src/estimator/estimator_ukf.c (L1611)

ukf.qualityGateTof

src/modules/src/estimator/estimator_ukf.c (L1612)

ukf.qualityGateFlow

src/modules/src/estimator/estimator_ukf.c (L1613)

ukf.qualityGateTdoa

src/modules/src/estimator/estimator_ukf.c (L1614)

ukf.qualityGateBaro

src/modules/src/estimator/estimator_ukf.c (L1615)

ukf.qualityGateSweep

src/modules/src/estimator/estimator_ukf.c (L1616)

ukf.ukfw0

src/modules/src/estimator/estimator_ukf.c (L1617)


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usd

The micro SD card deck is used for on-board logging of data to a micro SD card.

Variables

Name Core Type Description
usd.canLog Core PARAM_UINT8, PARAM_RONLY Non zero if logging is possible, 0 indicates there might be a problem with the logging configuration.
usd.logging Core PARAM_UINT8 Controls if logging to the SD-card is active. Set to 1 to start logging, set to 0 to stop logging (default).

Detailed Variable Information

usd.canLog

src/deck/drivers/src/usddeck.c (L1104)

Non zero if logging is possible, 0 indicates there might be a problem with the logging configuration.

usd.logging

src/deck/drivers/src/usddeck.c (L1109)

Controls if logging to the SD-card is active. Set to 1 to start logging, set to 0 to stop logging (default).


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usec

Variables

Name Core Type Description
usec.reset   PARAM_UINT8 Reset the time to zero.

Detailed Variable Information

usec.reset

src/hal/src/usec_time.c (L130)

Reset the time to zero.

Useful for time synchronization between UAVs, if reset is send as a broadcast.


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velCtlPid

Tuning settings for the gains of the PID controller for the velocity of the Crazyflie ¨ in the body-yaw-aligned X & Y and global Z directions.

Variables

Name Core Type Description
velCtlPid.vxKp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the velocity PID in the body-yaw-aligned X direction.
velCtlPid.vxKi   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the velocity PID in the body-yaw-aligned X direction.
velCtlPid.vxKd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the velocity PID in the body-yaw-aligned X direction.
velCtlPid.vxKFF   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the velocity PID in the body-yaw-aligned X direction (in degrees per m/s)
velCtlPid.vyKp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the velocity PID in the body-yaw-aligned Y direction.
velCtlPid.vyKi   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the velocity PID in the body-yaw-aligned Y direction.
velCtlPid.vyKd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the velocity PID in the body-yaw-aligned Y direction.
velCtlPid.vyKFF   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the velocity PID in the body-yaw-aligned Y direction (in degrees per m/s)
velCtlPid.vzKp   PARAM_FLOAT, PARAM_PERSISTENT Proportional gain for the velocity PID in the global Z direction.
velCtlPid.vzKi   PARAM_FLOAT, PARAM_PERSISTENT Integral gain for the velocity PID in the global Z direction.
velCtlPid.vzKd   PARAM_FLOAT, PARAM_PERSISTENT Derivative gain for the velocity PID in the global Z direction.
velCtlPid.vzKFF   PARAM_FLOAT, PARAM_PERSISTENT Feedforward gain for the velocity PID in the global direction (in degrees per m/s)

Detailed Variable Information

velCtlPid.vxKp

src/modules/src/controller/position_controller_pid.c (L466)

Proportional gain for the velocity PID in the body-yaw-aligned X direction.

velCtlPid.vxKi

src/modules/src/controller/position_controller_pid.c (L470)

Integral gain for the velocity PID in the body-yaw-aligned X direction.

velCtlPid.vxKd

src/modules/src/controller/position_controller_pid.c (L474)

Derivative gain for the velocity PID in the body-yaw-aligned X direction.

velCtlPid.vxKFF

src/modules/src/controller/position_controller_pid.c (L478)

Feedforward gain for the velocity PID in the body-yaw-aligned X direction (in degrees per m/s)

velCtlPid.vyKp

src/modules/src/controller/position_controller_pid.c (L483)

Proportional gain for the velocity PID in the body-yaw-aligned Y direction.

velCtlPid.vyKi

src/modules/src/controller/position_controller_pid.c (L487)

Integral gain for the velocity PID in the body-yaw-aligned Y direction.

velCtlPid.vyKd

src/modules/src/controller/position_controller_pid.c (L491)

Derivative gain for the velocity PID in the body-yaw-aligned Y direction.

velCtlPid.vyKFF

src/modules/src/controller/position_controller_pid.c (L495)

Feedforward gain for the velocity PID in the body-yaw-aligned Y direction (in degrees per m/s)

velCtlPid.vzKp

src/modules/src/controller/position_controller_pid.c (L500)

Proportional gain for the velocity PID in the global Z direction.

velCtlPid.vzKi

src/modules/src/controller/position_controller_pid.c (L504)

Integral gain for the velocity PID in the global Z direction.

velCtlPid.vzKd

src/modules/src/controller/position_controller_pid.c (L508)

Derivative gain for the velocity PID in the global Z direction.

velCtlPid.vzKFF

src/modules/src/controller/position_controller_pid.c (L512)

Feedforward gain for the velocity PID in the global direction (in degrees per m/s)