Parameter groups and variables

Index

a

B

c

d

f

h

i

k

l

m

p

r

s

t

u

v


back to group index

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 Qualisys id of marker for front (default: 1)
activeMarker.back Core PARAM_UINT8 Qualisys id of marker for back (default: 3)
activeMarker.left Core PARAM_UINT8 Qualisys id of marker for left (default: 4)
activeMarker.right Core PARAM_UINT8 Qualisys id of marker for right (default: 2)
activeMarker.mode Core PARAM_UINT8 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)


back to group index

amarkUartTest

Variables

Name Core Type Description
amarkUartTest.trigger   PARAM_UINT8  

Detailed Variable Information

amarkUartTest.trigger

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


back to group index

BigQuadTest

Variables

Name Core Type Description
BigQuadTest.pass   PARAM_UINT8  

Detailed Variable Information

BigQuadTest.pass

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


back to group index

cmdrCPPM

The CPPM (Combined Pulse Position Modulation) commander packet contains an emulation of CPPM channels transmitted in a CRTP packet that can be sent from e.g. a RC Transmitter. Often running custom firmware such as Deviation.

Channels have a range of 1000-2000 with a midpoint of 1500 Supports the ordinary RPYT channels plus up to MAX_AUX_RC_CHANNELS auxiliary channels. Auxiliary channels are optional and transmitters do not have to transmit all the data unless a given channel is actually in use (numAuxChannels must be set accordingly)

Current aux channel assignments: AuxChannel0: set high to enable self-leveling, low to disable

The scaling can be configured using the parameters, setting the maximum angle/rate output given a maximum stick input (1000 or 2000).

Variables

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

Detailed Variable Information

cmdrCPPM.rateRoll

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

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

cmdrCPPM.ratePitch

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

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

cmdrCPPM.angPitch

src/modules/src/crtp_commander_generic.c (L431)

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

cmdrCPPM.angRoll

src/modules/src/crtp_commander_generic.c (L435)

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

cmdrCPPM.rateYaw

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

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


back to group index

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.

Detailed Variable Information

commander.enHighLevel

src/modules/src/commander.c (L178)

Enable high level commander.


back to group index

controller

Controller parameters

Variables

Name Core Type Description
controller.tiltComp   PARAM_UINT8 Nonzero for tilt compensation enabled (default: 0)

Detailed Variable Information

controller.tiltComp

src/modules/src/controller_pid.c (L230)

Nonzero for tilt compensation enabled (default: 0)


back to group index

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

Detailed Variable Information

cpu.flash

src/modules/src/system.c (L363)

Size in kB of the device flash memory.

cpu.id0

src/modules/src/system.c (L368)

Byte 0 - 3 of device unique id.

cpu.id1

src/modules/src/system.c (L373)

Byte 4 - 7 of device unique id.

cpu.id2

src/modules/src/system.c (L378)

Byte 8 - 11 of device unique id.


back to group index

crtpsrv

Variables

Name Core Type Description
crtpsrv.echoDelay   PARAM_UINT16  

Detailed Variable Information

crtpsrv.echoDelay

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


back to group index

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_indi.c (L344)

INDI Minimum thrust threshold [motor units].

ctrlINDI.bound_ctrl_input

src/modules/src/controller_indi.c (L348)

INDI bounding for control input [motor units].

ctrlINDI.g1_p

src/modules/src/controller_indi.c (L353)

INDI Controller effeciveness G1 p.

ctrlINDI.g1_q

src/modules/src/controller_indi.c (L357)

INDI Controller effectiveness G1 q.

ctrlINDI.g1_r

src/modules/src/controller_indi.c (L361)

INDI Controller effectiveness G1 r.

ctrlINDI.g2

src/modules/src/controller_indi.c (L365)

INDI Controller effectiveness G2.

ctrlINDI.ref_err_p

src/modules/src/controller_indi.c (L370)

INDI proportional gain, attitude error p.

ctrlINDI.ref_err_q

src/modules/src/controller_indi.c (L374)

INDI proportional gain, attitude error q.

ctrlINDI.ref_err_r

src/modules/src/controller_indi.c (L378)

INDI proportional gain, attitude error r.

ctrlINDI.ref_rate_p

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

INDI proportional gain, attitude rate error p.

ctrlINDI.ref_rate_q

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

INDI proportional gain, attitude rate error q.

ctrlINDI.ref_rate_r

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

INDI proportional gain, attitude rate error r.

ctrlINDI.act_dyn_p

src/modules/src/controller_indi.c (L396)

INDI actuator dynamics parameter p.

ctrlINDI.act_dyn_q

src/modules/src/controller_indi.c (L400)

INDI actuator dynamics parameter q.

ctrlINDI.act_dyn_r

src/modules/src/controller_indi.c (L404)

INDI actuator dynamics parameter r.

ctrlINDI.filt_cutoff

src/modules/src/controller_indi.c (L409)

INDI Filtering for the raw angular rates [Hz].

ctrlINDI.filt_cutoff_r

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

INDI Filtering for the raw angular rates [Hz].

ctrlINDI.outerLoopActive

src/modules/src/controller_indi.c (L418)

Activate INDI for position control.


back to group index

ctrlMel

Variables

Name Core Type Description
ctrlMel.kp_xy   PARAM_FLOAT  
ctrlMel.kd_xy   PARAM_FLOAT  
ctrlMel.ki_xy   PARAM_FLOAT  
ctrlMel.i_range_xy   PARAM_FLOAT  
ctrlMel.kp_z   PARAM_FLOAT  
ctrlMel.kd_z   PARAM_FLOAT  
ctrlMel.ki_z   PARAM_FLOAT  
ctrlMel.i_range_z   PARAM_FLOAT  
ctrlMel.mass   PARAM_FLOAT  
ctrlMel.massThrust   PARAM_FLOAT  
ctrlMel.kR_xy   PARAM_FLOAT  
ctrlMel.kR_z   PARAM_FLOAT  
ctrlMel.kw_xy   PARAM_FLOAT  
ctrlMel.kw_z   PARAM_FLOAT  
ctrlMel.ki_m_xy   PARAM_FLOAT  
ctrlMel.ki_m_z   PARAM_FLOAT  
ctrlMel.kd_omega_rp   PARAM_FLOAT  
ctrlMel.i_range_m_xy   PARAM_FLOAT  
ctrlMel.i_range_m_z   PARAM_FLOAT  

Detailed Variable Information

ctrlMel.kp_xy

src/modules/src/controller_mellinger.c (L325)

ctrlMel.kd_xy

src/modules/src/controller_mellinger.c (L326)

ctrlMel.ki_xy

src/modules/src/controller_mellinger.c (L327)

ctrlMel.i_range_xy

src/modules/src/controller_mellinger.c (L328)

ctrlMel.kp_z

src/modules/src/controller_mellinger.c (L329)

ctrlMel.kd_z

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

ctrlMel.ki_z

src/modules/src/controller_mellinger.c (L331)

ctrlMel.i_range_z

src/modules/src/controller_mellinger.c (L332)

ctrlMel.mass

src/modules/src/controller_mellinger.c (L333)

ctrlMel.massThrust

src/modules/src/controller_mellinger.c (L334)

ctrlMel.kR_xy

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

ctrlMel.kR_z

src/modules/src/controller_mellinger.c (L336)

ctrlMel.kw_xy

src/modules/src/controller_mellinger.c (L337)

ctrlMel.kw_z

src/modules/src/controller_mellinger.c (L338)

ctrlMel.ki_m_xy

src/modules/src/controller_mellinger.c (L339)

ctrlMel.ki_m_z

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

ctrlMel.kd_omega_rp

src/modules/src/controller_mellinger.c (L341)

ctrlMel.i_range_m_xy

src/modules/src/controller_mellinger.c (L342)

ctrlMel.i_range_m_z

src/modules/src/controller_mellinger.c (L343)


back to group index

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.bcActiveMarker Core PARAM_UINT8 Nonzero if Active Marker deck is attached.
deck.bcAIDeck Core PARAM_UINT8 Nonzero if AI deck is attached.
deck.bcBuzzer Core PARAM_UINT8 Nonzero if Buzzer deck is attached.
deck.bcCPPM   PARAM_UINT8  
deck.bcFlow Core PARAM_UINT8 Nonzero if Flow deck v1 is attached.
deck.bcFlow2 Core PARAM_UINT8 Nonzero if Flow deck v2 is attached.
deck.bcGTGPS   PARAM_UINT8  
deck.bcLedRing Core PARAM_UINT8 Nonzero if LED-ring deck is attached.
deck.bcLhTester   PARAM_UINT8  
deck.bcLighthouse4 Core PARAM_UINT8 Nonzero if Lighthouse positioning deck is attached.
deck.bcDWM1000 Core PARAM_UINT8 Nonzero if Loco positioning deck is attached.
deck.bcMultiranger Core PARAM_UINT8 Nonzero if Multi-ranger deck is attached.
deck.bcOA   PARAM_UINT8  
deck.bcUSD Core PARAM_UINT8 Nonzero if SD-card deck is attached.
deck.bcZRanger Core PARAM_UINT8 Nonzero if Z-ranger deck is attached.
deck.bcZRanger2 Core PARAM_UINT8 Nonzero if Z-ranger deck v2 is attached.

Detailed Variable Information

deck.bcActiveMarker

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

Nonzero if Active Marker deck is attached.

deck.bcAIDeck

src/deck/drivers/src/aideck.c (L155)

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.bcFlow

src/deck/drivers/src/flowdeck_v1v2.c (L326)

Nonzero if Flow deck v1 is attached.

deck.bcFlow2

src/deck/drivers/src/flowdeck_v1v2.c (L331)

Nonzero if Flow deck v2 is attached.

deck.bcGTGPS

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

deck.bcLedRing

src/deck/drivers/src/ledring12.c (L1234)

Nonzero if LED-ring deck is attached.

deck.bcLhTester

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

deck.bcLighthouse4

src/deck/drivers/src/lighthouse.c (L108)

Nonzero if Lighthouse positioning deck is attached.

deck.bcDWM1000

src/deck/drivers/src/locodeck.c (L590)

Nonzero if Loco positioning deck is attached.

deck.bcMultiranger

src/deck/drivers/src/multiranger.c (L206)

Nonzero if Multi-ranger deck is attached.

deck.bcOA

src/deck/drivers/src/oa.c (L182)

deck.bcUSD

src/deck/drivers/src/usddeck.c (L1049)

Nonzero if SD-card deck is attached.

deck.bcZRanger

src/deck/drivers/src/zranger.c (L133)

Nonzero if Z-ranger deck is attached.

deck.bcZRanger2

src/deck/drivers/src/zranger2.c (L165)

Nonzero if Z-ranger deck v2 is attached.


back to group index

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  
flightmode.stabModePitch Core PARAM_UINT8  
flightmode.stabModeYaw Core PARAM_UINT8  

Detailed Variable Information

flightmode.althold

src/modules/src/crtp_commander_rpyt.c (L232)

Keeps the quad at its current altitude automatically.

Thrust control becomes height velocity control.

flightmode.poshold

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

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 (L245)

Set to nonzero to select absolute mode for positioning.

flightmode.yawMode

src/modules/src/crtp_commander_rpyt.c (L250)

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

flightmode.stabModeRoll

src/modules/src/crtp_commander_rpyt.c (L255)

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

flightmode.stabModePitch

src/modules/src/crtp_commander_rpyt.c (L260)

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

flightmode.stabModeYaw

src/modules/src/crtp_commander_rpyt.c (L265)

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


back to group index

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.

Detailed Variable Information

health.startPropTest

src/modules/src/health.c (L319)

Set nonzero to initiate test of propellers.

health.startBatTest

src/modules/src/health.c (L324)

Set nonzero to initiate test of battery.


back to group index

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)

Detailed Variable Information

hlCommander.vtoff

src/modules/src/crtp_commander_high_level.c (L827)

Default take off velocity (m/s)

hlCommander.vland

src/modules/src/crtp_commander_high_level.c (L832)

Default landing velocity (m/s)


back to group index

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.BMP388   PARAM_UINT8 Nonzero if BMP388 barometer is present.
imu_sensors.BoschGyrSel   PARAM_UINT8  
imu_sensors.BoschAccSel   PARAM_UINT8  
imu_sensors.BMM150   PARAM_UINT8  
imu_sensors.BMP285   PARAM_UINT8  
imu_sensors.AK8963   PARAM_UINT8 Nonzero if AK8963 magnetometer is present.
imu_sensors.LPS25H   PARAM_UINT8 Nonzero if LPS25H barometer is present.

Detailed Variable Information

imu_sensors.BMP388

src/hal/src/sensors_bmi088_bmp388.c (L958)

Nonzero if BMP388 barometer is present.

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 (L948)

Nonzero if AK8963 magnetometer is present.

imu_sensors.LPS25H

src/hal/src/sensors_mpu9250_lps25h.c (L953)

Nonzero if LPS25H barometer is present.


back to group index

imu_tests

Variables

Name Core Type Description
imu_tests.MPU6500   PARAM_UINT8 Nonzero if the MPU6500 self-test passes.
imu_tests.AK8963   PARAM_UINT8 Nonzero if the AK8963 self-test passes.
imu_tests.LPS25H   PARAM_UINT8 Nonzero if the LPS25H self-test passes.

Detailed Variable Information

imu_tests.MPU6500

src/hal/src/sensors_mpu9250_lps25h.c (L962)

Nonzero if the MPU6500 self-test passes.

imu_tests.AK8963

src/hal/src/sensors_mpu9250_lps25h.c (L967)

Nonzero if the AK8963 self-test passes.

imu_tests.LPS25H

src/hal/src/sensors_mpu9250_lps25h.c (L972)

Nonzero if the LPS25H self-test passes.


back to group index

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.quadIsFlying   PARAM_UINT8  
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 Process noise for x and y acceleration.
kalman.pNAcc_z Core PARAM_FLOAT Process noise for z acceleration.
kalman.pNVel Core PARAM_FLOAT Process noise for velocity.
kalman.pNPos Core PARAM_FLOAT Process noise for position.
kalman.pNAtt Core PARAM_FLOAT Process noise for attitude.
kalman.mNBaro Core PARAM_FLOAT Measurement noise for barometer.
kalman.mNGyro_rollpitch Core PARAM_FLOAT Measurement Noise for roll/pitch gyros.
kalman.mNGyro_yaw Core PARAM_FLOAT 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_kalman.c (L586)

Reset the kalman estimator.

kalman.quadIsFlying

src/modules/src/estimator_kalman.c (L587)

kalman.robustTdoa

src/modules/src/estimator_kalman.c (L591)

Nonzero to use robust TDOA method (default: 0)

kalman.robustTwr

src/modules/src/estimator_kalman.c (L595)

Nonzero to use robust TWR method (default: 0)

kalman.pNAcc_xy

src/modules/src/kalman_core/kalman_core.c (L799)

Process noise for x and y acceleration.

kalman.pNAcc_z

src/modules/src/kalman_core/kalman_core.c (L803)

Process noise for z acceleration.

kalman.pNVel

src/modules/src/kalman_core/kalman_core.c (L807)

Process noise for velocity.

kalman.pNPos

src/modules/src/kalman_core/kalman_core.c (L811)

Process noise for position.

kalman.pNAtt

src/modules/src/kalman_core/kalman_core.c (L815)

Process noise for attitude.

kalman.mNBaro

src/modules/src/kalman_core/kalman_core.c (L819)

Measurement noise for barometer.

kalman.mNGyro_rollpitch

src/modules/src/kalman_core/kalman_core.c (L823)

Measurement Noise for roll/pitch gyros.

kalman.mNGyro_yaw

src/modules/src/kalman_core/kalman_core.c (L827)

Measurement Noise for yaw gyro.

kalman.initialX

src/modules/src/kalman_core/kalman_core.c (L831)

Initial X after reset [m].

kalman.initialY

src/modules/src/kalman_core/kalman_core.c (L835)

Initial Y after reset [m].

kalman.initialZ

src/modules/src/kalman_core/kalman_core.c (L839)

Initial Z after reset [m].

kalman.initialYaw

src/modules/src/kalman_core/kalman_core.c (L843)

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.


back to group index

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.sweepStd Core PARAM_FLOAT Standard deviation Sweep angles Lighthouse V1.
lighthouse.sweepStd2 Core PARAM_FLOAT Standard deviation Sweep angles Lighthouse V2.
lighthouse.enLhRawStream   PARAM_UINT8  

Detailed Variable Information

lighthouse.method

src/modules/src/lighthouse/lighthouse_core.c (L823)

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

lighthouse.bsCalibReset

src/modules/src/lighthouse/lighthouse_core.c (L827)

Reset calibration data status.

lighthouse.systemType

src/modules/src/lighthouse/lighthouse_core.c (L832)

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

lighthouse.sweepStd

src/modules/src/lighthouse/lighthouse_position_est.c (L479)

Standard deviation Sweep angles Lighthouse V1.

lighthouse.sweepStd2

src/modules/src/lighthouse/lighthouse_position_est.c (L483)

Standard deviation Sweep angles Lighthouse V2.

lighthouse.enLhRawStream

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


back to group index

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 (L676)

The Loco positioning mode to use (default: 0)

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

back to group index

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 (L435)

Enable CRTP stream of Loco node distance.

locSrv.enLhAngleStream

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

Enable CRTP stream of Lighthouse sweep angles.

locSrv.extPosStdDev

src/modules/src/crtp_localization_service.c (L443)

Standard deviation of external position.

locSrv.extQuatStdDev

src/modules/src/crtp_localization_service.c (L447)

Standard deviation of the quarternion data to kalman filter.


back to group index

memTst

Variables

Name Core Type Description
memTst.resetW   PARAM_UINT8  

Detailed Variable Information

memTst.resetW

src/modules/src/mem.c (L355)


back to group index

motion

Settings and parameters for handling of the flowdecks measurments

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 devivation estimation (default: 0)
motion.flowStdFixed Core PARAM_FLOAT Set standard devivation flow measurement (default: 2.0f)

Detailed Variable Information

motion.disable

src/deck/drivers/src/flowdeck_v1v2.c (L310)

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

motion.adaptive

src/deck/drivers/src/flowdeck_v1v2.c (L314)

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

motion.flowStdFixed

src/deck/drivers/src/flowdeck_v1v2.c (L318)

Set standard devivation flow measurement (default: 2.0f)


back to group index

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/modules/src/power_distribution_stock.c (L141)

Nonzero to override controller with set values.

motorPowerSet.m1

src/modules/src/power_distribution_stock.c (L146)

motor power for m1: 0 - UINT16_MAX

motorPowerSet.m2

src/modules/src/power_distribution_stock.c (L151)

motor power for m2: 0 - UINT16_MAX

motorPowerSet.m3

src/modules/src/power_distribution_stock.c (L156)

motor power for m3: 0 - UINT16_MAX

motorPowerSet.m4

src/modules/src/power_distribution_stock.c (L161)

motor power for m4: 0 - UINT16_MAX


back to group index

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 Proportional gain for the PID roll controller.
pid_attitude.roll_ki   PARAM_FLOAT Integral gain for the PID roll controller.
pid_attitude.roll_kd   PARAM_FLOAT Derivative gain for the PID roll controller.
pid_attitude.pitch_kp   PARAM_FLOAT Proportional gain for the PID pitch controller.
pid_attitude.pitch_ki   PARAM_FLOAT Integral gain for the PID pitch controller.
pid_attitude.pitch_kd   PARAM_FLOAT Derivative gain for the PID pitch controller.
pid_attitude.yaw_kp   PARAM_FLOAT Proportional gain for the PID yaw controller.
pid_attitude.yaw_ki   PARAM_FLOAT Integral gain for the PID yaw controller.
pid_attitude.yaw_kd   PARAM_FLOAT Derivative gain for the PID yaw controller.

Detailed Variable Information

pid_attitude.roll_kp

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

Proportional gain for the PID roll controller.

pid_attitude.roll_ki

src/modules/src/attitude_pid_controller.c (L262)

Integral gain for the PID roll controller.

pid_attitude.roll_kd

src/modules/src/attitude_pid_controller.c (L266)

Derivative gain for the PID roll controller.

pid_attitude.pitch_kp

src/modules/src/attitude_pid_controller.c (L270)

Proportional gain for the PID pitch controller.

pid_attitude.pitch_ki

src/modules/src/attitude_pid_controller.c (L274)

Integral gain for the PID pitch controller.

pid_attitude.pitch_kd

src/modules/src/attitude_pid_controller.c (L278)

Derivative gain for the PID pitch controller.

pid_attitude.yaw_kp

src/modules/src/attitude_pid_controller.c (L282)

Proportional gain for the PID yaw controller.

pid_attitude.yaw_ki

src/modules/src/attitude_pid_controller.c (L286)

Integral gain for the PID yaw controller.

pid_attitude.yaw_kd

src/modules/src/attitude_pid_controller.c (L290)

Derivative gain for the PID yaw controller.


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 Proportional gain for the PID roll rate controller.
pid_rate.roll_ki   PARAM_FLOAT Integral gain for the PID roll rate controller.
pid_rate.roll_kd   PARAM_FLOAT Derivative gain for the PID roll rate controller.
pid_rate.pitch_kp   PARAM_FLOAT Proportional gain for the PID pitch rate controller.
pid_rate.pitch_ki   PARAM_FLOAT Integral gain for the PID pitch rate controller.
pid_rate.pitch_kd   PARAM_FLOAT Derivative gain for the PID pitch rate controller.
pid_rate.yaw_kp   PARAM_FLOAT Proportional gain for the PID yaw rate controller.
pid_rate.yaw_ki   PARAM_FLOAT Integral gain for the PID yaw rate controller.
pid_rate.yaw_kd   PARAM_FLOAT Derivative gain for the PID yaw rate controller.

Detailed Variable Information

pid_rate.roll_kp

src/modules/src/attitude_pid_controller.c (L301)

Proportional gain for the PID roll rate controller.

pid_rate.roll_ki

src/modules/src/attitude_pid_controller.c (L305)

Integral gain for the PID roll rate controller.

pid_rate.roll_kd

src/modules/src/attitude_pid_controller.c (L309)

Derivative gain for the PID roll rate controller.

pid_rate.pitch_kp

src/modules/src/attitude_pid_controller.c (L313)

Proportional gain for the PID pitch rate controller.

pid_rate.pitch_ki

src/modules/src/attitude_pid_controller.c (L317)

Integral gain for the PID pitch rate controller.

pid_rate.pitch_kd

src/modules/src/attitude_pid_controller.c (L321)

Derivative gain for the PID pitch rate controller.

pid_rate.yaw_kp

src/modules/src/attitude_pid_controller.c (L325)

Proportional gain for the PID yaw rate controller.

pid_rate.yaw_ki

src/modules/src/attitude_pid_controller.c (L329)

Integral gain for the PID yaw rate controller.

pid_rate.yaw_kd

src/modules/src/attitude_pid_controller.c (L333)

Derivative gain for the PID yaw rate controller.


back to group index

posCtlPid

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

Variables

Name Core Type Description
posCtlPid.xKp   PARAM_FLOAT Proportional gain for the position PID in the global X direction.
posCtlPid.xKi   PARAM_FLOAT Proportional gain for the position PID in the global X direction.
posCtlPid.xKd   PARAM_FLOAT Derivative gain for the position PID in the global X direction.
posCtlPid.yKp   PARAM_FLOAT Proportional gain for the position PID in the global Y direction.
posCtlPid.yKi   PARAM_FLOAT Integral gain for the position PID in the global Y direction.
posCtlPid.yKd   PARAM_FLOAT Derivative gain for the position PID in the global Y direction.
posCtlPid.zKp   PARAM_FLOAT Proportional gain for the position PID in the global Z direction.
posCtlPid.zKi   PARAM_FLOAT Integral gain for the position PID in the global Z direction.
posCtlPid.zKd   PARAM_FLOAT Derivative gain for the position PID in the global Z direction.
posCtlPid.thrustBase   PARAM_UINT16 Approx. thrust needed for hover.
posCtlPid.thrustMin   PARAM_UINT16 Min. thrust value to output.
posCtlPid.rpLimit   PARAM_FLOAT Roll/Pitch absolute limit.
posCtlPid.xyVelMax   PARAM_FLOAT Maximum X/Y velocity.
posCtlPid.zVelMax   PARAM_FLOAT Maximum Z Velocity.

Detailed Variable Information

posCtlPid.xKp

src/modules/src/position_controller_pid.c (L405)

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

posCtlPid.xKi

src/modules/src/position_controller_pid.c (L409)

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

posCtlPid.xKd

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

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

posCtlPid.yKp

src/modules/src/position_controller_pid.c (L418)

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

posCtlPid.yKi

src/modules/src/position_controller_pid.c (L422)

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

posCtlPid.yKd

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

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

posCtlPid.zKp

src/modules/src/position_controller_pid.c (L431)

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

posCtlPid.zKi

src/modules/src/position_controller_pid.c (L435)

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

posCtlPid.zKd

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

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

posCtlPid.thrustBase

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

Approx. thrust needed for hover.

posCtlPid.thrustMin

src/modules/src/position_controller_pid.c (L448)

Min. thrust value to output.

posCtlPid.rpLimit

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

Roll/Pitch absolute limit.

posCtlPid.xyVelMax

src/modules/src/position_controller_pid.c (L457)

Maximum X/Y velocity.

posCtlPid.zVelMax

src/modules/src/position_controller_pid.c (L461)

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/position_controller_indi.c (L282)

INDI position controller X proportional gain.

posCtrlIndi.K_xi_y

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

INDI position controller Y proportional gain.

posCtrlIndi.K_xi_z

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

INDI position controller Z proportional gain.

posCtrlIndi.K_dxi_x

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

INDI velocity controller X proportional gain.

posCtrlIndi.K_dxi_y

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

INDI velocity controller Y proportional gain.

posCtrlIndi.K_dxi_z

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

INDI velocity controller Z proportional gain.

posCtrlIndi.pq_clamping

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

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


back to group index

posEstAlt

Tuning setttings for the altititude estimator/filtering

Variables

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

Detailed Variable Information

posEstAlt.estAlphaAsl

src/modules/src/position_estimator_altitude.c (L133)

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

posEstAlt.estAlphaZr

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

parameter alpha IIR Filter Height (zranger)

posEstAlt.velFactor

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

Multiplying factor for adding velocity.

posEstAlt.velZAlpha

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

Blendning factor to avoid accumulate error.

posEstAlt.vAccDeadband

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

Vertical acceleration deadband.


back to group index

powerDist

Power distribution parameters

Variables

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

Detailed Variable Information

powerDist.idleThrust

src/modules/src/power_distribution_stock.c (L176)

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

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 Id of effect to use (default: 6)
ring.neffect Core PARAM_UINT32 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 (L1150)

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

ring.neffect

src/deck/drivers/src/ledring12.c (L1155)

Number of effects available.

ring.solidRed

src/deck/drivers/src/ledring12.c (L1160)

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

ring.solidGreen

src/deck/drivers/src/ledring12.c (L1165)

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

ring.solidBlue

src/deck/drivers/src/ledring12.c (L1170)

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

ring.headlightEnable

src/deck/drivers/src/ledring12.c (L1175)

Nonzero to Enable headlights (default: 0)

ring.emptyCharge

src/deck/drivers/src/ledring12.c (L1180)

At what volt the Battery effect indicates empty.

ring.fullCharge

src/deck/drivers/src/ledring12.c (L1186)

At what volt the battery effect indicates full.

ring.fadeColor

src/deck/drivers/src/ledring12.c (L1196)

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 (L1201)

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 Integral gain (default: 0.002)
sensfusion6.ki Core PARAM_FLOAT Propotional gain (default: 0.8)
sensfusion6.baseZacc   PARAM_FLOAT  

Detailed Variable Information

sensfusion6.kp

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

Integral gain (default: 0.002)

sensfusion6.ki

src/modules/src/sensfusion6.c (L388)

Propotional gain (default: 0.8)

sensfusion6.baseZacc

src/modules/src/sensfusion6.c (L390)


back to group index

sound

The buzzer deck contains a low profile piezo buzzer.

Variables

Name Core Type Description
sound.effect Core PARAM_UINT8 Id of effect to use (default: 0)
sound.neffect Core PARAM_UINT32 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 (L391)

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 (L396)

Number of effects available.

sound.freq

src/modules/src/sound_cf2.c (L401)

Frequency to use for Bypass effect.


back to group index

stabilizer

Parameters to set the estimator and controller type for the stabilizer module, or to do an emergency stop

Variables

Name Core Type Description
stabilizer.estimator Core PARAM_UINT8 Estimator type Any(0), complementary(1), kalman(2) (Default: 1)
stabilizer.controller Core PARAM_UINT8 Controller type Any(0), PID(1), Mellinger(2), INDI(3) (Default: 1)
stabilizer.stop Core PARAM_UINT8 If set to nonzero will turn off power.

Detailed Variable Information

stabilizer.estimator

src/modules/src/stabilizer.c (L324)

Estimator type Any(0), complementary(1), kalman(2) (Default: 1)

stabilizer.controller

src/modules/src/stabilizer.c (L328)

Controller type Any(0), PID(1), Mellinger(2), INDI(3) (Default: 1)

stabilizer.stop

src/modules/src/stabilizer.c (L332)

If set to nonzero will turn off power.


back to group index

system

Variables

Name Core Type Description
system.highlight Core PARAM_UINT8 Highlight quad.
system.taskDump Core PARAM_UINT8 Set to nonzero to dump CPU and stack usage to console.
system.selftestPassed Core PARAM_INT8 All tests passed when booting.
system.forceArm   PARAM_INT8 Set to nonzero to force system to be armed.

Detailed Variable Information

system.highlight

src/deck/drivers/src/ledring12.c (L1213)

Highlight quad.

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

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 (L387)

All tests passed when booting.

system.forceArm

src/modules/src/system.c (L392)

Set to nonzero to force system to be armed.


back to group index

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)


back to group index

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 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 (L1060)

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 (L1065)

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


back to group index

velCtlPid

Tuning settings for the gains of the PID controller for the velocity of the Crazyflie ¨ in the X, Y and Z direction in the body fixed coordinate system.

Variables

Name Core Type Description
velCtlPid.vxKp   PARAM_FLOAT Proportional gain for the velocity PID in the body X direction.
velCtlPid.vxKi   PARAM_FLOAT Integral gain for the velocity PID in the body X direction.
velCtlPid.vxKd   PARAM_FLOAT Derivative gain for the velocity PID in the body X direction.
velCtlPid.vyKp   PARAM_FLOAT Proportional gain for the velocity PID in the body Y direction.
velCtlPid.vyKi   PARAM_FLOAT Integral gain for the velocity PID in the body Y direction.
velCtlPid.vyKd   PARAM_FLOAT Derivative gain for the velocity PID in the body Y direction.
velCtlPid.vzKp   PARAM_FLOAT Proportional gain for the velocity PID in the body Z direction.
velCtlPid.vzKi   PARAM_FLOAT Integral gain for the velocity PID in the body Z direction.
velCtlPid.vzKd   PARAM_FLOAT Derivative gain for the velocity PID in the body Z direction.

Detailed Variable Information

velCtlPid.vxKp

src/modules/src/position_controller_pid.c (L357)

Proportional gain for the velocity PID in the body X direction.

velCtlPid.vxKi

src/modules/src/position_controller_pid.c (L361)

Integral gain for the velocity PID in the body X direction.

velCtlPid.vxKd

src/modules/src/position_controller_pid.c (L365)

Derivative gain for the velocity PID in the body X direction.

velCtlPid.vyKp

src/modules/src/position_controller_pid.c (L370)

Proportional gain for the velocity PID in the body Y direction.

velCtlPid.vyKi

src/modules/src/position_controller_pid.c (L374)

Integral gain for the velocity PID in the body Y direction.

velCtlPid.vyKd

src/modules/src/position_controller_pid.c (L378)

Derivative gain for the velocity PID in the body Y direction.

velCtlPid.vzKp

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

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

velCtlPid.vzKi

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

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

velCtlPid.vzKd

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

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