Parameter groups and variables

Index

u

v

velCtlPid

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

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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.

Detailed Variable Information

commander.enHighLevel

src/modules/src/commander.c (L171)

Enable high level commander.

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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 (L419)

Size in kB of the device flash memory.

cpu.id0

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

Byte 0 - 3 of device unique id.

cpu.id1

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

Byte 4 - 7 of device unique id.

cpu.id2

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

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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ctrlINDI

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

Variables

Name	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.

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ctrlMel

Variables

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

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)

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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.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.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.bcDWM1000	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.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.bcActiveMarker

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

Nonzero if Active Marker deck is attached.

deck.bcAI

src/deck/drivers/src/aideck.c (L379)

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.bcFlow

src/deck/drivers/src/flowdeck_v1v2.c (L327)

Nonzero if Flow deck v1 is attached.

deck.bcFlow2

src/deck/drivers/src/flowdeck_v1v2.c (L332)

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.bcDWM1000

src/deck/drivers/src/locodeck.c (L597)

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.bcUSD

src/deck/drivers/src/usddeck.c (L1083)

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

Detailed Variable Information

health.startPropTest

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

Set nonzero to initiate test of propellers.

health.startBatTest

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

Set nonzero to initiate test of battery.

health.propTestPWMRatio

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

PWM ratio to use when testing propellers. Required for brushless motors. [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)

Detailed Variable Information

hlCommander.vtoff

src/modules/src/crtp_commander_high_level.c (L833)

Default take off velocity (m/s)

hlCommander.vland

src/modules/src/crtp_commander_high_level.c (L838)

Default landing velocity (m/s)

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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	Type	Description
imu_sensors.BMP388	PARAM_UINT8, PARAM_RONLY	Nonzero if BMP388 barometer is present.
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.BMP388

src/hal/src/sensors_bmi088_bmp388.c (L994)

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 (L964)

Nonzero if AK8963 magnetometer is present.

imu_sensors.LPS25H

src/hal/src/sensors_mpu9250_lps25h.c (L969)

Nonzero if LPS25H barometer is present.

back to group index

imu_tests

Variables

Name	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.

Detailed Variable Information

imu_tests.MPU6500

src/hal/src/sensors_mpu9250_lps25h.c (L978)

Nonzero if the MPU6500 self-test passes.

imu_tests.AK8963

src/hal/src/sensors_mpu9250_lps25h.c (L983)

Nonzero if the AK8963 self-test passes.

imu_tests.LPS25H

src/hal/src/sensors_mpu9250_lps25h.c (L988)

Nonzero if the LPS25H self-test passes.

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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.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, 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_kalman.c (L593)

Reset the kalman estimator.

kalman.quadIsFlying

src/modules/src/estimator_kalman.c (L594)

kalman.robustTdoa

src/modules/src/estimator_kalman.c (L598)

Nonzero to use robust TDOA method (default: 0)

kalman.robustTwr

src/modules/src/estimator_kalman.c (L602)

Nonzero to use robust TWR method (default: 0)

kalman.pNAcc_xy

src/modules/src/estimator_kalman.c (L606)

Process noise for x and y acceleration.

kalman.pNAcc_z

src/modules/src/estimator_kalman.c (L610)

Process noise for z acceleration.

kalman.pNVel

src/modules/src/estimator_kalman.c (L614)

Process noise for velocity.

kalman.pNPos

src/modules/src/estimator_kalman.c (L618)

Process noise for position.

kalman.pNAtt

src/modules/src/estimator_kalman.c (L622)

Process noise for attitude.

kalman.mNBaro

src/modules/src/estimator_kalman.c (L626)

Measurement noise for barometer.

kalman.mNGyro_rollpitch

src/modules/src/estimator_kalman.c (L630)

Measurement noise for roll/pitch gyros.

kalman.mNGyro_yaw

src/modules/src/estimator_kalman.c (L634)

Measurement noise for yaw gyro.

kalman.initialX

src/modules/src/estimator_kalman.c (L638)

Initial X after reset [m].

kalman.initialY

src/modules/src/estimator_kalman.c (L642)

Initial Y after reset [m].

kalman.initialZ

src/modules/src/estimator_kalman.c (L646)

Initial Z after reset [m].

kalman.initialYaw

src/modules/src/estimator_kalman.c (L650)

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.

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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.
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 (L880)

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

lighthouse.bsCalibReset

src/modules/src/lighthouse/lighthouse_core.c (L884)

Reset calibration data status.

lighthouse.systemType

src/modules/src/lighthouse/lighthouse_core.c (L889)

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

lighthouse.bsAvailable

src/modules/src/lighthouse/lighthouse_core.c (L898)

Bit field that indicates which base stations that are supported by the system.

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

Deprecated since 2022-08-15

lighthouse.sweepStd

src/modules/src/lighthouse/lighthouse_position_est.c (L493)

Standard deviation Sweep angles Lighthouse V1.

lighthouse.sweepStd2

src/modules/src/lighthouse/lighthouse_position_est.c (L497)

Standard deviation Sweep angles Lighthouse V2.

lighthouse.enLhRawStream

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

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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 (L683)

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 (L451)

Enable CRTP stream of Loco node distance.

locSrv.enLhAngleStream

src/modules/src/crtp_localization_service.c (L455)

Enable CRTP stream of Lighthouse sweep angles.

locSrv.extPosStdDev

src/modules/src/crtp_localization_service.c (L459)

Standard deviation of external position.

locSrv.extQuatStdDev

src/modules/src/crtp_localization_service.c (L463)

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 (L357)

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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 (L311)

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

motion.adaptive

src/deck/drivers/src/flowdeck_v1v2.c (L315)

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

motion.flowStdFixed

src/deck/drivers/src/flowdeck_v1v2.c (L319)

Set standard devivation 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 (L687)

Nonzero to override controller with set values.

motorPowerSet.m1

src/drivers/src/motors.c (L692)

motor power for m1: 0 - UINT16_MAX

motorPowerSet.m2

src/drivers/src/motors.c (L697)

motor power for m2: 0 - UINT16_MAX

motorPowerSet.m3

src/drivers/src/motors.c (L702)

motor power for m3: 0 - UINT16_MAX

motorPowerSet.m4

src/drivers/src/motors.c (L707)

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	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.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.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.

Detailed Variable Information

pid_attitude.roll_kp

src/modules/src/attitude_pid_controller.c (L287)

Proportional gain for the PID roll controller.

pid_attitude.roll_ki

src/modules/src/attitude_pid_controller.c (L291)

Integral gain for the PID roll controller.

pid_attitude.roll_kd

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

Derivative gain for the PID roll controller.

pid_attitude.pitch_kp

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

Proportional gain for the PID pitch controller.

pid_attitude.pitch_ki

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

Integral gain for the PID pitch controller.

pid_attitude.pitch_kd

src/modules/src/attitude_pid_controller.c (L307)

Derivative gain for the PID pitch controller.

pid_attitude.yaw_kp

src/modules/src/attitude_pid_controller.c (L311)

Proportional gain for the PID yaw controller.

pid_attitude.yaw_ki

src/modules/src/attitude_pid_controller.c (L315)

Integral gain for the PID yaw controller.

pid_attitude.yaw_kd

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

Derivative gain for the PID yaw controller.

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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	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.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.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.

Detailed Variable Information

pid_rate.roll_kp

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

Proportional gain for the PID roll rate controller.

pid_rate.roll_ki

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

Integral gain for the PID roll rate controller.

pid_rate.roll_kd

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

Derivative gain for the PID roll rate controller.

pid_rate.pitch_kp

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

Proportional gain for the PID pitch rate controller.

pid_rate.pitch_ki

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

Integral gain for the PID pitch rate controller.

pid_rate.pitch_kd

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

Derivative gain for the PID pitch rate controller.

pid_rate.yaw_kp

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

Proportional gain for the PID yaw rate controller.

pid_rate.yaw_ki

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

Integral gain for the PID yaw rate controller.

pid_rate.yaw_kd

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

Derivative gain for the PID yaw rate controller.

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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 (L527)

At what voltage power management will indicate low battery.

pm.criticalLowVoltage

src/hal/src/pm_stm32f4.c (L531)

At what voltage power management will indicate critical low battery.

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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	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	Proportional 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.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.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.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/position_controller_pid.c (L462)

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

posCtlPid.xKi

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

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

posCtlPid.xKd

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

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

posCtlPid.yKp

src/modules/src/position_controller_pid.c (L475)

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

posCtlPid.yKi

src/modules/src/position_controller_pid.c (L479)

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

posCtlPid.yKd

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

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

posCtlPid.zKp

src/modules/src/position_controller_pid.c (L488)

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

posCtlPid.zKi

src/modules/src/position_controller_pid.c (L492)

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

posCtlPid.zKd

src/modules/src/position_controller_pid.c (L496)

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

posCtlPid.thrustBase

src/modules/src/position_controller_pid.c (L501)

Approx. thrust needed for hover.

posCtlPid.thrustMin

src/modules/src/position_controller_pid.c (L505)

Min. thrust value to output.

posCtlPid.rLimit

src/modules/src/position_controller_pid.c (L510)

Roll absolute limit.

posCtlPid.pLimit

src/modules/src/position_controller_pid.c (L514)

Pitch absolute limit.

posCtlPid.xVelMax

src/modules/src/position_controller_pid.c (L518)

Maximum body-yaw-aligned X velocity.

posCtlPid.yVelMax

src/modules/src/position_controller_pid.c (L522)

Maximum body-yaw-aligned Y velocity.

posCtlPid.zVelMax

src/modules/src/position_controller_pid.c (L526)

Maximum Z Velocity.

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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	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].

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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/position_estimator_altitude.c (L137)

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

posEstAlt.estAlphaZr

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

parameter alpha IIR Filter Height (zranger)

posEstAlt.velFactor

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

Multiplying factor for adding velocity.

posEstAlt.velZAlpha

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

Blendning factor to avoid accumulate error.

posEstAlt.vAccDeadband

src/modules/src/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_quadrotor.c (L90)

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.

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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.

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

Detailed Variable Information

stabilizer.estimator

src/modules/src/stabilizer.c (L344)

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

stabilizer.controller

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

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

stabilizer.stop

src/modules/src/stabilizer.c (L352)

If set to nonzero will turn off power.

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syslink

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.

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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, PARAM_RONLY	All tests passed when booting.
system.forceArm		PARAM_INT8, PARAM_PERSISTENT	Set to nonzero to force system to be armed.
system.assertInfo		PARAM_UINT8	Set to nonzero to trigger dump of assert information to the log.

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.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 (L443)

All tests passed when booting.

system.forceArm

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

Set to nonzero to force system to be armed.

system.assertInfo

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

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

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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 (L404)

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 (L334)

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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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 (L1094)

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 (L1099)

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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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	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.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.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.vxKFF	PARAM_FLOAT, PARAM_PERSISTENT	Feed-forward gain for the velocity PID in the body-yaw-aligned X direction (in degrees per m/s)
velCtlPid.vyKFF	PARAM_FLOAT, PARAM_PERSISTENT	Feed-forward gain for the velocity PID in the body-yaw-aligned Y direction (in degrees per m/s)