四轴固定翼参数

AttitudeQestimatorAtt_Acc_compEnabledaccelerationcompensationbasedonGPSvelocity启用基于全球定位系统速度的加速度补偿Att_BISA_MAX0.050rad/sGyrobiaslimit陀螺的极限ATT_EXT_HDGNoneExternalheadingusagemode(fromMotioncapture/Vision)Setto1touseheadingestimatefromvision.Setto2touseheadingfrommotioncapture外部标题使用模式（从运动捕获/视觉）设置为1，使用标题估计从视觉。设置为2表示从运动中捕获ATT_MAG_DECL0.00degMagneticdeclination,indegrees磁偏角，度ATT_MAG_DECL_AEnabledAutomaticGPSbaseddeclinationcompensation基于GPS的自动倾斜补偿ATT_VIBE_THRESH0.20Threshold(ofRMS)towarnabouthighvibrationlevels过高的阀值容易造成水平震动ATT_W_ACC0.20Complimentaryfilteraccelerometerweight自动过滤加速度计重量ATT_W_EXT_HDG0.100ComplimentaryfilterexternalheadingweightATT_W_GYRO_BIAS0.1Complimentaryfiltergyroscopebiasweight互相补偿陀螺仪偏移值ATT_W_MAG0.1Complimentaryfiltermagnetometerweight免费过滤式计重BatteryCalibrationBAT_CAPACITY-1MABatterycapacity电池的容量BAT_CRIT_THR7%Criticalthreshold油门的临界阀值BAT_C_OFFSET-1Offsetforbatterycurrentsensor电池电流传感器的偏移量BAT_C_SCALING-1Scalingfactorforbatterycurrentsensor电池电流传感器的比例因子BAT_LOW_THR15%Lowthreshold最低油门BAT_N_CELLS3SBatteryNumberofcells电池数量BAT_V_CHARGED4.05VFullcellvoltage(5Cload)单片最高电池电压BAT_V_EMPTY3.4VEmptycellvoltage(5cload)单片电池最低电压BAT_V_LOAD_DROP0.3VVoltagedroppercellonfullthrottle全油门上的电压降BAT_V_SCALE_IO10000Scalingfactorforbatteryvoltagesensoronpx4IO尺度因子的px4io电池电压传感器BAT_V_SCALING-1ScalingfactorforbatteryvoltagesensoronFMUV2尺度因子的电池电压传感器对FMUV2CameratriggerTRIG_MODEDisableCameratriggermode相机的触发方式CircuitBreakerCBRK_AIRSPD_CHK0Circuitbreakerforairspeedsensor空速传感器电路断路器CBRK_BUZZER0Circuitbreakerforairspeedsensorbuzzer空速传感器蜂鸣器电路断路器CBRK_ENGINEFALL284953Circuitbreakerforenginefailuredetection用于发动机故障检测的断路器CBRK_FLIGHTTERM121212Circuitbreakerforflighttermination用于飞行终止的断路器CBRK_GPSFALL240024Circuitbreakerforgpsfailuredetection用于全球定位系统故障检测的断路器CBRK_IO_SAFETY0Circuitbreakerforratecontrolleroutput用于速率控制器输出的电路断路器CBRK_RATE_CTRL0Circuitbreakerforratecontrolleroutput用于速率控制器输出的电路断路器CBRK_SUPPLY_CHK0Circuitbreakerforpowersupplycheck电源检查断路器CBRK_SUB_CHK0CircuitbreakerforusblinkcheckUSB链接检查断路器CommanderCOM_AUTOS_PAREnabledAutosavingofparams自动保存参数COM_DISARM_LAND0sTime-outforautodisarmafterlanding降落后自动解除武装时间COM_DL_LOSS_T10sDatalinklosstimethreshold数据丢失时间阈值COM_DL_REG_T0sDatalinkregaintimethreshold数据恢复时间阈值COM_EN_C2T5.00A/%EngineFailureCurrent/ThrottleThreshold发动机故障电流/节气门阈值COM_EN_THROT50%EngineFailureThrottleThreshold发动机故障阈值COM_EN_TIME10.0sEngineFailureTimeThreshold发动机故障时间阈值COM_HOME_H_T5.00mHomesethorizontalthreshold设置回家的水平阈值COM_HOMN_V_T10.00mHomesetverticalthreshold设置回家的垂直阀值COM_LOW_BAT_ACTWarningBatteryfailsafemode电池故障模式COM_RC_IN_MODERCTransmitterRCcontrolinputmode控制输入模式COM_RC_LOSS_T0.5sRClosstimethresholdRC控制链路丢失时间阀值DataLinkLossNAV_AH_ALT600.0mAirfieldhomealt国内机场的航点高度NAV_AH_LAT-265847810deg*1e7Airfieldhomelat国内机场航点纬度NAV_AH_LON1518423250deg*1e7Airfieldhomelon国内机场航点的经度NAV_DLL_AH_T120sAirfieldhomewaittime在几秒钟内系统时间应该在机场国内航点等NAV_DLL_CHSKDisabledSkipcommsholdwp如果设置为1，系统将跳过通讯持有WP对数据链路损耗将直接飞到机场回家NAV_DLL_CH_ALT600.0MCommsholdalt公司持有的航点高度NAV_DLL_CH_LAT-266072120deg*1e7CommsholdLat北纬通信持有的航点NAV_DLL_CH_LON1518453890deg*1e7Commsholdlon经纬通信持有的航点NAV_DLL_CH_T120sCommsholdwaittime在几秒钟内系统的时间应该在通讯等持点NAV_DLL_N2NumberofallowedDatalinktimeouts超过该数量后数据链路超时飞机直接回家FwAttitudeControl姿态控制FW_FLAPERON_SCL0%Scalefactorforflaperons

襟翼的控制量FW_FLAPS_SCL100%Scalefactorforflaps副翼的控制量FW_MAN_P_MAX45.0degMaxManualPitch在俯仰stabilizde模式为手动控制最大角度FW_MAN_R_MAX45.0degMaxManualRoll在滚转stabilizde模式为手动控制最大角度FW_PR_FF0.5%/rad/sPitchratefeedforward俯仰速率的反馈FW_PR_I0.020%/radpitchrateintegratorgain获取俯仰积分数值FW_PR_IMAX0.4Pitchrateintergratorlimit俯仰角速率积分极限FW_PR_P0.008%/rad/sPitchrateproportionalgain获取俯仰比例(P)数值FW_PSP_OFF0.0degPitchSetpointOffset设定俯仰的偏移值FW_P_RMAX_NEG60.0deg/sMaximumnegative/downpitchrate最大或最小下降速率的大小FW_P_RMAX_POS60.0DEG/SMaximumpositive/uppitchrate最大或最小的上升速率的大小FW_P_TC0.4sAttitudePitchtimeconstan俯仰姿态修正值FW_RR_FF0.50%/rad/sRollratefeedforward滚转速率的反馈FW_RR_I0.010%/rad/sRollrateintegratorgain滚转积分增益FW_RR_IMAX0.20RollIntergratoranti-windup、滚转积分饱和FW_RR_P0.050%/rad/srollrateproportionalgain滚转比例增益FW_RSP_OFF0.0degRollsetpointoffset滚转设定偏移值FW_R_RMAX70.0deg/sMaximumrollrate最大滚转速率FW_R_TC0.4sAttituderolltimeconstant滚转姿态的时间常数FW_WR_FF0.20%/rad/sWheelsteeringratefeedforward转向速率FW_WR_I0.100%rad/sWheelsteeringrateintegratorgain转向率积分增益FW_WR_IMAX1.00Wheelsteeringrateintegratorlimit转向率积分极限FW_WR_P0.5%/rad/sWheelsteeringrateproportionalgain转向率比例增益FW_W_RMAX0.0deg/smaximumwheelsteeringrate最大车轮转向率FW_YCO_METHODopen-loopMethodusedforyawcoordination用于偏航协调的方法FW_YCO_VMIN1000.0m/sMinimalspeedforyawcoordination偏航协调的最小速度FW_YR_FF0.30%/rad/sYawratefeedforward偏航速率反馈FW_YR_I0.0%/rad/Yawrateintegratorgain偏航率积分增益FW_RY_IMAX0.2Yawrateintegratorlimit偏航率积分极限FW_YR_P0.050%/rad/sYawrateproportionalgain横摆率比例增益FW_Y_RMAX0.0deg/sMaximumYAWrate最大偏航率FWL1CONTROLFW_CLMBOUT_DIFF10.0mClimboutaltitudedifference爬升高度差FW_L1_DAMPING0.75L1dampingL1阻尼FW_L1_PERIOD20.0mL1period这是L1距离定义的跟踪点在其下面的一个价值18-25米作品大多数飞机缓慢缩短调试过程中直到响应锋利无振荡的飞机FW_LND_AIRSPD_SC130%Minairspeedscalingfactorforlanding着陆最小空速比例因子FW_LND_ANG5.0degLandingslopeangle着陆迎角FW_LND_FL_PMAX15.0degFlare,maximumpitch使用的最大间距FW_LND_FL_PMIN2.5degFlare,maximumpitch使用的最大间距FW_LND_HHDIST15.0mLandingheadingholdhorizontaldistance降落航向保持水平距离FW_LND_HVIRT10.0mFW_LND_HVIRTFW_LND_TLALT-1.0mLandingthrottlelimitaltitude(relativelandingaltitude)降落油门极限高度（相对着陆高度）FW_LND_USETERDisabledUseterrainestimateduringlanding登陆时使用地形估计FW_P_LIM_MAX45.0degPositivepitchlimit正螺距极限FW_P_LIM_MIN-45degNegativepitchlimit负螺距极限FW_R_LIM50degControllerrolllimit滚转控制极限FW_THR_CRUISE60%Cruisethrottle巡航油门FW_THR_IDLE15%Idlethrottle怠速油门FW_THR_LND_MAX100%Throttlelimitvaluebeforeflare最大阀门限制FW_THR_MAX100%Throttlelimitmax最大油门限制FW_THR_MIN0%Throttlelimitmin最小阀门限制FW_THR_SLEW_MAX0.000Throttlemaxslewrate节气门最大转换率FWTECSFW_AIRSPD_MAX20.0m/sMaximumairspeed最大空速FW_AIRSPD_MIN10.0m/sMinimumairspeed最小空速FW_AIRSPD_TRIM15.0m/sCruiseairspeed巡航速度FW_T_CLMB_MAX5.0m/sMaximumclimbrate 最大爬升率FW_T_HGT_OMEGA3.0rad/sComplementaryfilter"omega"parameterforheight高度互补滤波器“欧米茄”参数FW_T_HRATE_FF0.00HeightrateFFfactor高率FF因子FW_T_HRATE_P0.05HeightratePfactor高度P因子FW_T_INTEG_GAIN0.10Integratorgain积分增益FW_T_PTCH_DAMP0.0Pitchdampingfactor俯仰阻尼因子FW_T_RLL2THR15.0Roll->Throttlefeedforward滚转油门反馈FW_T_SINK_MAX5.0m/sMinimumdescentrate最大下降率FW_T_DINK_MIN2.0m/sMinimumdescentrate最小下降率FW_T_SPDWEIGHT0.02Speedratepfactor速度P因子FW_T_THRO_CONST8.0sTECSThrottletimeconstant在节流阀的时间常数FW_T_THR_DAMP0.5Throttledampingfactor节流阻尼因子FW_T_TIME_CONST5.0STECStimeconstant在时间常数FW_T_VERT_ACC7.0m/s/sMaximumverticalacceleration最大垂直加速度GPSFailureNavigationGPS故障导航NAV_GPSF_LT30sLoitertime游荡的时间NAV_GPSF_P0.0degOpenlooploiterpitch开环的俯仰角度NAV_GPSF_R15.0degOpenlooploiterroll开环的滚转角度NAV_GPS_TR70%Openlooploiterthrust开环的最大推力Geofence地理围栏GF-ACTIONWarningGeofenceviolationaction地理围栏的行为GF_ALTMODEWGS84Geofencealtitudemode区域海拔模式GF_COUNT-1Geofencecounterlimit区域反限制GF_MAX_HOR_DIST-1mMaxhorizontaldistanceinmeters米最大水平距离GF_SOURCEGPOSGeofencesource区域来源LandDetector土地探测器LNDFW_AIRSPD_MAX8.0m/sairspeedmax速度最大LNDMC_FFALL_THR2.00m/s"2Multicopterspecificforcethreshold飞行器具体力阈值LNDMC_FFALL_TTRI0.30sMulticopterfree-falltriggertime飞行器自由落体的触发时间LNDMC_ROT_MAX20.0deg/sMulticoptermaxrotation飞行器最大旋转LNDMC_XY_VEL_MAX1.5m/sMulticoptermaxhorizontalvelocity飞行器最大水平速度LNDMC_Z_VEL_MAX0.7m/sMulticoptermaxclimbrate飞行器最大爬升率Launchdetection弹射探测LAUN_ALL_ONDisabledLaunchdetection弹射探测LAUN_CAT_A30.0m/s/sCatapultaccelerometerthreshold弹射加速度阈值LAUN_CAT_MDEL0.0sMotordelay电机延时LAUN_CAT_PMAX30.0degMaximumpitchbeforethethrottleispoweredup(duringmototdelayphase)最大间距在油门上电（电机延迟期）LAUN_CAT_T0.05sCatapulttimethreshold弹射时间阈值MAVLink微型航空器连接协议MAV_COMP_ID1MAVLinkcomponentID微型航空器组件IDMAV_FWDEXTSPEnabledForwardexternalsetpountmessages外部设定值的消息了MAV_RADIO_ID0MAVLinkRadioID微型航空器无限的IDMAV_SYS_ID1MAVLinksystemID微型航空器系统IDMAV_TEST_PAR1Testparameter实验参数MAV_TYPE20MAVLinkairframetype微型航空器的机身类型MAV_USEHILGPSDisableduse/acceptHILGPSmessageevenifnotinHILmode使用/接受HILGPS信息即使不在环模式Miscellaneous其他COM_FLTMODE1StabilizedFirstflightmodeslot(1000-1160)第一次飞行模式槽（1000-1160）COM_FLTMODE2UnassignedSecondflightmodeslot(1160-1320)第二次飞行模式槽（11160-1320）COM_FLTMODE3UnassignedThirdflightmodeslot(1320-1480)第三次飞行模式槽（1320-1480）COM_FLTMODE4StabilizedFourthflightmodeslot(1480-1640)第四次飞行模式槽（1480-1640）COM_FLTMODE5UnassignedFiftflightmodeslot(1640-1800)第五次飞行模式槽（1640-1800）COM_FLTMODE6StabilizedSixthflightmodeslot(1800-2000)第六次飞行模式槽（1800-2000）RC_MAP_FAILSAFEUnassignedFailsafechannelmapping安全通道映射Mission任务MIS_ALTMODEFirstorderholdAltitudesetpointmode第一阶保持高度设定模式MIS_DIST_1WP900.0mMaximalhorizontaldistancefromhometofirstwaypoint从家到第一点的最大水平距离MIS_LTRMIN_ALT1.2mMinimumloiteraltitude在海拔最低MIS_ONBOARD_ENEnabledPersistentonboardmissionstorage板载任务的持久性存储MIS_TAKEOFF_ALT10.0mTake-offaltitude起飞高度MIS_YAWMODEHeadingtowardswaypMultirotoronly.Yawsetpointmode只有multirotor。偏航设定模式MIS_YAW_ERR12.0degMaxyawerrorindegreesneededforwaypointheadingaccepacceptance在航点标题需要接受接受度最大偏航误差MIS_YAW_TMT10.0sTimeinsecondswewaitonreachingtargetheadingatawaypointifitisforced在几秒钟的时间我们等待到达目标节点的标题，如果是被迫的NAV_ACC_RAD3.0mAcceptanceRadius接受半径NAV_DLL_ACTDisabledSetdatalinklossfailsafemode建立数据链路损耗故障模式NAV_LOITER_RAD50.0mLoiterradius(FWonly)游荡半径（FW只）NAV_RCL_ACTDisabledSetRClossfailsafemode设置钢筋混凝土损耗故障模式VT_WV_LND_ENDisabledWeather-vanemodelandingsformissions任务的天气叶片模式着陆VT_WV_LTR_ENDisabledWeather-vanemodeforloitermode天气模式loiter叶片为模式AttitudeMC_ACRO_P_MAX360.0deg/sMaxacropitchrate在俯仰速率最大MC_ACRO_R_MAX360.0deg/sMaxacrorollrate在滚转速率最大MC_ACRO_Y_MAX360.0deg/sMaxacroyawrate在旋偏角速度最大MC_PITCHRATE_D0.0030PitchrateDgain俯仰速率D增益MC_PITCHRATE_FF0.0000Pitchratefeedforward俯仰角速率前馈MC_PITCHRATE_I0.050PitchrateIgain俯仰率I值增益MC_PITCHRATE_MAX220.0deg/sMAXPitchrate最大俯仰速率MC_PITCHRATE_P0.150Pitchratepgain俯仰率P增益MC_PITCH_P6.0001%sPitchPgain螺距P增益MC_PTTCH_TC0.2sPitchtimeconstant俯仰时间常数MC_TATT_TH1.00ThresholdforRattitudemode对于rattitude模式的阈值MC_ROLLRATE_D0.0030RollrateDgain滚动速率D增益

MC_ROLLRATE_FF0.0000Rollratefeedforward滚转速率D增益MC_ROLLRATE_I0.050RollrateIgain滚动速率I增益MC_RollRATE_MAX220.0deg/sMaxrollrate最大滚转速率MC_ROLLRATE_P0.15RollratePgain滚转速率P增益MC_PITCH_P6.00PitchPgain螺距P增益MC_ROLL_TC0.20sRolltimeconstant滚转的时间常数MC_YAWRATE_D0.00YawrateDgain偏航率D增益MC_YAWRATE_FF0.0000Yawratefeedforward旋偏角速度前馈MC_YAWRATE_I0.10YawrateIgain偏航率I增益MC_YAWRATE_MAX200.0deg/sMaxyawPgain最大偏航增益MC_YAWRATE_P0.20YawratePgain偏航率P增益MC_YAWRAUTO_MAX45.0deg/sMaxyawrateinautomode自动模式下的最大旋偏率MC_YAW_FF0.50Yawfeedforward偏航前馈MC_YAW_P4.001%/sYawPgain偏航P增益PositionMpc_ACC_HOR_MAX2.00m/s/sMaximumhorizonalaccelerationinvelocitycontrolledmodes在速度控制模式的最大水平加速度Mpc_ALTCTL_DY0.00ALTCTLthrottlecurvebreakpountheightaltctl油门曲线breakpount高度MPC_ALTCTL_DZ10%ALTCTLthrottlecurvebreakpountaltctl油门曲线breakpountMPC_ALT_MODEAltitudefollowingAltitudecontrolmode,notemode1onlytestedwithLPE高度控制模式，注意模式1测试的液相外延MPC_HOLD_MAX_XY0.8m/sMaximumhorizontalvelocityforwhichpositionholdisenabled(use0todisablecheck)最大水平速度的保持功能的位置（这是使用0到禁用检查）MPC_HOLD_MAX_Z0.6m/sMaximumverticalvelocityforwhichpositionholdisenabled(use0todisablecheck)启用位置保持的最大垂直速度（使用0来禁用检查）MPC_HOLD_XY_DZ0.10DeadzoneofX,YstickswherepositionholdisenabledXY死区，在位置保持启用MPC_LAND_SPEED0.7m/sLandingdescendrate着陆下降率MPC_MANTHR_MAX90%Maximummanualthrust最大的人工推力MPC_MANTHR_MIN8%Minimummanualthrus最小的人工推力MPC_MAN_P_MAX35.0degMaxmanualpitch马克斯手动MPC_MAN_R_MAX35.0degMaxmanualroll马克斯手动MPC_MAN_Y_MAX200.0deg/sMaxmanualyawrate最大手动横摆率MPC_THR_HOVER50%Hoverthrust悬停推力MPC_THR_MAX90%Maximumthrustinautothrustcontrol自动推力控制中的最大推力MPC_THR_MIN12%Minimumthrustinautothrustcontrol自动推力控制中的最小推力MPC_TILTMAX_AIR45.0degMaximumtiltangleinair空中最大倾斜角MPC_TILTMAX_LND12degMaximumtiltduringlanding降落时最大倾斜MPC_TKO_SPEED1.00m/sTakeoffclimbrate起飞爬升率MPC_VELD_LP5.00HZLowpassfiltercutfreq.fornumericalvelocityderivative低通滤波器降低频率数值导数MPC_CY_CRUISE5.00m/sNominalhorizontalvelocity标称的水平速度MPC_XY_FF0.5Horizontalvelocityfeedforward水平速度前馈MPC_XY_P1.25Proportionalgainforhorizontalpositionerror

水平位置误差的比例增益MPC_XY_VEL_D0.010Differentialgainforhorizontalvelocityerror.Smallvalueshelpreducefastoscillations.Ifvalueistoobigoscillationswillappearagain水平速度误差的微分增益。小值有助于减少快速振荡。如果值太大的振荡将再次出现MPC_XY__VEL_I0.020Integralgainforhorizontalvelocityerror水平速度误差的积分增益MPC_XY_VEL_MAX4.00m/sMaximumhorizontalvelocity最大水平速度MPC_XY_VEL_P0.09Proportionalgainforhorizontalvelocityerror水平速度误差的比例增益MPC_Z_FF0.5Verticalvelocityfeedforward垂直速度前馈MPC_Z_P1.00Proportionalgainforverticalpositioneror垂直位置误差比例增益MPC_Z_VEL_D0.000Differentialgainforverticalvelocityerror垂直速度误差的微分增益MPC_Z_VEL_I0.020Integralgainforverticalvelocityerror垂直速度误差的积分增益MPC_Z_VEL_MAX1.500m/sMaximumverticaldescentvelocity最大垂直下降速度MPC_Z_VEL_MAX_DN1.500m/sTransitionalsupport,donotchange/use过渡支持，不改变/使用MPC_Z_VEL_MA_UP3.0m/sMaximumverticalascentvelocity最大垂直上升速度

MPC_Z_VEL_P0.20Proportionalgainforverticalvelocityerror垂直速度误差的比例增益PWMOutputsPWM输出PWM_AUX_DISARMED1000usSetthedisarmedPWMforAUXoutputs设置了PWM的AUX输出PWM_AUX_MAX2000usSetthemaximumPWMfortheMAINoutputs设置最大的主输出的脉宽调制PWM_AUX_MIN1000usSettheminimumPWMfortheMAINoutputs为主要输出设置最小的脉宽调制PWM_DISARMED900usSetthedisarmedPWMforMAINoutputs主要输出设置了PWMPWM_MAIN_REV1DisbaledInvertdirectionofmainoutputchannel1主输出通道1的反向方向PWM_MAIN_REV2DisbaledInvertdirectionofmainoutputchannel2主输出通道2的反向方向PWM_MAIN_REV3DisbaledInvertdirectionofmainoutputchannel3主输出通道3的反向方向PWM_MAIN_REV4DisbaledInvertdirectionofmainoutputchannel4主输出通道4的反向方向PWM_MAIN_REV5DisbaledInvertdirectionofmainoutputchannel5主输出通道5的反向方向PWM_MAIN_REV6DisbaledInvertdirectionofmainoutputchannel6主输出通道6的反向方向PWM_MAIN_REV7DisbaledInvertdirectionofmainoutputchannel7主输出通道7的反向方向PWM_MAIN_REV8DisbaledInvertdirectionofmainoutputchannel8主输出通道8的反向方向PWM_MAX1950usSetthemaximumPWMfortheMAINoutputs设置最大的主输出的脉宽调制PWM_MIN1075usSettheminimumPWMfortheMAINoutputs为主要输出设置最小的脉宽调制PWM_SBUS_MODEDisabledS.BUSout外接S.BUSPositionEstimatorINAV位置估计CBRK_NO_VISION0Disablevisioninput禁用视觉输入INAV_DELAY_GPS0.200sGPSdelayGPS延迟INAV_DISAB_MOCAPMo-capenabledMo-capINAV_FLOW_DIST_X0.000mFlowmoduleoffset(centerofrotation)inxdirection流模块偏移（旋转中心）在x方向INAV_FLOW_DIST_Y0.000mFlowmoduleoffset(centerofrotation)inYdirection流模块偏移（旋转中心）在Y方向INAV_FLOW_K1.350Opticalflowscalefactor光流尺度因子INAV_FLOW_Q_MIN0.300Minimalacceptableopticalflowquality最小可接受光流质量INAV_LAND_DISP0.700mLanddetectoraltitudedispersionthreshold地面探测器高度分散阈值INAV_LAND_T3.000sLanddetectortime土地的检测时间INAV_LAND_THR0.200Landdetectorthrottlethreshold地面探测器油门阈值INAV_LANDAR_ERR0.200mSonarmaximalerrorfornewsurface新曲面最大误差INAV_LIDAR_ESTDisabledLIDARforaltitudeestimation激光雷达高度估计INAV_LIDAR_OFF0.000mLIDARcalibrationoffset激光雷达校准偏移INAV_W_ACC_BIAS0.050Accelerometerbiasestimationweight加速度计偏差估计重量INAV_W_GPS_FLOW0.100XYaxisweightfactorforGPSwhenopticalflowavailableXY轴重量因素时可用GPS光流INAV_W_MOC_P10.000Weightformocapsystem对运动系统的重量INAV_W_XY_FLOW0.800XYaxisweightforopticalflowXY轴重量的光流INAV_W_XY_GPS_P1.000XYaxisweightforGPSpositionXY轴重量的GPS位置INAV_W_XY_GPS_V2.000XYaxisweightforGPSvelocityXY轴重量GPS速度INAV_W_XY_RES_V0.500XYaxisweightforresettingvelocity

XY轴重量重置速度INAV_W_XY_VIS_P7.000XYaxis