Parameters
float duty_hover
Basic thrust when Phenox2 is in hovering state (PX_HOVER
). PD gain parameters specified by P-gain(pgain_sonar_tz
) and D-gain(dgain_sonar_tz
) are added to this basic thrust, which is measured by ultrasonic sensor..
This parameters should be changed according to payload of Phenox2, ranging from 1800 to 2200.
float duty_hover_max
Maximum thrust when Phenox2 is in hovering state (PX_HOVER
).
This parameters should be changed according to payload of Phenox2, ranging from duty_hover+150
to duty_hover+250
.
float duty_hover_min
Minimum thrust when Phenox2 is in hovering state (PX_HOVER
).
This parameters should be changed according to payload of Phenox2, ranging from duty_hover-150
to duty_hover-250
.
float duty_up
Thrust when Phenox2 is in rise state (PX_UP
).
This parameters should be changed according to payload of Phenox2, ranging from duty_hover+150
to duty_hover+250
.
float duty_down
Thrust when Phenox2 is in down state (PX_DOWN
).
This parameters should be changed according to payload of Phenox2, ranging from duty_hover-150
to duty_hover-250
.
float duty_bias_front
Additional thrust to front motor.
This parameters should be changed according to the location of a center of mass, ranging from -300
to 300
.
float duty_bias_back
Additional thrust to back motor.
This parameters should be changed according to the location of a center of mass, ranging from -300
to 300
.
float duty_bias_left
Additional thrust to left motor.
This parameters should be changed according to the location of a center of mass, ranging from -300
to 300
.
float duty_bias_right
Additional thrust to right motor.
This parameters should be changed according to the location of a center of mass, ranging from -300
to 300
.
float pgain_vision_tx
P-gain parameter of X axis specified by pxset_visioncontrol_xy()
.
float pgain_vision_ty
P-gain parameter of Y axis specified by pxset_visioncontrol_xy()
.
float dgain_vision_tx
D-gain parameter of X axis specified by pxset_visioncontrol_xy()
.
float dgain_vision_ty
D-gain parameter of Y axis specified by pxset_visioncontrol_xy()
.
float pgain_sonar_tz
P-gain parameter of Z axis specified by pxset_rangecontrol_z()
.
float dgain_sonar_tz
D-gain parameter of Z axis specified by pxset_rangecontrol_z()
.
int whisleborder
Border of whisle detection used by pxget_whisle_detect()
.
When this value is smaller, whisle detection has more sensitivity to detect smaller sound.
float uptime_max
Time (second) of rise state (PX_UP) when pxset_operate_mode(PX_UP)
is called.
Phenox2 enters PX_HOVER
state automatically by CPU1 after this time.
float downtime_max
Time (second) of down state (PX_DOWN) when pxset_operate_mode(PX_DOWN)
is called.
Phenox2 enters PX_HALT
state automatically by CPU1 after this time.
float dangz_rotspeed
Rotation speed when Phenox2 rotates around degZ by calling pxset_dst_degz()
.
int featurecontrast_front
Contrast of visual feature points detection of front camera used by pxset_imgfeature_query()
and pxget_imgfeature()
functions.
If this value is larger, less visual feature points are found, but become more robust to noise.
int featurecontrast_bottom
Contrast of visual feature points detection of bottom camera used by pxset_imgfeature_query()
and pxget_imgfeature()
functions.
If this value is larger, less visual feature points are found, but become more robust to noise.
float pgain_degx
P-gain around degX during flight state(PX_UP
,PX_HOVER
,PX_DOWN
). Change this value according to payload and external noise.
float pgain_degy
P-gain around degY during flight state(PX_UP
,PX_HOVER
,PX_DOWN
). Change this value according to payload and external noise.
float pgain_degz
P-gain around degZ during flight state(PX_UP
,PX_HOVER
,PX_DOWN
). Change this value according to payload and external noise.
float dgain_degx
D-gain around degX during flight state(PX_UP
,PX_HOVER
,PX_DOWN
). Change this value according to payload and external noise.
float dgain_degy
D-gain around degY during flight state(PX_UP
,PX_HOVER
,PX_DOWN
). Change this value according to payload and external noise.
float dgain_degz
D-gain around degZ during flight state(PX_UP
,PX_HOVER
,PX_DOWN
). Change this value according to payload and external noise.
int pwm_or_servo
Reserved parameter.
int propeller_monitor
Reserved parameter.