Open
Description
Describe the bug
I attempted to use the odometry from VINS_fusion as the external positioning data for the drone and forwarded the odometry topic to /mavros/vision_pose/pose through the vins_to_mavros node. However, /mavros/local_position/pose did not correctly receive the information from the odometry topic; it still positioned based on the drone's internal data.
I used to use the version of 1.14.3 and I can't find the EV option in param tree , but I set the EKF2_AID_MASK to 24 and HGT_MODE to vision.
Now my fireware version is 1.15.4 .It still not well.
My onboard device is :
Orangepi 5b
This my param :
Stack: PX4 Pro
Version: 1.15.4
Git Revision: 99c40407ff000000
Vehicle-Id Component-Id Name Value Type
1 1 ATT_EN 0 6
1 1 BAT1_A_PER_V 59.500000000000000000 9
1 1 BAT1_CAPACITY -1.000000000000000000 9
1 1 BAT1_I_CHANNEL -1 6
1 1 BAT1_N_CELLS 4 6
1 1 BAT1_R_INTERNAL 0.004999999888241291 9
1 1 BAT1_SOURCE 0 6
1 1 BAT1_V_CHANNEL -1 6
1 1 BAT1_V_CHARGED 4.050000190734863281 9
1 1 BAT1_V_DIV 11.199999809265136719 9
1 1 BAT1_V_EMPTY 3.599999904632568359 9
1 1 BAT1_V_LOAD_DROP 0.100000001490116119 9
1 1 BATMON_DRIVER_EN 0 6
1 1 BAT_AVRG_CURRENT 15.000000000000000000 9
1 1 BAT_CRIT_THR 0.070000000298023224 9
1 1 BAT_EMERGEN_THR 0.050000000745058060 9
1 1 BAT_LOW_THR 0.150000005960464478 9
1 1 BAT_N_CELLS 3 6
1 1 BAT_V_CHARGED 4.050000190734863281 9
1 1 BAT_V_EMPTY 3.599999904632568359 9
1 1 BAT_V_LOAD_DROP 0.300000011920928955 9
1 1 BAT_V_OFFS_CURR 0.000000000000000000 9
1 1 CAL_ACC0_ID 3604514 6
1 1 CAL_ACC0_PRIO 50 6
1 1 CAL_ACC0_ROT -1 6
1 1 CAL_ACC0_XOFF -0.300301909446716309 9
1 1 CAL_ACC0_XSCALE 1.004739999771118164 9
1 1 CAL_ACC0_YOFF -1.320188045501708984 9
1 1 CAL_ACC0_YSCALE 0.992894232273101807 9
1 1 CAL_ACC0_ZOFF 0.070676490664482117 9
1 1 CAL_ACC0_ZSCALE 0.988390207290649414 9
1 1 CAL_ACC1_ID 0 6
1 1 CAL_ACC2_ID 0 6
1 1 CAL_ACC3_ID 0 6
1 1 CAL_AIR_CMODEL 0 6
1 1 CAL_AIR_TUBED_MM 1.500000000000000000 9
1 1 CAL_AIR_TUBELEN 0.200000002980232239 9
1 1 CAL_BARO0_ID 0 6
1 1 CAL_BARO1_ID 0 6
1 1 CAL_BARO2_ID 0 6
1 1 CAL_BARO3_ID 0 6
1 1 CAL_GYRO0_ID 3604514 6
1 1 CAL_GYRO0_PRIO 50 6
1 1 CAL_GYRO0_ROT -1 6
1 1 CAL_GYRO0_XOFF -0.004195139277726412 9
1 1 CAL_GYRO0_YOFF 0.004082217812538147 9
1 1 CAL_GYRO0_ZOFF -0.000500689551699907 9
1 1 CAL_GYRO1_ID 0 6
1 1 CAL_GYRO2_ID 0 6
1 1 CAL_GYRO3_ID 0 6
1 1 CAL_MAG0_ID 0 6
1 1 CAL_MAG0_ROT -1 6
1 1 CAL_MAG1_ID 0 6
1 1 CAL_MAG1_ROT -1 6
1 1 CAL_MAG2_ID 0 6
1 1 CAL_MAG2_ROT -1 6
1 1 CAL_MAG3_ID 0 6
1 1 CAL_MAG3_ROT -1 6
1 1 CAM_CAP_FBACK 0 6
1 1 CA_AIRFRAME 0 6
1 1 CA_FAILURE_MODE 0 6
1 1 CA_METHOD 2 6
1 1 CA_R0_SLEW 0.000000000000000000 9
1 1 CA_R10_SLEW 0.000000000000000000 9
1 1 CA_R11_SLEW 0.000000000000000000 9
1 1 CA_R1_SLEW 0.000000000000000000 9
1 1 CA_R2_SLEW 0.000000000000000000 9
1 1 CA_R3_SLEW 0.000000000000000000 9
1 1 CA_R4_SLEW 0.000000000000000000 9
1 1 CA_R5_SLEW 0.000000000000000000 9
1 1 CA_R6_SLEW 0.000000000000000000 9
1 1 CA_R7_SLEW 0.000000000000000000 9
1 1 CA_R8_SLEW 0.000000000000000000 9
1 1 CA_R9_SLEW 0.000000000000000000 9
1 1 CA_ROTOR0_AX 0.000000000000000000 9
1 1 CA_ROTOR0_AY 0.000000000000000000 9
1 1 CA_ROTOR0_AZ -1.000000000000000000 9
1 1 CA_ROTOR0_CT 6.500000000000000000 9
1 1 CA_ROTOR0_KM 0.050000000745058060 9
1 1 CA_ROTOR0_PX 1.000000000000000000 9
1 1 CA_ROTOR0_PY 1.000000000000000000 9
1 1 CA_ROTOR0_PZ 0.000000000000000000 9
1 1 CA_ROTOR10_AX 0.000000000000000000 9
1 1 CA_ROTOR10_AY 0.000000000000000000 9
1 1 CA_ROTOR10_AZ -1.000000000000000000 9
1 1 CA_ROTOR10_CT 6.500000000000000000 9
1 1 CA_ROTOR10_KM 0.050000000745058060 9
1 1 CA_ROTOR10_PX 0.000000000000000000 9
1 1 CA_ROTOR10_PY 0.000000000000000000 9
1 1 CA_ROTOR10_PZ 0.000000000000000000 9
1 1 CA_ROTOR11_AX 0.000000000000000000 9
1 1 CA_ROTOR11_AY 0.000000000000000000 9
1 1 CA_ROTOR11_AZ -1.000000000000000000 9
1 1 CA_ROTOR11_CT 6.500000000000000000 9
1 1 CA_ROTOR11_KM 0.050000000745058060 9
1 1 CA_ROTOR11_PX 0.000000000000000000 9
1 1 CA_ROTOR11_PY 0.000000000000000000 9
1 1 CA_ROTOR11_PZ 0.000000000000000000 9
1 1 CA_ROTOR1_AX 0.000000000000000000 9
1 1 CA_ROTOR1_AY 0.000000000000000000 9
1 1 CA_ROTOR1_AZ -1.000000000000000000 9
1 1 CA_ROTOR1_CT 6.500000000000000000 9
1 1 CA_ROTOR1_KM 0.050000000745058060 9
1 1 CA_ROTOR1_PX -1.000000000000000000 9
1 1 CA_ROTOR1_PY -1.000000000000000000 9
1 1 CA_ROTOR1_PZ 0.000000000000000000 9
1 1 CA_ROTOR2_AX 0.000000000000000000 9
1 1 CA_ROTOR2_AY 0.000000000000000000 9
1 1 CA_ROTOR2_AZ -1.000000000000000000 9
1 1 CA_ROTOR2_CT 6.500000000000000000 9
1 1 CA_ROTOR2_KM -0.050000000745058060 9
1 1 CA_ROTOR2_PX 1.000000000000000000 9
1 1 CA_ROTOR2_PY -1.000000000000000000 9
1 1 CA_ROTOR2_PZ 0.000000000000000000 9
1 1 CA_ROTOR3_AX 0.000000000000000000 9
1 1 CA_ROTOR3_AY 0.000000000000000000 9
1 1 CA_ROTOR3_AZ -1.000000000000000000 9
1 1 CA_ROTOR3_CT 6.500000000000000000 9
1 1 CA_ROTOR3_KM -0.050000000745058060 9
1 1 CA_ROTOR3_PX -1.000000000000000000 9
1 1 CA_ROTOR3_PY 1.000000000000000000 9
1 1 CA_ROTOR3_PZ 0.000000000000000000 9
1 1 CA_ROTOR4_AX 0.000000000000000000 9
1 1 CA_ROTOR4_AY 0.000000000000000000 9
1 1 CA_ROTOR4_AZ -1.000000000000000000 9
1 1 CA_ROTOR4_CT 6.500000000000000000 9
1 1 CA_ROTOR4_KM 0.050000000745058060 9
1 1 CA_ROTOR4_PX 0.000000000000000000 9
1 1 CA_ROTOR4_PY 0.000000000000000000 9
1 1 CA_ROTOR4_PZ 0.000000000000000000 9
1 1 CA_ROTOR5_AX 0.000000000000000000 9
1 1 CA_ROTOR5_AY 0.000000000000000000 9
1 1 CA_ROTOR5_AZ -1.000000000000000000 9
1 1 CA_ROTOR5_CT 6.500000000000000000 9
1 1 CA_ROTOR5_KM 0.050000000745058060 9
1 1 CA_ROTOR5_PX 0.000000000000000000 9
1 1 CA_ROTOR5_PY 0.000000000000000000 9
1 1 CA_ROTOR5_PZ 0.000000000000000000 9
1 1 CA_ROTOR6_AX 0.000000000000000000 9
1 1 CA_ROTOR6_AY 0.000000000000000000 9
1 1 CA_ROTOR6_AZ -1.000000000000000000 9
1 1 CA_ROTOR6_CT 6.500000000000000000 9
1 1 CA_ROTOR6_KM 0.050000000745058060 9
1 1 CA_ROTOR6_PX 0.000000000000000000 9
1 1 CA_ROTOR6_PY 0.000000000000000000 9
1 1 CA_ROTOR6_PZ 0.000000000000000000 9
1 1 CA_ROTOR7_AX 0.000000000000000000 9
1 1 CA_ROTOR7_AY 0.000000000000000000 9
1 1 CA_ROTOR7_AZ -1.000000000000000000 9
1 1 CA_ROTOR7_CT 6.500000000000000000 9
1 1 CA_ROTOR7_KM 0.050000000745058060 9
1 1 CA_ROTOR7_PX 0.000000000000000000 9
1 1 CA_ROTOR7_PY 0.000000000000000000 9
1 1 CA_ROTOR7_PZ 0.000000000000000000 9
1 1 CA_ROTOR8_AX 0.000000000000000000 9
1 1 CA_ROTOR8_AY 0.000000000000000000 9
1 1 CA_ROTOR8_AZ -1.000000000000000000 9
1 1 CA_ROTOR8_CT 6.500000000000000000 9
1 1 CA_ROTOR8_KM 0.050000000745058060 9
1 1 CA_ROTOR8_PX 0.000000000000000000 9
1 1 CA_ROTOR8_PY 0.000000000000000000 9
1 1 CA_ROTOR8_PZ 0.000000000000000000 9
1 1 CA_ROTOR9_AX 0.000000000000000000 9
1 1 CA_ROTOR9_AY 0.000000000000000000 9
1 1 CA_ROTOR9_AZ -1.000000000000000000 9
1 1 CA_ROTOR9_CT 6.500000000000000000 9
1 1 CA_ROTOR9_KM 0.050000000745058060 9
1 1 CA_ROTOR9_PX 0.000000000000000000 9
1 1 CA_ROTOR9_PY 0.000000000000000000 9
1 1 CA_ROTOR9_PZ 0.000000000000000000 9
1 1 CA_ROTOR_COUNT 4 6
1 1 CA_R_REV 0 6
1 1 CA_SV0_SLEW 0.000000000000000000 9
1 1 CA_SV1_SLEW 0.000000000000000000 9
1 1 CA_SV2_SLEW 0.000000000000000000 9
1 1 CA_SV3_SLEW 0.000000000000000000 9
1 1 CA_SV4_SLEW 0.000000000000000000 9
1 1 CA_SV5_SLEW 0.000000000000000000 9
1 1 CA_SV6_SLEW 0.000000000000000000 9
1 1 CA_SV7_SLEW 0.000000000000000000 9
1 1 CBRK_BUZZER 782090 6
1 1 CBRK_FLIGHTTERM 121212 6
1 1 CBRK_IO_SAFETY 22027 6
1 1 CBRK_SUPPLY_CHK 894281 6
1 1 CBRK_USB_CHK 197848 6
1 1 CBRK_VTOLARMING 0 6
1 1 COM_ACT_FAIL_ACT 0 6
1 1 COM_ARMABLE 1 6
1 1 COM_ARM_AUTH_ID 10 6
1 1 COM_ARM_AUTH_MET 0 6
1 1 COM_ARM_AUTH_REQ 0 6
1 1 COM_ARM_AUTH_TO 1.000000000000000000 9
1 1 COM_ARM_BAT_MIN 0.000000000000000000 9
1 1 COM_ARM_CHK_ESCS 0 6
1 1 COM_ARM_EKF_HGT 1.000000000000000000 9
1 1 COM_ARM_EKF_POS 0.500000000000000000 9
1 1 COM_ARM_EKF_VEL 0.500000000000000000 9
1 1 COM_ARM_EKF_YAW 0.500000000000000000 9
1 1 COM_ARM_HFLT_CHK 1 6
1 1 COM_ARM_IMU_ACC 0.699999988079071045 9
1 1 COM_ARM_IMU_GYR 0.250000000000000000 9
1 1 COM_ARM_MAG_ANG 60 6
1 1 COM_ARM_MAG_STR 2 6
1 1 COM_ARM_MIS_REQ 0 6
1 1 COM_ARM_ODID 0 6
1 1 COM_ARM_SDCARD 0 6
1 1 COM_ARM_SWISBTN 0 6
1 1 COM_ARM_WO_GPS 1 6
1 1 COM_CPU_MAX 95.000000000000000000 9
1 1 COM_DISARM_LAND 2.000000000000000000 9
1 1 COM_DISARM_MAN 1 6
1 1 COM_DISARM_PRFLT 10.000000000000000000 9
1 1 COM_DL_LOSS_T 10 6
1 1 COM_FAIL_ACT_T 5.000000000000000000 9
1 1 COM_FLIGHT_UUID 453 6
1 1 COM_FLTMODE1 8 6
1 1 COM_FLTMODE2 -1 6
1 1 COM_FLTMODE3 -1 6
1 1 COM_FLTMODE4 1 6
1 1 COM_FLTMODE5 -1 6
1 1 COM_FLTMODE6 2 6
1 1 COM_FLTT_LOW_ACT 3 6
1 1 COM_FLT_PROFILE 0 6
1 1 COM_FLT_TIME_MAX -1 6
1 1 COM_FORCE_SAFETY 0 6
1 1 COM_HLDL_LOSS_T 120 6
1 1 COM_HLDL_REG_T 0 6
1 1 COM_HOME_EN 1 6
1 1 COM_HOME_IN_AIR 0 6
1 1 COM_IMB_PROP_ACT 0 6
1 1 COM_KILL_DISARM 5.000000000000000000 9
1 1 COM_LKDOWN_TKO 3.000000000000000000 9
1 1 COM_LOW_BAT_ACT 0 6
1 1 COM_MOT_TEST_EN 1 6
1 1 COM_OBC_LOSS_T 5.000000000000000000 9
1 1 COM_OBL_RC_ACT 0 6
1 1 COM_OBS_AVOID 0 6
1 1 COM_OF_LOSS_T 5.000000000000000000 9
1 1 COM_PARACHUTE 0 6
1 1 COM_POSCTL_NAVL 0 6
1 1 COM_POS_FS_DELAY 1 6
1 1 COM_POS_FS_EPH 5.000000000000000000 9
1 1 COM_POS_LOW_EPH -1.000000000000000000 9
1 1 COM_POWER_COUNT 1 6
1 1 COM_PREARM_MODE 0 6
1 1 COM_QC_ACT 0 6
1 1 COM_RCL_EXCEPT 4 6
1 1 COM_RC_ARM_HYST 1000 6
1 1 COM_RC_IN_MODE 3 6
1 1 COM_RC_LOSS_T 0.500000000000000000 9
1 1 COM_RC_OVERRIDE 1 6
1 1 COM_RC_STICK_OV 30.000000000000000000 9
1 1 COM_SPOOLUP_TIME 1.000000000000000000 9
1 1 COM_TAKEOFF_ACT 0 6
1 1 COM_THROW_EN 0 6
1 1 COM_THROW_SPEED 5.000000000000000000 9
1 1 COM_VEL_FS_EVH 1.000000000000000000 9
1 1 COM_WIND_MAX -1.000000000000000000 9
1 1 COM_WIND_MAX_ACT 0 6
1 1 COM_WIND_WARN -1.000000000000000000 9
1 1 CP_DELAY 0.400000005960464478 9
1 1 CP_DIST -1.000000000000000000 9
1 1 CP_GO_NO_DATA 0 6
1 1 CP_GUIDE_ANG 30.000000000000000000 9
1 1 DSHOT_3D_DEAD_H 1000 6
1 1 DSHOT_3D_DEAD_L 1000 6
1 1 DSHOT_3D_ENABLE 0 6
1 1 DSHOT_MIN 0.054999999701976776 9
1 1 DSHOT_TEL_CFG 0 6
1 1 EKF2_ABIAS_INIT 0.200000002980232239 9
1 1 EKF2_ABL_ACCLIM 25.000000000000000000 9
1 1 EKF2_ABL_GYRLIM 3.000000000000000000 9
1 1 EKF2_ABL_LIM 0.400000005960464478 9
1 1 EKF2_ABL_TAU 0.500000000000000000 9
1 1 EKF2_ACC_B_NOISE 0.003000000026077032 9
1 1 EKF2_ACC_NOISE 0.349999994039535522 9
1 1 EKF2_ANGERR_INIT 0.100000001490116119 9
1 1 EKF2_BARO_CTRL 0 6
1 1 EKF2_BARO_DELAY 0.000000000000000000 9
1 1 EKF2_BARO_GATE 5.000000000000000000 9
1 1 EKF2_BARO_NOISE 3.500000000000000000 9
1 1 EKF2_DECL_TYPE 3 6
1 1 EKF2_DELAY_MAX 200.000000000000000000 9
1 1 EKF2_EN 1 6
1 1 EKF2_GBIAS_INIT 0.100000001490116119 9
1 1 EKF2_GND_EFF_DZ 4.000000000000000000 9
1 1 EKF2_GND_MAX_HGT 0.500000000000000000 9
1 1 EKF2_GPS_CHECK 245 6
1 1 EKF2_GPS_CTRL 7 6
1 1 EKF2_GPS_DELAY 110.000000000000000000 9
1 1 EKF2_GPS_POS_X 0.000000000000000000 9
1 1 EKF2_GPS_POS_Y 0.000000000000000000 9
1 1 EKF2_GPS_POS_Z 0.000000000000000000 9
1 1 EKF2_GPS_P_GATE 5.000000000000000000 9
1 1 EKF2_GPS_P_NOISE 0.500000000000000000 9
1 1 EKF2_GPS_V_GATE 5.000000000000000000 9
1 1 EKF2_GPS_V_NOISE 0.300000011920928955 9
1 1 EKF2_GRAV_NOISE 1.000000000000000000 9
1 1 EKF2_GSF_TAS 15.000000000000000000 9
1 1 EKF2_GYR_B_LIM 0.150000005960464478 9
1 1 EKF2_GYR_B_NOISE 0.001000000047497451 9
1 1 EKF2_GYR_NOISE 0.014999999664723873 9
1 1 EKF2_HDG_GATE 2.599999904632568359 9
1 1 EKF2_HEAD_NOISE 0.300000011920928955 9
1 1 EKF2_HGT_REF 3 6
1 1 EKF2_IMU_CTRL 1 6
1 1 EKF2_IMU_POS_X 0.000000000000000000 9
1 1 EKF2_IMU_POS_Y 0.000000000000000000 9
1 1 EKF2_IMU_POS_Z 0.000000000000000000 9
1 1 EKF2_MAG_ACCLIM 0.500000000000000000 9
1 1 EKF2_MAG_B_NOISE 0.000099999997473788 9
1 1 EKF2_MAG_CHECK 1 6
1 1 EKF2_MAG_CHK_INC 20.000000000000000000 9
1 1 EKF2_MAG_CHK_STR 0.200000002980232239 9
1 1 EKF2_MAG_DECL 0.000000000000000000 9
1 1 EKF2_MAG_DELAY 0.000000000000000000 9
1 1 EKF2_MAG_E_NOISE 0.001000000047497451 9
1 1 EKF2_MAG_GATE 3.000000000000000000 9
1 1 EKF2_MAG_NOISE 0.050000000745058060 9
1 1 EKF2_MAG_TYPE 5 6
1 1 EKF2_MIN_RNG 0.100000001490116119 9
1 1 EKF2_MULTI_IMU 3 6
1 1 EKF2_NOAID_NOISE 10.000000000000000000 9
1 1 EKF2_NOAID_TOUT 5000000 6
1 1 EKF2_OF_CTRL 0 6
1 1 EKF2_OF_DELAY 20.000000000000000000 9
1 1 EKF2_OF_GATE 3.000000000000000000 9
1 1 EKF2_OF_N_MAX 0.500000000000000000 9
1 1 EKF2_OF_N_MIN 0.150000005960464478 9
1 1 EKF2_OF_POS_X 0.000000000000000000 9
1 1 EKF2_OF_POS_Y 0.000000000000000000 9
1 1 EKF2_OF_POS_Z 0.000000000000000000 9
1 1 EKF2_OF_QMIN 1 6
1 1 EKF2_OF_QMIN_GND 0 6
1 1 EKF2_PREDICT_US 10000 6
1 1 EKF2_REQ_EPH 3.000000000000000000 9
1 1 EKF2_REQ_EPV 5.000000000000000000 9
1 1 EKF2_REQ_GPS_H 10.000000000000000000 9
1 1 EKF2_REQ_HDRIFT 0.100000001490116119 9
1 1 EKF2_REQ_NSATS 6 6
1 1 EKF2_REQ_PDOP 2.500000000000000000 9
1 1 EKF2_REQ_SACC 0.500000000000000000 9
1 1 EKF2_REQ_VDRIFT 0.200000002980232239 9
1 1 EKF2_RNG_A_HMAX 5.000000000000000000 9
1 1 EKF2_RNG_A_IGATE 1.000000000000000000 9
1 1 EKF2_RNG_A_VMAX 1.000000000000000000 9
1 1 EKF2_RNG_CTRL 1 6
1 1 EKF2_RNG_DELAY 5.000000000000000000 9
1 1 EKF2_RNG_GATE 5.000000000000000000 9
1 1 EKF2_RNG_K_GATE 1.000000000000000000 9
1 1 EKF2_RNG_NOISE 0.100000001490116119 9
1 1 EKF2_RNG_PITCH 0.000000000000000000 9
1 1 EKF2_RNG_POS_X 0.000000000000000000 9
1 1 EKF2_RNG_POS_Y 0.000000000000000000 9
1 1 EKF2_RNG_POS_Z 0.000000000000000000 9
1 1 EKF2_RNG_QLTY_T 1.000000000000000000 9
1 1 EKF2_RNG_SFE 0.050000000745058060 9
1 1 EKF2_SEL_ERR_RED 0.200000002980232239 9
1 1 EKF2_SEL_IMU_ACC 1.000000000000000000 9
1 1 EKF2_SEL_IMU_ANG 15.000000000000000000 9
1 1 EKF2_SEL_IMU_RAT 7.000000000000000000 9
1 1 EKF2_SEL_IMU_VEL 2.000000000000000000 9
1 1 EKF2_SYNT_MAG_Z 0 6
1 1 EKF2_TAU_POS 0.250000000000000000 9
1 1 EKF2_TAU_VEL 0.250000000000000000 9
1 1 EKF2_TERR_GRAD 0.500000000000000000 9
1 1 EKF2_TERR_MASK 3 6
1 1 EKF2_TERR_NOISE 5.000000000000000000 9
1 1 EKF2_WIND_NSD 0.050000000745058060 9
1 1 EV_TSK_RC_LOSS 0 6
1 1 EV_TSK_STAT_DIS 0 6
1 1 FD_ACT_EN 1 6
1 1 FD_ACT_MOT_C2T 2.000000000000000000 9
1 1 FD_ACT_MOT_THR 0.200000002980232239 9
1 1 FD_ACT_MOT_TOUT 100 6
1 1 FD_ESCS_EN 1 6
1 1 FD_EXT_ATS_EN 0 6
1 1 FD_EXT_ATS_TRIG 1900 6
1 1 FD_FAIL_P 60 6
1 1 FD_FAIL_P_TTRI 0.300000011920928955 9
1 1 FD_FAIL_R 60 6
1 1 FD_FAIL_R_TTRI 0.300000011920928955 9
1 1 FD_IMB_PROP_THR 30 6
1 1 FLW_TGT_ALT_M 0 6
1 1 FLW_TGT_DST 8.000000000000000000 9
1 1 FLW_TGT_FA 180.000000000000000000 9
1 1 FLW_TGT_HT 8.000000000000000000 9
1 1 FLW_TGT_MAX_VEL 5.000000000000000000 9
1 1 FLW_TGT_RS 0.100000001490116119 9
1 1 FW_AIRSPD_MAX 20.000000000000000000 9
1 1 FW_AIRSPD_TRIM 15.000000000000000000 9
1 1 FW_PSP_OFF 0.000000000000000000 9
1 1 FW_T_CLMB_R_SP 3.000000000000000000 9
1 1 FW_T_SINK_R_SP 2.000000000000000000 9
1 1 GF_ACTION 2 6
1 1 GF_MAX_HOR_DIST 0.000000000000000000 9
1 1 GF_MAX_VER_DIST 0.000000000000000000 9
1 1 GF_PREDICT 0 6
1 1 GF_SOURCE 0 6
1 1 GND_SPEED_THR_SC 1.000000000000000000 9
1 1 GPS_1_CONFIG 201 6
1 1 GPS_1_GNSS 0 6
1 1 GPS_1_PROTOCOL 1 6
1 1 GPS_2_CONFIG 0 6
1 1 GPS_DUMP_COMM 0 6
1 1 GPS_SAT_INFO 0 6
1 1 GPS_UBX_BAUD2 230400 6
1 1 GPS_UBX_CFG_INTF 0 6
1 1 GPS_UBX_DYNMODEL 6 6
1 1 GPS_UBX_MODE 0 6
1 1 GPS_YAW_OFFSET 0.000000000000000000 9
1 1 HTE_ACC_GATE 3.000000000000000000 9
1 1 HTE_HT_ERR_INIT 0.100000001490116119 9
1 1 HTE_HT_NOISE 0.003599999938160181 9
1 1 HTE_THR_RANGE 0.200000002980232239 9
1 1 HTE_VXY_THR 10.000000000000000000 9
1 1 HTE_VZ_THR 2.000000000000000000 9
1 1 IMU_ACCEL_CUTOFF 30.000000000000000000 9
1 1 IMU_DGYRO_CUTOFF 50.000000000000000000 9
1 1 IMU_GYRO_CAL_EN 1 6
1 1 IMU_GYRO_CUTOFF 90.000000000000000000 9
1 1 IMU_GYRO_DNF_BW 15.000000000000000000 9
1 1 IMU_GYRO_DNF_EN 0 6
1 1 IMU_GYRO_DNF_HMC 3 6
1 1 IMU_GYRO_DNF_MIN 25.000000000000000000 9
1 1 IMU_GYRO_FFT_EN 1 6
1 1 IMU_GYRO_FFT_LEN 512 6
1 1 IMU_GYRO_FFT_MAX 150.000000000000000000 9
1 1 IMU_GYRO_FFT_MIN 30.000000000000000000 9
1 1 IMU_GYRO_FFT_SNR 10.000000000000000000 9
1 1 IMU_GYRO_NF0_BW 20.000000000000000000 9
1 1 IMU_GYRO_NF0_FRQ 0.000000000000000000 9
1 1 IMU_GYRO_NF1_BW 20.000000000000000000 9
1 1 IMU_GYRO_NF1_FRQ 0.000000000000000000 9
1 1 IMU_GYRO_RATEMAX 2000 6
1 1 IMU_INTEG_RATE 200 6
1 1 LNDMC_ALT_GND 2.000000000000000000 9
1 1 LNDMC_ROT_MAX 20.000000000000000000 9
1 1 LNDMC_TRIG_TIME 1.000000000000000000 9
1 1 LNDMC_XY_VEL_MAX 1.500000000000000000 9
1 1 LNDMC_Z_VEL_MAX 0.250000000000000000 9
1 1 LND_FLIGHT_T_HI 0 6
1 1 LND_FLIGHT_T_LO 2022551113 6
1 1 MAN_ARM_GESTURE 0 6
1 1 MAN_KILL_GEST_T -1.000000000000000000 9
1 1 MAV_0_CONFIG 101 6
1 1 MAV_0_FLOW_CTRL 2 6
1 1 MAV_0_FORWARD 1 6
1 1 MAV_0_MODE 0 6
1 1 MAV_0_RADIO_CTL 1 6
1 1 MAV_0_RATE 1200 6
1 1 MAV_1_CONFIG 102 6
1 1 MAV_1_FLOW_CTRL 2 6
1 1 MAV_1_FORWARD 0 6
1 1 MAV_1_MODE 2 6
1 1 MAV_1_RADIO_CTL 1 6
1 1 MAV_1_RATE 0 6
1 1 MAV_2_CONFIG 0 6
1 1 MAV_COMP_ID 1 6
1 1 MAV_FWDEXTSP 1 6
1 1 MAV_HASH_CHK_EN 1 6
1 1 MAV_HB_FORW_EN 1 6
1 1 MAV_PROTO_VER 0 6
1 1 MAV_RADIO_TOUT 5 6
1 1 MAV_SIK_RADIO_ID 0 6
1 1 MAV_SYS_ID 1 6
1 1 MAV_TYPE 2 6
1 1 MAV_USEHILGPS 0 6
1 1 MBE_ENABLE 1 6
1 1 MBE_LEARN_GAIN 18.000000000000000000 9
1 1 MC_ACRO_EXPO 0.000000000000000000 9
1 1 MC_ACRO_EXPO_Y 0.000000000000000000 9
1 1 MC_ACRO_P_MAX 100.000000000000000000 9
1 1 MC_ACRO_R_MAX 100.000000000000000000 9
1 1 MC_ACRO_SUPEXPO 0.000000000000000000 9
1 1 MC_ACRO_SUPEXPOY 0.000000000000000000 9
1 1 MC_ACRO_Y_MAX 100.000000000000000000 9
1 1 MC_AIRMODE 0 6
1 1 MC_AT_APPLY 1 6
1 1 MC_AT_EN 1 6
1 1 MC_AT_RISE_TIME 0.140000000596046448 9
1 1 MC_AT_START 0 6
1 1 MC_AT_SYSID_AMP 0.699999988079071045 9
1 1 MC_BAT_SCALE_EN 0 6
1 1 MC_MAN_TILT_TAU 0.000000000000000000 9
1 1 MC_ORBIT_RAD_MAX 1000.000000000000000000 9
1 1 MC_PITCHRATE_D 0.003000000026077032 9
1 1 MC_PITCHRATE_FF 0.000000000000000000 9
1 1 MC_PITCHRATE_I 0.100000001490116119 9
1 1 MC_PITCHRATE_K 1.000000000000000000 9
1 1 MC_PITCHRATE_MAX 220.000000000000000000 9
1 1 MC_PITCHRATE_P 0.079999998211860657 9
1 1 MC_PITCH_P 6.500000000000000000 9
1 1 MC_PR_INT_LIM 0.300000011920928955 9
1 1 MC_ROLLRATE_D 0.003000000026077032 9
1 1 MC_ROLLRATE_FF 0.000000000000000000 9
1 1 MC_ROLLRATE_I 0.100000001490116119 9
1 1 MC_ROLLRATE_K 1.000000000000000000 9
1 1 MC_ROLLRATE_MAX 220.000000000000000000 9
1 1 MC_ROLLRATE_P 0.079999998211860657 9
1 1 MC_ROLL_P 6.500000000000000000 9
1 1 MC_RR_INT_LIM 0.300000011920928955 9
1 1 MC_SLOW_DEF_HVEL 3.000000000000000000 9
1 1 MC_SLOW_DEF_VVEL 1.000000000000000000 9
1 1 MC_SLOW_DEF_YAWR 45.000000000000000000 9
1 1 MC_SLOW_MAP_HVEL 0 6
1 1 MC_SLOW_MAP_VVEL 0 6
1 1 MC_SLOW_MAP_YAWR 0 6
1 1 MC_SLOW_MIN_HVEL 0.300000011920928955 9
1 1 MC_SLOW_MIN_VVEL 0.300000011920928955 9
1 1 MC_SLOW_MIN_YAWR 3.000000000000000000 9
1 1 MC_YAWRATE_D 0.000000000000000000 9
1 1 MC_YAWRATE_FF 0.000000000000000000 9
1 1 MC_YAWRATE_I 0.100000001490116119 9
1 1 MC_YAWRATE_K 1.000000000000000000 9
1 1 MC_YAWRATE_MAX 200.000000000000000000 9
1 1 MC_YAWRATE_P 0.200000002980232239 9
1 1 MC_YAW_P 2.799999952316284180 9
1 1 MC_YAW_WEIGHT 0.400000005960464478 9
1 1 MC_YR_INT_LIM 0.300000011920928955 9
1 1 MIS_DIST_1WP 900.000000000000000000 9
1 1 MIS_LND_ABRT_ALT 30 6
1 1 MIS_MNT_YAW_CTL 0 6
1 1 MIS_PD_TO 5.000000000000000000 9
1 1 MIS_TAKEOFF_ALT 2.500000000000000000 9
1 1 MIS_YAW_ERR 12.000000000000000000 9
1 1 MIS_YAW_TMT -1.000000000000000000 9
1 1 MNT_MODE_IN -1 6
1 1 MOT_POLE_COUNT 14 6
1 1 MOT_SLEW_MAX 0.000000000000000000 9
1 1 MPC_ACC_DECOUPLE 1 6
1 1 MPC_ACC_DOWN_MAX 3.000000000000000000 9
1 1 MPC_ACC_HOR 3.000000000000000000 9
1 1 MPC_ACC_HOR_MAX 5.000000000000000000 9
1 1 MPC_ACC_UP_MAX 4.000000000000000000 9
1 1 MPC_ALT_MODE 2 6
1 1 MPC_HOLD_DZ 0.100000001490116119 9
1 1 MPC_HOLD_MAX_XY 0.800000011920928955 9
1 1 MPC_HOLD_MAX_Z 0.600000023841857910 9
1 1 MPC_JERK_AUTO 4.000000000000000000 9
1 1 MPC_JERK_MAX 8.000000000000000000 9
1 1 MPC_LAND_ALT1 10.000000000000000000 9
1 1 MPC_LAND_ALT2 5.000000000000000000 9
1 1 MPC_LAND_ALT3 1.000000000000000000 9
1 1 MPC_LAND_CRWL 0.300000011920928955 9
1 1 MPC_LAND_RADIUS 1000.000000000000000000 9
1 1 MPC_LAND_RC_HELP 0 6
1 1 MPC_LAND_SPEED 0.699999988079071045 9
1 1 MPC_MANTHR_MIN 0.079999998211860657 9
1 1 MPC_MAN_TILT_MAX 60.000000000000000000 9
1 1 MPC_MAN_Y_MAX 150.000000000000000000 9
1 1 MPC_MAN_Y_TAU 0.079999998211860657 9
1 1 MPC_POS_MODE 4 6
1 1 MPC_THR_CURVE 0 6
1 1 MPC_THR_HOVER 0.500000000000000000 9
1 1 MPC_THR_MAX 1.000000000000000000 9
1 1 MPC_THR_MIN 0.119999997317790985 9
1 1 MPC_THR_XY_MARG 0.300000011920928955 9
1 1 MPC_TILTMAX_AIR 45.000000000000000000 9
1 1 MPC_TILTMAX_LND 12.000000000000000000 9
1 1 MPC_TKO_RAMP_T 3.000000000000000000 9
1 1 MPC_TKO_SPEED 1.500000000000000000 9
1 1 MPC_USE_HTE 1 6
1 1 MPC_VELD_LP 5.000000000000000000 9
1 1 MPC_VEL_MANUAL 1.000000000000000000 9
1 1 MPC_VEL_MAN_BACK -1.000000000000000000 9
1 1 MPC_VEL_MAN_SIDE -1.000000000000000000 9
1 1 MPC_XY_CRUISE 1.000000000000000000 9
1 1 MPC_XY_ERR_MAX 2.000000000000000000 9
1 1 MPC_XY_MAN_EXPO 0.600000023841857910 9
1 1 MPC_XY_P 0.949999988079071045 9
1 1 MPC_XY_TRAJ_P 0.500000000000000000 9
1 1 MPC_XY_VEL_ALL -10.000000000000000000 9
1 1 MPC_XY_VEL_D_ACC 0.200000002980232239 9
1 1 MPC_XY_VEL_I_ACC 0.400000005960464478 9
1 1 MPC_XY_VEL_MAX 1.000000000000000000 9
1 1 MPC_XY_VEL_P_ACC 1.799999952316284180 9
1 1 MPC_YAWRAUTO_ACC 60.000000000000000000 9
1 1 MPC_YAWRAUTO_MAX 45.000000000000000000 9
1 1 MPC_YAW_EXPO 0.600000023841857910 9
1 1 MPC_YAW_MODE 0 6
1 1 MPC_Z_MAN_EXPO 0.600000023841857910 9
1 1 MPC_Z_P 1.000000000000000000 9
1 1 MPC_Z_VEL_ALL -3.000000000000000000 9
1 1 MPC_Z_VEL_D_ACC 0.000000000000000000 9
1 1 MPC_Z_VEL_I_ACC 2.000000000000000000 9
1 1 MPC_Z_VEL_MAX_DN 1.500000000000000000 9
1 1 MPC_Z_VEL_MAX_UP 3.000000000000000000 9
1 1 MPC_Z_VEL_P_ACC 4.000000000000000000 9
1 1 MPC_Z_V_AUTO_DN 1.500000000000000000 9
1 1 MPC_Z_V_AUTO_UP 3.000000000000000000 9
1 1 NAV_ACC_RAD 2.000000000000000000 9
1 1 NAV_DLL_ACT 0 6
1 1 NAV_FORCE_VT 1 6
1 1 NAV_FW_ALTL_RAD 5.000000000000000000 9
1 1 NAV_FW_ALT_RAD 10.000000000000000000 9
1 1 NAV_LOITER_RAD 80.000000000000000000 9
1 1 NAV_MC_ALT_RAD 0.800000011920928955 9
1 1 NAV_MIN_LTR_ALT -1.000000000000000000 9
1 1 NAV_RCL_ACT 2 6
1 1 NAV_TRAFF_AVOID 1 6
1 1 NAV_TRAFF_A_HOR 500.000000000000000000 9
1 1 NAV_TRAFF_A_VER 500.000000000000000000 9
1 1 NAV_TRAFF_COLL_T 60 6
1 1 PLD_BTOUT 5.000000000000000000 9
1 1 PLD_FAPPR_ALT 0.100000001490116119 9
1 1 PLD_HACC_RAD 0.200000002980232239 9
1 1 PLD_MAX_SRCH 3 6
1 1 PLD_SRCH_ALT 10.000000000000000000 9
1 1 PLD_SRCH_TOUT 10.000000000000000000 9
1 1 PWM_MAIN_DIS1 1000 6
1 1 PWM_MAIN_DIS2 1000 6
1 1 PWM_MAIN_DIS3 1000 6
1 1 PWM_MAIN_DIS4 1000 6
1 1 PWM_MAIN_DIS5 1000 6
1 1 PWM_MAIN_DIS6 1000 6
1 1 PWM_MAIN_DIS7 1000 6
1 1 PWM_MAIN_DIS8 1000 6
1 1 PWM_MAIN_FAIL1 -1 6
1 1 PWM_MAIN_FAIL2 -1 6
1 1 PWM_MAIN_FAIL3 -1 6
1 1 PWM_MAIN_FAIL4 -1 6
1 1 PWM_MAIN_FAIL5 -1 6
1 1 PWM_MAIN_FAIL6 -1 6
1 1 PWM_MAIN_FAIL7 -1 6
1 1 PWM_MAIN_FAIL8 -1 6
1 1 PWM_MAIN_FUNC1 102 6
1 1 PWM_MAIN_FUNC2 103 6
1 1 PWM_MAIN_FUNC3 104 6
1 1 PWM_MAIN_FUNC4 101 6
1 1 PWM_MAIN_FUNC5 0 6
1 1 PWM_MAIN_FUNC6 0 6
1 1 PWM_MAIN_FUNC7 0 6
1 1 PWM_MAIN_FUNC8 0 6
1 1 PWM_MAIN_MAX1 1900 6
1 1 PWM_MAIN_MAX2 1900 6
1 1 PWM_MAIN_MAX3 1900 6
1 1 PWM_MAIN_MAX4 1900 6
1 1 PWM_MAIN_MAX5 2000 6
1 1 PWM_MAIN_MAX6 2000 6
1 1 PWM_MAIN_MAX7 2000 6
1 1 PWM_MAIN_MAX8 2000 6
1 1 PWM_MAIN_MIN1 1100 6
1 1 PWM_MAIN_MIN2 1100 6
1 1 PWM_MAIN_MIN3 1100 6
1 1 PWM_MAIN_MIN4 1100 6
1 1 PWM_MAIN_MIN5 1000 6
1 1 PWM_MAIN_MIN6 1000 6
1 1 PWM_MAIN_MIN7 1000 6
1 1 PWM_MAIN_MIN8 1000 6
1 1 PWM_MAIN_REV 0 6
1 1 PWM_MAIN_TIM0 -3 6
1 1 PWM_MAIN_TIM1 -3 6
1 1 PWM_MAIN_TIM2 400 6
1 1 PWM_MAIN_TIM3 400 6
1 1 RC10_DZ 0.000000000000000000 9
1 1 RC10_MAX 2000.000000000000000000 9
1 1 RC10_MIN 1000.000000000000000000 9
1 1 RC10_REV 1.000000000000000000 9
1 1 RC10_TRIM 1500.000000000000000000 9
1 1 RC11_DZ 0.000000000000000000 9
1 1 RC11_MAX 2000.000000000000000000 9
1 1 RC11_MIN 1000.000000000000000000 9
1 1 RC11_REV 1.000000000000000000 9
1 1 RC11_TRIM 1500.000000000000000000 9
1 1 RC12_DZ 0.000000000000000000 9
1 1 RC12_MAX 2000.000000000000000000 9
1 1 RC12_MIN 1000.000000000000000000 9
1 1 RC12_REV 1.000000000000000000 9
1 1 RC12_TRIM 1500.000000000000000000 9
1 1 RC13_DZ 0.000000000000000000 9
1 1 RC13_MAX 2000.000000000000000000 9
1 1 RC13_MIN 1000.000000000000000000 9
1 1 RC13_REV 1.000000000000000000 9
1 1 RC13_TRIM 1500.000000000000000000 9
1 1 RC14_DZ 0.000000000000000000 9
1 1 RC14_MAX 2000.000000000000000000 9
1 1 RC14_MIN 1000.000000000000000000 9
1 1 RC14_REV 1.000000000000000000 9
1 1 RC14_TRIM 1500.000000000000000000 9
1 1 RC15_DZ 0.000000000000000000 9
1 1 RC15_MAX 2000.000000000000000000 9
1 1 RC15_MIN 1000.000000000000000000 9
1 1 RC15_REV 1.000000000000000000 9
1 1 RC15_TRIM 1500.000000000000000000 9
1 1 RC16_DZ 0.000000000000000000 9
1 1 RC16_MAX 2000.000000000000000000 9
1 1 RC16_MIN 1000.000000000000000000 9
1 1 RC16_REV 1.000000000000000000 9
1 1 RC16_TRIM 1500.000000000000000000 9
1 1 RC17_DZ 0.000000000000000000 9
1 1 RC17_MAX 2000.000000000000000000 9
1 1 RC17_MIN 1000.000000000000000000 9
1 1 RC17_REV 1.000000000000000000 9
1 1 RC17_TRIM 1500.000000000000000000 9
1 1 RC18_DZ 0.000000000000000000 9
1 1 RC18_MAX 2000.000000000000000000 9
1 1 RC18_MIN 1000.000000000000000000 9
1 1 RC18_REV 1.000000000000000000 9
1 1 RC18_TRIM 1500.000000000000000000 9
1 1 RC1_DZ 10.000000000000000000 9
1 1 RC1_MAX 2002.000000000000000000 9
1 1 RC1_MIN 1024.000000000000000000 9
1 1 RC1_REV 1.000000000000000000 9
1 1 RC1_TRIM 1506.000000000000000000 9
1 1 RC2_DZ 10.000000000000000000 9
1 1 RC2_MAX 1993.000000000000000000 9
1 1 RC2_MIN 1032.000000000000000000 9
1 1 RC2_REV 1.000000000000000000 9
1 1 RC2_TRIM 1504.000000000000000000 9
1 1 RC3_DZ 10.000000000000000000 9
1 1 RC3_MAX 2000.000000000000000000 9
1 1 RC3_MIN 1024.000000000000000000 9
1 1 RC3_REV 1.000000000000000000 9
1 1 RC3_TRIM 1024.000000000000000000 9
1 1 RC4_DZ 10.000000000000000000 9
1 1 RC4_MAX 2002.000000000000000000 9
1 1 RC4_MIN 1024.000000000000000000 9
1 1 RC4_REV 1.000000000000000000 9
1 1 RC4_TRIM 1505.000000000000000000 9
1 1 RC5_DZ 10.000000000000000000 9
1 1 RC5_MAX 2000.000000000000000000 9
1 1 RC5_MIN 1000.000000000000000000 9
1 1 RC5_REV 1.000000000000000000 9
1 1 RC5_TRIM 1500.000000000000000000 9
1 1 RC6_DZ 10.000000000000000000 9
1 1 RC6_MAX 2000.000000000000000000 9
1 1 RC6_MIN 1000.000000000000000000 9
1 1 RC6_REV 1.000000000000000000 9
1 1 RC6_TRIM 1500.000000000000000000 9
1 1 RC7_DZ 10.000000000000000000 9
1 1 RC7_MAX 2000.000000000000000000 9
1 1 RC7_MIN 1000.000000000000000000 9
1 1 RC7_REV 1.000000000000000000 9
1 1 RC7_TRIM 1500.000000000000000000 9
1 1 RC8_DZ 10.000000000000000000 9
1 1 RC8_MAX 2000.000000000000000000 9
1 1 RC8_MIN 1000.000000000000000000 9
1 1 RC8_REV 1.000000000000000000 9
1 1 RC8_TRIM 1500.000000000000000000 9
1 1 RC9_DZ 0.000000000000000000 9
1 1 RC9_MAX 2000.000000000000000000 9
1 1 RC9_MIN 1000.000000000000000000 9
1 1 RC9_REV 1.000000000000000000 9
1 1 RC9_TRIM 1500.000000000000000000 9
1 1 RC_ARMSWITCH_TH 0.750000000000000000 9
1 1 RC_CHAN_CNT 18 6
1 1 RC_ENG_MOT_TH 0.750000000000000000 9
1 1 RC_FAILS_THR 0 6
1 1 RC_GEAR_TH 0.750000000000000000 9
1 1 RC_INPUT_PROTO 2 6
1 1 RC_KILLSWITCH_TH 0.750000000000000000 9
1 1 RC_LOITER_TH 0.750000000000000000 9
1 1 RC_MAP_ACRO_SW 0 6
1 1 RC_MAP_ARM_SW 5 6
1 1 RC_MAP_AUX1 0 6
1 1 RC_MAP_AUX2 0 6
1 1 RC_MAP_AUX3 0 6
1 1 RC_MAP_AUX4 0 6
1 1 RC_MAP_AUX5 0 6
1 1 RC_MAP_AUX6 0 6
1 1 RC_MAP_ENG_MOT 0 6
1 1 RC_MAP_FAILSAFE 0 6
1 1 RC_MAP_FLAPS 0 6
1 1 RC_MAP_FLTMODE 7 6
1 1 RC_MAP_FLTM_BTN 0 6
1 1 RC_MAP_GEAR_SW 0 6
1 1 RC_MAP_KILL_SW 6 6
1 1 RC_MAP_LOITER_SW 0 6
1 1 RC_MAP_MAN_SW 0 6
1 1 RC_MAP_MODE_SW 0 6
1 1 RC_MAP_OFFB_SW 8 6
1 1 RC_MAP_PARAM1 0 6
1 1 RC_MAP_PARAM2 0 6
1 1 RC_MAP_PARAM3 0 6
1 1 RC_MAP_PAY_SW 0 6
1 1 RC_MAP_PITCH 2 6
1 1 RC_MAP_POSCTL_SW 0 6
1 1 RC_MAP_RATT_SW 0 6
1 1 RC_MAP_RETURN_SW 0 6
1 1 RC_MAP_ROLL 1 6
1 1 RC_MAP_STAB_SW 0 6
1 1 RC_MAP_THROTTLE 3 6
1 1 RC_MAP_TRANS_SW 0 6
1 1 RC_MAP_YAW 4 6
1 1 RC_OFFB_TH 0.750000000000000000 9
1 1 RC_PAYLOAD_TH 0.750000000000000000 9
1 1 RC_PORT_CONFIG 300 6
1 1 RC_RETURN_TH 0.750000000000000000 9
1 1 RC_RSSI_PWM_CHAN 0 6
1 1 RC_RSSI_PWM_MAX 2000 6
1 1 RC_RSSI_PWM_MIN 1000 6
1 1 RC_TRANS_TH 0.750000000000000000 9
1 1 RTL_APPR_FORCE 0 6
1 1 RTL_CONE_ANG 45 6
1 1 RTL_DESCEND_ALT 10.000000000000000000 9
1 1 RTL_LAND_DELAY 0.000000000000000000 9
1 1 RTL_LOITER_RAD 80.000000000000000000 9
1 1 RTL_MIN_DIST 10.000000000000000000 9
1 1 RTL_PLD_MD 0 6
1 1 RTL_RETURN_ALT 30.000000000000000000 9
1 1 RTL_TIME_FACTOR 1.100000023841857910 9
1 1 RTL_TIME_MARGIN 100 6
1 1 RTL_TYPE 0 6
1 1 SDLOG_MODE -1 6
1 1 SDLOG_PROFILE 19 6
1 1 SENS_BARO_QNH 1013.250000000000000000 9
1 1 SENS_BARO_RATE 20.000000000000000000 9
1 1 SENS_BOARD_ROT 0 6
1 1 SENS_BOARD_X_OFF -11.590764999389648438 9
1 1 SENS_BOARD_Y_OFF -1.870400905609130859 9
1 1 SENS_BOARD_Z_OFF 0.000000000000000000 9
1 1 SENS_CM8JL65_CFG 0 6
1 1 SENS_DPRES_OFF 0.000000000000000000 9
1 1 SENS_EN_BATT 0 6
1 1 SENS_EN_LL40LS 0 6
1 1 SENS_EN_MB12XX 0 6
1 1 SENS_EN_MS4525DO 0 6
1 1 SENS_EN_MS5525DS 0 6
1 1 SENS_EN_PAA3905 0 6
1 1 SENS_EN_PAW3902 0 6
1 1 SENS_EN_PMW3901 0 6
1 1 SENS_EN_PX4FLOW 0 6
1 1 SENS_EN_SDP3X 0 6
1 1 SENS_EN_SF1XX 0 6
1 1 SENS_EN_SPA06 0 6
1 1 SENS_EN_SPL06 0 6
1 1 SENS_EN_TF02PRO 0 6
1 1 SENS_EN_THERMAL -1 6
1 1 SENS_EN_TRANGER 0 6
1 1 SENS_EN_VL53L0X 0 6
1 1 SENS_EN_VL53L1X 0 6
1 1 SENS_EXT_I2C_PRB 1 6
1 1 SENS_GPS_MASK 7 6
1 1 SENS_GPS_PRIME 0 6
1 1 SENS_GPS_TAU 10.000000000000000000 9
1 1 SENS_IMU_AUTOCAL 1 6
1 1 SENS_IMU_CLPNOTI 1 6
1 1 SENS_IMU_MODE 0 6
1 1 SENS_LEDDAR1_CFG 0 6
1 1 SENS_MAG_MODE 1 6
1 1 SENS_SF0X_CFG 0 6
1 1 SENS_TFLOW_CFG 0 6
1 1 SENS_TFMINI_CFG 0 6
1 1 SENS_ULAND_CFG 0 6
1 1 SER_GPS1_BAUD 0 6
1 1 SER_TEL1_BAUD 57600 6
1 1 SER_TEL2_BAUD 921600 6
1 1 SYS_AUTOCONFIG 0 6
1 1 SYS_AUTOSTART 4050 6
1 1 SYS_CAL_ACCEL 0 6
1 1 SYS_CAL_BARO 0 6
1 1 SYS_CAL_GYRO 0 6
1 1 SYS_CAL_TDEL 24 6
1 1 SYS_CAL_TMAX 10 6
1 1 SYS_CAL_TMIN 5 6
1 1 SYS_DM_BACKEND 1 6
1 1 SYS_FAC_CAL_MODE 0 6
1 1 SYS_FAILURE_EN 0 6
1 1 SYS_HAS_BARO 1 6
1 1 SYS_HAS_GPS 1 6
1 1 SYS_HAS_MAG 0 6
1 1 SYS_HAS_NUM_ASPD 0 6
1 1 SYS_HAS_NUM_DIST 0 6
1 1 SYS_HITL 0 6
1 1 SYS_RGB_MAXBRT 1.000000000000000000 9
1 1 SYS_STCK_EN 1 6
1 1 SYS_USB_AUTO 2 6
1 1 SYS_VEHICLE_RESP -0.400000005960464478 9
1 1 TC_A_ENABLE 0 6
1 1 TC_B_ENABLE 0 6
1 1 TC_G_ENABLE 0 6
1 1 TC_M_ENABLE 0 6
1 1 TEL_BST_EN 0 6
1 1 TEL_FRSKY_CONFIG 0 6
1 1 TEL_HOTT_CONFIG 0 6
1 1 THR_MDL_FAC 0.300000011920928955 9
1 1 TRIG_ACT_TIME 40.000000000000000000 9
1 1 TRIG_DISTANCE 25.000000000000000000 9
1 1 TRIG_INTERFACE 4 6
1 1 TRIG_INTERVAL 40.000000000000000000 9
1 1 TRIG_MIN_INTERVA 1.000000000000000000 9
1 1 TRIG_MODE 2 6
1 1 TRIG_PWM_NEUTRAL 1500 6
1 1 TRIG_PWM_SHOOT 1900 6
1 1 USB_MAV_MODE 2 6
1 1 VT_B_DEC_MSS 2.000000000000000000 9
1 1 WV_EN 0 6
1 1 WV_GAIN 1.000000000000000000 9
1 1 WV_ROLL_MIN 1.000000000000000000 9
1 1 WV_YRATE_MAX 90.000000000000000000 9
and this is how I transform vins to mavros:
void vins_callback(const nav_msgs::Odometry::ConstPtr &msg)
{
if(msg->header.frame_id == "world")
{
p_mav = Eigen::Vector3d(msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.position.z);
q_mav = Eigen::Quaterniond(msg->pose.pose.orientation.w, msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z);
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "vins_to_mavros");
ros::NodeHandle nh("~");
ros::Subscriber slam_sub = nh.subscribe<nav_msgs::Odometry>("/vins_estimator/imu_propagate", 100,
vins_callback);
ros::Publisher vision_pub = nh.advertise<geometry_msgs::PoseStamped>("/mavros/vision_pose/pose", 10);
ros::Rate rate(20.0);
ros::Time last_request = ros::Time::now();
while(ros::ok()){
geometry_msgs::PoseStamped vision;
vision.pose.position.x = p_mav[0];
vision.pose.position.y = p_mav[1];
vision.pose.position.z = p_mav[2];
vision.pose.orientation.x = q_mav.x();
vision.pose.orientation.y = q_mav.y();
vision.pose.orientation.z = q_mav.z();
vision.pose.orientation.w = q_mav.w();
vision.header.stamp = ros::Time::now();
vision_pub.publish(vision);ek
ROS_INFO("\nposition:\n x: %.18f\n y: %.18f\n z: %.18f\norientation:\n x: %.18f\n y: %.18f\n z: %.18f\n w: %.18f", \
p_mav[0],p_mav[1],p_mav[2],q_mav.x(),q_mav.y(),q_mav.z(),q_mav.w());
ros::spinOnce();
rate.sleep();
}
return 0;
To Reproduce
No response
Expected behavior
No response
Screenshot / Media
top: /mavros/local_position/pose
below: /mavros/vision_pose/pose
and I have an error on screen ,I don't konw what it mean and I can't find any explain about that
Flight Log
No response
Software Version
No response
Flight controller
Holybro KakuteH7
Vehicle type
Multicopter
How are the different components wired up (including port information)
No response
Additional context
No response