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Update /Ground Station/Sample Parameter TOC
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Nov 02, 2023
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wmaahs
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Ground-Station/Sample-Parameter-TOC.asciidoc
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```
{
"imu_sensors": {"AK8963": "0", "LPS25H": "0", "BMP388": "1"},
"imu_tests": {"MPU6500": "0", "AK8963": "0", "LPS25H": "0"},
"cpu": {"flash": "1024", "id0": "3604508", "id1": "1395871752", "id2": "540619824"},
"system": {
"selftestPassed": "1",
"forceArm": "0",
"taskDump": "0",
"highlight": "0",
},
"crtpsrv": {"echoDelay": "0"},
"sound": {"effect": "0", "neffect": "14", "freq": "4000"},
"memTst": {"resetW": "0"},
"sys": {"e_stop": "1"},
"commander": {"enHighLevel": "0"},
"flightmode": {
"althold": "0",
"poshold": "0",
"posSet": "0",
"yawMode": "2",
"stabModeRoll": "1",
"stabModePitch": "1",
"stabModeYaw": "0",
},
"cmdrCPPM": {
"rateRoll": "720.0",
"ratePitch": "720.0",
"angPitch": "50.0",
"angRoll": "50.0",
"rateYaw": "400.0",
},
"locSrv": {
"enRangeStreamFP32": "0",
"enLhAngleStream": "0",
"extPosStdDev": "0.009999999776482582",
"extQuatStdDev": "0.0044999998062849045",
},
"pid_attitude": {
"roll_kp": "0.0",
"roll_ki": "0.0",
"roll_kd": "0.0",
"pitch_kp": "0.0",
"pitch_ki": "0.0",
"pitch_kd": "0.0",
"yaw_kp": "0.0",
"yaw_ki": "0.0",
"yaw_kd": "0.0",
},
"pid_rate": {
"roll_kp": "0.0",
"roll_ki": "0.0",
"roll_kd": "0.0",
"pitch_kp": "0.0",
"pitch_ki": "0.0",
"pitch_kd": "0.0",
"yaw_kp": "0.0",
"yaw_ki": "0.0",
"yaw_kd": "0.0",
},
"sensfusion6": {
"kp": "0.800000011920929",
"ki": "0.0020000000949949026",
"baseZacc": "1.0008341073989868",
},
"stabilizer": {"estimator": "1", "controller": "4", "stop": "0"},
"posEstAlt": {
"estAlphaAsl": "0.996999979019165",
"estAlphaZr": "0.8999999761581421",
"velFactor": "1.0",
"velZAlpha": "0.9950000047683716",
"vAccDeadband": "0.03999999910593033",
},
"posCtlPid": {
"xKp": "0.0",
"xKi": "0.0",
"xKd": "0.0",
"yKp": "0.0",
"yKi": "0.0",
"yKd": "0.0",
"zKp": "0.0",
"zKi": "0.0",
"zKd": "0.0",
"thrustBase": "36000",
"thrustMin": "20000",
"rpLimit": "20.0",
"xyVelMax": "1.0",
"zVelMax": "1.0",
},
"velCtlPid": {
"vxKp": "0.0",
"vxKi": "0.0",
"vxKd": "0.0",
"vyKp": "0.0",
"vyKi": "0.0",
"vyKd": "0.0",
"vzKp": "0.0",
"vzKi": "0.0",
"vzKd": "0.0",
},
"posCtrlIndi": {
"K_xi_x": "1.0",
"K_xi_y": "1.0",
"K_xi_z": "1.0",
"K_dxi_x": "5.0",
"K_dxi_y": "5.0",
"K_dxi_z": "5.0",
"pq_clamping": "10.0",
},
"controller": {"tiltComp": "0"},
"ctrlMel": {
"kp_xy": "0.4000000059604645",
"kd_xy": "0.20000000298023224",
"ki_xy": "0.05000000074505806",
"i_range_xy": "2.0",
"kp_z": "1.25",
"kd_z": "0.4000000059604645",
"ki_z": "0.05000000074505806",
"i_range_z": "0.4000000059604645",
"mass": "0.027000000700354576",
"massThrust": "132000.0",
"kR_xy": "70000.0",
"kR_z": "60000.0",
"kw_xy": "20000.0",
"kw_z": "12000.0",
"ki_m_xy": "0.0",
"ki_m_z": "500.0",
"kd_omega_rp": "200.0",
"i_range_m_xy": "1.0",
"i_range_m_z": "1500.0",
},
"ctrlINDI": {
"thrust_threshold": "300.0",
"bound_ctrl_input": "32000.0",
"g1_p": "0.006614599842578173",
"g1_q": "0.005212500225752592",
"g1_r": "0.001496999990195036",
"g2": "4.347499998402782e-05",
"ref_err_p": "5.0",
"ref_err_q": "5.0",
"ref_err_r": "5.0",
"ref_rate_p": "24.0",
"ref_rate_q": "24.0",
"ref_rate_r": "24.0",
"act_dyn_p": "0.03149000182747841",
"act_dyn_q": "0.03149000182747841",
"act_dyn_r": "0.03149000182747841",
"filt_cutoff": "8.0",
"filt_cutoff_r": "8.0",
"outerLoopActive": "1",
},
"s_pid_attitude": {
"roll_kp": "0.0",
"roll_ki": "0.0",
"roll_kd": "0.0",
"pitch_kp": "0.0",
"pitch_ki": "0.0",
"pitch_kd": "0.0",
"yaw_kp": "0.0",
"yaw_ki": "0.0",
"yaw_kd": "0.0",
},
"s_pid_rate": {
"roll_kp": "0.0",
"roll_ki": "0.0",
"roll_kd": "0.0",
"pitch_kp": "0.0",
"pitch_ki": "0.0",
"pitch_kd": "0.0",
"yaw_kp": "0.0",
"yaw_ki": "0.0",
"yaw_kd": "0.0",
},
"ctrlStdnt": {"tiltComp": "0", "TEST_PARAM": "0"},
"motorPowerSet": {"enable": "0", "m1": "0", "m2": "0", "m3": "0", "m4": "0"},
"powerDist": {"idleThrust": "0"},
"colAv": {
"enable": "0",
"ellipsoidX": "0.30000001192092896",
"ellipsoidY": "0.30000001192092896",
"ellipsoidZ": "0.8999999761581421",
"bboxMinX": "-3.4028234663852886e+38",
"bboxMinY": "-3.4028234663852886e+38",
"bboxMinZ": "-3.4028234663852886e+38",
"bboxMaxX": "3.4028234663852886e+38",
"bboxMaxY": "3.4028234663852886e+38",
"bboxMaxZ": "3.4028234663852886e+38",
"horizon": "1.0",
"maxSpeed": "0.5",
"sidestepThrsh": "0.25",
"maxPeerLocAge": "5000",
"vorTol": "9.999999747378752e-06",
"vorIters": "100",
},
"health": {"startPropTest": "0", "startBatTest": "0"},
"kalman": {
"resetEstimation": "0",
"quadIsFlying": "0",
"robustTdoa": "0",
"robustTwr": "0",
"pNAcc_xy": "0.5",
"pNAcc_z": "1.0",
"pNVel": "0.0",
"pNPos": "0.0",
"pNAtt": "0.0",
"mNBaro": "2.0",
"mNGyro_rollpitch": "0.10000000149011612",
"mNGyro_yaw": "0.10000000149011612",
"initialX": "0.0",
"initialY": "0.0",
"initialZ": "0.0",
"initialYaw": "1.0",
"maxPos": "100.0",
"maxVel": "10.0",
},
"hlCommander": {"vtoff": "0.5", "vland": "0.5"},
"deck": {
"bcLedRing": "0",
"bcBuzzer": "0",
"bcGTGPS": "0",
"bcCPPM": "0",
"bcUSD": "0",
"bcZRanger": "0",
"bcZRanger2": "0",
"bcDWM1000": "0",
"bcFlow": "0",
"bcFlow2": "0",
"bcOA": "0",
"bcMultiranger": "0",
"bcLighthouse4": "0",
"bcActiveMarker": "0",
"bcAIDeck": "0",
},
"ring": {
"effect": "6",
"neffect": "0",
"solidRed": "20",
"solidGreen": "20",
"solidBlue": "20",
"headlightEnable": "0",
"emptyCharge": "3.0999999046325684",
"fullCharge": "4.199999809265137",
"fadeColor": "0",
"fadeTime": "0.5",
},
"usd": {"canLog": "0", "logging": "0"},
"loco": {"mode": "0"},
"tdoaEngine": {"logId": "0", "logOthrId": "0", "matchAlgo": "0"},
"motion": {"disable": "0", "adaptive": "0", "flowStdFixed": "2.0"},
"activeMarker": {
"front": "1",
"back": "3",
"left": "4",
"right": "2",
"mode": "3",
"poll": "0",
},
"firmware": {"revision0": "886827516", "revision1": "21717", "modified": "1"},
"lighthouse": {
"method": "1",
"bsCalibReset": "0",
"systemType": "2",
"sweepStd": "0.00039999998989515007",
"sweepStd2": "0.0010000000474974513",
},
}
system
forceArm
0
```
