PX4 parameter group: Multicopter Position Control

This page lists named parameter set commands in the PX4 Multicopter Position Control group. All commands use PARAM_SET and are governed by PX4_COMMAND_MODE, operator guard, and PX4_PARAMETER_WRITE_ALLOWLIST.

Metric	Count
Parameters	65
`FLOAT`	58
`INT32`	7
`Standard`	65
`System`	0
`Developer`	0
Reboot required	0
`volatile`	0

Parameters

PX4 Parameter	Command type	Category	Type	Default	Range	Unit	Shape	Reboot	Volatile	PX4 short description
`CP_DELAY`	`px4.parameter.cp_delay.set`	Standard	Float	0.4	0.0..1.0	s	-	no	no	Range sensor and position controller average delay
`CP_DIST`	`px4.parameter.cp_dist.set`	Standard	Float	-1.0	-1.0..15.0	m	-	no	no	Minimum distance the vehicle should keep to all obstacles
`CP_GO_NO_DATA`	`px4.parameter.cp_go_no_data.set`	Standard	Int32	0	-	-	enum 2	no	no	Allow moving into directions without sensor data
`CP_GUIDE_ANG`	`px4.parameter.cp_guide_ang.set`	Standard	Float	30.0	0.0..90.0	deg	-	no	no	Collision prevention guidance angle
`MC_MAN_TILT_TAU`	`px4.parameter.mc_man_tilt_tau.set`	Standard	Float	0.0	0.0..2.0	s	-	no	no	Manual tilt input filter time constant
`MPC_ACC_DECOUPLE`	`px4.parameter.mpc_acc_decouple.set`	Standard	Int32	1	-	-	enum 2	no	no	Acceleration to tilt coupling
`MPC_ACC_DOWN_MAX`	`px4.parameter.mpc_acc_down_max.set`	Standard	Float	3.0	2.0..15.0	m/s^2	-	no	no	Maximum downwards acceleration in climb rate controlled modes
`MPC_ACC_HOR`	`px4.parameter.mpc_acc_hor.set`	Standard	Float	3.0	2.0..15.0	m/s^2	-	no	no	Acceleration for autonomous and for manual modes
`MPC_ACC_HOR_MAX`	`px4.parameter.mpc_acc_hor_max.set`	Standard	Float	5.0	2.0..15.0	m/s^2	-	no	no	Maximum horizontal acceleration
`MPC_ACC_UP_MAX`	`px4.parameter.mpc_acc_up_max.set`	Standard	Float	4.0	2.0..15.0	m/s^2	-	no	no	Maximum upwards acceleration in climb rate controlled modes
`MPC_ALT_MODE`	`px4.parameter.mpc_alt_mode.set`	Standard	Int32	2	0..2	-	enum 3	no	no	Altitude reference mode
`MPC_HOLD_MAX_XY`	`px4.parameter.mpc_hold_max_xy.set`	Standard	Float	0.8	0.0..3.0	m/s	-	no	no	Max horizontal velocity for position hold
`MPC_HOLD_MAX_Z`	`px4.parameter.mpc_hold_max_z.set`	Standard	Float	0.6	0.0..3.0	m/s	-	no	no	Max vertical velocity for position hold
`MPC_JERK_AUTO`	`px4.parameter.mpc_jerk_auto.set`	Standard	Float	4.0	1.0..80.0	m/s^3	-	no	no	Jerk limit in autonomous modes
`MPC_JERK_MAX`	`px4.parameter.mpc_jerk_max.set`	Standard	Float	8.0	0.5..500.0	m/s^3	-	no	no	Maximum horizontal and vertical jerk in Position/Altitude mode
`MPC_LAND_ALT1`	`px4.parameter.mpc_land_alt1.set`	Standard	Float	10.0	0.0..122.0	m	-	no	no	Altitude for 1. step of slow landing (descend)
`MPC_LAND_ALT2`	`px4.parameter.mpc_land_alt2.set`	Standard	Float	5.0	0.0..122.0	m	-	no	no	Altitude for 2. step of slow landing (landing)
`MPC_LAND_ALT3`	`px4.parameter.mpc_land_alt3.set`	Standard	Float	1.0	0.0..122.0	m	-	no	no	Altitude for 3. step of slow landing
`MPC_LAND_CRWL`	`px4.parameter.mpc_land_crwl.set`	Standard	Float	0.3	>= 0.1	m/s	-	no	no	Land crawl descend rate
`MPC_LAND_RADIUS`	`px4.parameter.mpc_land_radius.set`	Standard	Float	-1.0	>= -1.0	m	-	no	no	User assisted landing radius
`MPC_LAND_RC_HELP`	`px4.parameter.mpc_land_rc_help.set`	Standard	Int32	0	0..1	-	enum 2	no	no	Enable nudging based on user input during autonomous land routine
`MPC_LAND_SPEED`	`px4.parameter.mpc_land_speed.set`	Standard	Float	0.7	>= 0.6	m/s	-	no	no	Landing descend rate
`MPC_MANTHR_MIN`	`px4.parameter.mpc_manthr_min.set`	Standard	Float	0.08	0.0..1.0	norm	-	no	no	Minimum collective thrust in Stabilized mode
`MPC_MAN_TILT_MAX`	`px4.parameter.mpc_man_tilt_max.set`	Standard	Float	35.0	1.0..70.0	deg	-	no	no	Maximal tilt angle in Stabilized, Altitude and Altitude Cruise mode
`MPC_MAN_Y_MAX`	`px4.parameter.mpc_man_y_max.set`	Standard	Float	150.0	0.0..400.0	deg/s	-	no	no	Max manual yaw rate for Stabilized, Altitude, Position mode
`MPC_MAN_Y_TAU`	`px4.parameter.mpc_man_y_tau.set`	Standard	Float	0.08	0.0..5.0	s	-	no	no	Manual yaw rate input filter time constant
`MPC_POS_MODE`	`px4.parameter.mpc_pos_mode.set`	Standard	Int32	4	-	-	enum 2	no	no	Position/Altitude mode variant
`MPC_THR_CURVE`	`px4.parameter.mpc_thr_curve.set`	Standard	Int32	0	-	-	enum 3	no	no	Thrust curve mapping in Stabilized Mode
`MPC_THR_HOVER`	`px4.parameter.mpc_thr_hover.set`	Standard	Float	0.5	0.1..0.8	norm	-	no	no	Vertical thrust required to hover
`MPC_THR_MAX`	`px4.parameter.mpc_thr_max.set`	Standard	Float	1.0	0.0..1.0	norm	-	no	no	Maximum collective thrust in climb rate controlled modes
`MPC_THR_MIN`	`px4.parameter.mpc_thr_min.set`	Standard	Float	0.12	0.05..0.5	norm	-	no	no	Minimum collective thrust in climb rate controlled modes
`MPC_THR_XY_MARG`	`px4.parameter.mpc_thr_xy_marg.set`	Standard	Float	0.3	0.0..0.5	norm	-	no	no	Horizontal thrust margin
`MPC_TILTMAX_AIR`	`px4.parameter.mpc_tiltmax_air.set`	Standard	Float	45.0	20.0..89.0	deg	-	no	no	Maximum tilt angle in air
`MPC_TILTMAX_LND`	`px4.parameter.mpc_tiltmax_lnd.set`	Standard	Float	12.0	5.0..89.0	deg	-	no	no	Maximum tilt during inital takeoff ramp
`MPC_TKO_RAMP_T`	`px4.parameter.mpc_tko_ramp_t.set`	Standard	Float	3.0	0.0..5.0	s	-	no	no	Smooth takeoff ramp time constant
`MPC_TKO_SPEED`	`px4.parameter.mpc_tko_speed.set`	Standard	Float	1.5	1.0..5.0	m/s	-	no	no	Takeoff climb rate
`MPC_VELD_LP`	`px4.parameter.mpc_veld_lp.set`	Standard	Float	5.0	0.0..50.0	Hz	-	no	no	Velocity derivative low pass cutoff frequency
`MPC_VEL_LP`	`px4.parameter.mpc_vel_lp.set`	Standard	Float	0.0	0.0..50.0	Hz	-	no	no	Velocity low pass cutoff frequency
`MPC_VEL_MANUAL`	`px4.parameter.mpc_vel_manual.set`	Standard	Float	10.0	3.0..20.0	m/s	-	no	no	Maximum horizontal velocity setpoint in Position mode
`MPC_VEL_MAN_BACK`	`px4.parameter.mpc_vel_man_back.set`	Standard	Float	-1.0	-1.0..20.0	m/s	-	no	no	Maximum backward velocity in Position mode
`MPC_VEL_MAN_SIDE`	`px4.parameter.mpc_vel_man_side.set`	Standard	Float	-1.0	-1.0..20.0	m/s	-	no	no	Maximum sideways velocity in Position mode
`MPC_VEL_NF_BW`	`px4.parameter.mpc_vel_nf_bw.set`	Standard	Float	5.0	0.0..50.0	Hz	-	no	no	Velocity notch filter bandwidth
`MPC_VEL_NF_FRQ`	`px4.parameter.mpc_vel_nf_frq.set`	Standard	Float	0.0	0.0..50.0	Hz	-	no	no	Velocity notch filter frequency
`MPC_XY_CRUISE`	`px4.parameter.mpc_xy_cruise.set`	Standard	Float	5.0	3.0..20.0	m/s	-	no	no	Default horizontal velocity in autonomous modes
`MPC_XY_ERR_MAX`	`px4.parameter.mpc_xy_err_max.set`	Standard	Float	2.0	0.1..10.0	-	-	no	no	Maximum horizontal error allowed by the trajectory generator
`MPC_XY_P`	`px4.parameter.mpc_xy_p.set`	Standard	Float	0.95	0.0..2.0	-	-	no	no	Proportional gain for horizontal position error
`MPC_XY_TRAJ_P`	`px4.parameter.mpc_xy_traj_p.set`	Standard	Float	0.5	0.1..1.0	-	-	no	no	Proportional gain for horizontal trajectory position error
`MPC_XY_VEL_ALL`	`px4.parameter.mpc_xy_vel_all.set`	Standard	Float	-10.0	-20.0..20.0	-	-	no	no	Overall Horizontal Velocity Limit
`MPC_XY_VEL_D_ACC`	`px4.parameter.mpc_xy_vel_d_acc.set`	Standard	Float	0.2	0.1..2.0	-	-	no	no	Differential gain for horizontal velocity error
`MPC_XY_VEL_I_ACC`	`px4.parameter.mpc_xy_vel_i_acc.set`	Standard	Float	0.4	0.0..60.0	-	-	no	no	Integral gain for horizontal velocity error
`MPC_XY_VEL_MAX`	`px4.parameter.mpc_xy_vel_max.set`	Standard	Float	12.0	0.0..20.0	m/s	-	no	no	Maximum horizontal velocity
`MPC_XY_VEL_P_ACC`	`px4.parameter.mpc_xy_vel_p_acc.set`	Standard	Float	1.8	1.2..5.0	-	-	no	no	Proportional gain for horizontal velocity error
`MPC_Z_P`	`px4.parameter.mpc_z_p.set`	Standard	Float	1.0	0.1..1.5	-	-	no	no	Proportional gain for vertical position error
`MPC_Z_VEL_ALL`	`px4.parameter.mpc_z_vel_all.set`	Standard	Float	-3.0	-3.0..8.0	-	-	no	no	Overall Vertical Velocity Limit
`MPC_Z_VEL_D_ACC`	`px4.parameter.mpc_z_vel_d_acc.set`	Standard	Float	0.0	0.0..2.0	-	-	no	no	Differential gain for vertical velocity error
`MPC_Z_VEL_I_ACC`	`px4.parameter.mpc_z_vel_i_acc.set`	Standard	Float	2.0	0.2..3.0	-	-	no	no	Integral gain for vertical velocity error
`MPC_Z_VEL_MAX_DN`	`px4.parameter.mpc_z_vel_max_dn.set`	Standard	Float	1.5	0.5..4.0	m/s	-	no	no	Maximum descent velocity
`MPC_Z_VEL_MAX_UP`	`px4.parameter.mpc_z_vel_max_up.set`	Standard	Float	3.0	0.5..8.0	m/s	-	no	no	Maximum ascent velocity
`MPC_Z_VEL_P_ACC`	`px4.parameter.mpc_z_vel_p_acc.set`	Standard	Float	4.0	2.0..15.0	-	-	no	no	Proportional gain for vertical velocity error
`MPC_Z_V_AUTO_DN`	`px4.parameter.mpc_z_v_auto_dn.set`	Standard	Float	1.5	0.5..4.0	m/s	-	no	no	Descent velocity in autonomous modes
`MPC_Z_V_AUTO_UP`	`px4.parameter.mpc_z_v_auto_up.set`	Standard	Float	3.0	0.5..8.0	m/s	-	no	no	Ascent velocity in autonomous modes
`SYS_VEHICLE_RESP`	`px4.parameter.sys_vehicle_resp.set`	Standard	Float	-0.4	-1.0..1.0	-	-	no	no	Responsiveness
`WV_EN`	`px4.parameter.wv_en.set`	Standard	Int32	0	-	-	enum 2	no	no	Enable weathervane
`WV_ROLL_MIN`	`px4.parameter.wv_roll_min.set`	Standard	Float	1.0	0.0..5.0	deg	-	no	no	Minimum roll angle for weathervane yaw-rate demand
`WV_YRATE_MAX`	`px4.parameter.wv_yrate_max.set`	Standard	Float	90.0	0.0..120.0	deg/s	-	no	no	Maximum yawrate the weathervane controller is allowed to demand

​PX4 parameter group: Multicopter Position Control

​Parameters

PX4 parameter group: Multicopter Position Control

Parameters