[SOLVED] Where can I find a list of Variable and param names

[lxrocks]

I have been searching for a list of Variable & Parameters without any luck. When I run the example basicparam.py it gives a list of parameters found in the TOC then prints their values.

I have been searching the code for details on the parameters and I believe there may be more parameter group than I am seeing printed in the example eg pm, baro, motor

Is there a published list of the TOC parameters available via logConfig / param and their descriptions ?

This is what I see

Code: Select all

altHold
	altHoldChangeSens
	altHoldErrMax
	aslAlpha
	aslAlphaLong
	baseThrust
	errDeadband
	kd
	ki
	kp
	maxThrust
	minThrust
	pidAlpha
	pidAslFac
	vAccDeadband
	vBiasAlpha
	vSpeedASLDeadband
	vSpeedASLFac
	vSpeedAccFac
	vSpeedLimit
cpu
	flash
	id0
	id1
	id2
firmware
	modified
	revision0
	revision1
flightmode
	althold
imu_acc_lpf
	factor
imu_sensors
	HMC5883L
	MS5611
imu_tests
	HMC5883L
	MPU6500
	MS5611
pid_attitude
	pitch_kd
	pitch_ki
	pitch_kp
	roll_kd
	roll_ki
	roll_kp
	yaw_kd
	yaw_ki
	yaw_kp
pid_rate
	pitch_kd
	pitch_ki
	pitch_kp
	roll_kd
	roll_ki
	roll_kp
	yaw_kd
	yaw_ki
	yaw_kp
ring
	effect
	glowstep
	headlightEnable
	neffect
	solidBlue
	solidGreen
	solidRed
sensorfusion6
	ki
	kp

Reading back back all parameter values
altHold.altHoldChangeSens: 200.0
altHold.altHoldErrMax: 1.0
altHold.aslAlpha: 0.920000016689
altHold.aslAlphaLong: 0.930000007153
altHold.baseThrust: 43000
altHold.errDeadband: 0.0
altHold.kd: 0.0
altHold.ki: 0.180000007153
altHold.kp: 0.5
altHold.maxThrust: 60000
altHold.minThrust: 0
altHold.pidAlpha: 0.800000011921
altHold.pidAslFac: 13000.0
altHold.vAccDeadband: 0.0500000007451
altHold.vBiasAlpha: 0.980000019073
altHold.vSpeedASLDeadband: 0.00499999988824
altHold.vSpeedASLFac: 0.0
altHold.vSpeedAccFac: -48.0
altHold.vSpeedLimit: 0.0500000007451
The connected Crazyflie has 65535kb of flash
cpu.flash: 65535
cpu.id0: 4294967295
cpu.id1: 4294967295
cpu.id2: 4294967295
firmware.modified: 0
firmware.revision0: 448343637
firmware.revision1: 50251
flightmode.althold: 0
imu_acc_lpf.factor: 13
imu_sensors.HMC5883L: 1
imu_sensors.MS5611: 1
imu_tests.HMC5883L: 1
imu_tests.MPU6500: 1
imu_tests.MS5611: 1
pid_attitude.pitch_kd: 0.239999994636
pid_attitude.pitch_ki: 2.0
pid_attitude.pitch_kp: 3.5
pid_attitude.roll_kd: 0.0
pid_attitude.roll_ki: 2.0
pid_attitude.roll_kp: 3.5
pid_attitude.yaw_kd: 0.0
pid_attitude.yaw_ki: 0.0
pid_attitude.yaw_kp: 0.0
pid_rate.pitch_kd: 0.0
pid_rate.pitch_ki: 0.0
pid_rate.pitch_kp: 70.0
pid_rate.roll_kd: 0.0
pid_rate.roll_ki: 0.0
pid_rate.roll_kp: 70.0
pid_rate.yaw_kd: 0.0
pid_rate.yaw_ki: 50.0
pid_rate.yaw_kp: 70.0
ring.effect: 7
ring.glowstep: 0.0500000007451
ring.headlightEnable: 0
ring.neffect: 0
ring.solidBlue: 20
ring.solidGreen: 20
ring.solidRed: 20
sensorfusion6.ki: 0.00200000009499
sensorfusion6.kp: 0.800000011921
Have fetched all parameter values.

Write: pid_attitude.pitch_kd=0.68
Readback: pid_attitude.pitch_kd=0.680000007153

[marcus]

Hi,

No, there's no list published. You can view the list of paramters and loggable variables in the client by using the Log TOC and Parameters tabs. Using macros in the code, loggable variables and parameters are declared. When the firmware is built the list of these are dynamically created. Have a look at this tutorial for more information on how to use them.

Maybe we should publish a list with for each release of the firmware we do?

[lxrocks]

Hi Marcus,

Thanks the video was very informative. I had only looked at the Python API not the CF2 firmware.

An easy way to publish the list might be to look at using Doxygen to document the source and then add a document publish step at build time. I believe doxygen supports C/C++/Python and runs on win/lx/mac.

Thanks again, that was most helpful.