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advanced-configurations.md

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Parameters & Configurations

The PX4 platform uses the param subsystem (a flat table of float and int32_t values) and text files (for mixers and startup scripts) to store its configuration.

The system startup and how airframe configurations work are detailed on other pages. This section discusses the param subsystem in detail

Command Line usage

The PX4 system console offers the param tool, which allows to set parameters, read their value, save them and export and restore to and from files.

Getting and Setting Parameters

The param show command lists all system parameters:

param show

To be more selective a partial parameter name with wildcard can be used:

nsh> param show RC_MAP_A*
Symbols: x = used, + = saved, * = unsaved
x   RC_MAP_AUX1 [359,498] : 0
x   RC_MAP_AUX2 [360,499] : 0
x   RC_MAP_AUX3 [361,500] : 0
x   RC_MAP_ACRO_SW [375,514] : 0

 723 parameters total, 532 used.

Exporting and Loading Parameters

The standard save command will store the parameters in the current default file:

param save

If provided with an argument, it will store the parameters instead to this new location:

param save /fs/microsd/vtol_param_backup

There are two different commands to load parameters: param load will load a file and replace the current parameters with what is in this file, resulting in a 1:1 copy of the state that was present when these parameters were stored. param import is more subtle: It will only change parameter values which have been changed from the default. This is great to e.g. initially calibrate a board (without configuring it further), then importing the calibration data without overwriting the rest of the system configuration.

Overwrite the current parameters:

param load /fs/microsd/vtol_param_backup

Merge the current parameters with stored parameters (stored values which are non-default take precedence):

param import /fs/microsd/vtol_param_backup

C / C++ API

There is also a C and a separate C++ API which can be used to access parameter values.

Discuss param C / C++ API. 
int32_t param = 0;
param_get(param_find("PARAM_NAME"), &param);

Parameter Meta Data

PX4 uses an extensive parameter meta data system to drive the user-facing presentation of parameters. Correct meta data is critical for good user experience in the ground station.

A typical parameter metadata section will look like this:

/**
 * Pitch P gain
 *
 * Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
 *
 * @unit 1/s
 * @min 0.0
 * @max 10
 * @decimal 2
 * @increment 0.0005
 * @reboot_required true
 * @group Multicopter Attitude Control
 */
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);

Where each line has this use:

/**
 * <title>
 *
 * <longer description, can be multi-line>
 *
 * @unit <the unit, e.g. m for meters>
 * @min <the minimum sane value. Can be overridden by the user>
 * @max <the maximum sane value. Can be overridden by the user>
 * @decimal <the minimum sane value. Can be overridden by the user>
 * @increment <the "ticks" in which this value will increment in the UI>
 * @reboot_required true <add this if changing the param requires a system restart>
 * @group <a title for parameters which form a group>
 */
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);