This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.
[toc exclude="Complete Parameter List"]This value is incremented when changes are made to the eeprom format
Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
Level of aggressiveness of pitch and roll PID gains. Lower values result in a 'softer' tune. Level 6 recommended for most planes. A value of 0 means to keep the current values of RMAX and TCONST for the controllers, tuning only the PID values
The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
bitmask of PIDs to send MAVLink PID_TUNING messages for
Amount of rudder to add during aileron movement. Increase if nose initially yaws away from roll. Reduces adverse yaw.
Pitch up to add in proportion to throttle. 100% throttle will add this number of degrees to the pitch target.
Degrees of down pitch added when throttle is below TRIM_THROTTLE in FBWA and AUTOTUNE modes. Scales linearly so full value is added when THR_MIN is reached. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls. 2 degrees recommended for most planes.
This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude.
This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff
When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode. If you set STICK_MIXING to 3 then it will apply to the yaw while in quadplane modes only, such as while doing an automatic VTOL takeoff or landing.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | FBWMixing |
| 2 | DirectMixing |
| 3 | VTOL Yaw only |
When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. THIS OPTION IS NOT RECOMMENDED FOR NORMAL USE.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 42 | Enabled |
Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.
Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15. Also see TKOFF_ACCEL_CNT paramter for control of full "shake to arm".
This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started.
This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial "tail hold" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.
This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.
This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent
This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff.
This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be.
The amount of flaps (as a percentage) to apply in automatic takeoff
This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach.
This controls when to use reverse thrust. If set to zero then reverse thrust is never used. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages. Reverse thrust is always used in MANUAL mode if enabled with THR_MIN < 0. In non-autothrottle controlled modes, if reverse thrust is not used, then THR_MIN is effectively set to 0 for that mode.
| Value | Meaning |
|---|---|
| 0 | MANUAL ONLY |
| 1 | AutoAlways |
| 2 | AutoLanding |
Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter.
| Value | Meaning |
|---|---|
| 0 | Default |
| 1 | L1Controller |
This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be selected using this parameter.
| Value | Meaning |
|---|---|
| 0 | Automatic |
This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission
Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.
Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.
Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise.
Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used.
Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on ARSPD_FBW_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed.
Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above ARSPD_FBW_MIN to allow for accurate TECS altitude control.
Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode.
This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.
Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it.
Maximum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set.
The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.
Maximum change in throttle percentage per second. Lower limit based on 1 microsend of servo increase per loop. Divide SCHED_LOOP_RATE by approximately 10 to determine minimum achievable value.
maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting.
When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
0 disables the failsafe. 1 enables failsafe on loss of RC input. This is detected either by throttle values below THR_FS_VALUE, loss of receiver valid pulses/data, or by the FS bit in receivers that provide it, like SBUS. A programmable failsafe action will occur and RC inputs, if present, will be ignored. A value of 2 means that the RC inputs won't be used when RC failsafe is detected by any of the above methods, but it won't trigger an RC failsafe action.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | EnabledNoFailsafe |
The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel.
Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains TRIM_ARSPD_CM. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.
When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe event can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe.
| Value | Meaning |
|---|---|
| 0 | CIRCLE/no change(if already in AUTO|GUIDED|LOITER) |
| 1 | CIRCLE |
| 2 | FBWA |
| 3 | Disable |
The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds
The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled).
| Value | Meaning |
|---|---|
| 0 | Continue |
| 1 | ReturnToLaunch |
| 2 | Glide |
| 3 | Deploy Parachute |
The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds.
Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Setting FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Heartbeat |
| 2 | HeartbeatAndREMRSSI |
| 3 | HeartbeatAndAUTO |
RC Channel to use for flight mode control
Flight mode for switch position 1 (910 to 1230 and above 2049)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | CIRCLE |
| 2 | STABILIZE |
| 3 | TRAINING |
| 4 | ACRO |
| 5 | FBWA |
| 6 | FBWB |
| 7 | CRUISE |
| 8 | AUTOTUNE |
| 10 | Auto |
| 11 | RTL |
| 12 | Loiter |
| 13 | TAKEOFF |
| 14 | AVOID_ADSB |
| 15 | Guided |
| 17 | QSTABILIZE |
| 18 | QHOVER |
| 19 | QLOITER |
| 20 | QLAND |
| 21 | QRTL |
| 22 | QAUTOTUNE |
| 23 | QACRO |
| 24 | THERMAL |
Flight mode for switch position 2 (1231 to 1360)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | CIRCLE |
| 2 | STABILIZE |
| 3 | TRAINING |
| 4 | ACRO |
| 5 | FBWA |
| 6 | FBWB |
| 7 | CRUISE |
| 8 | AUTOTUNE |
| 10 | Auto |
| 11 | RTL |
| 12 | Loiter |
| 13 | TAKEOFF |
| 14 | AVOID_ADSB |
| 15 | Guided |
| 17 | QSTABILIZE |
| 18 | QHOVER |
| 19 | QLOITER |
| 20 | QLAND |
| 21 | QRTL |
| 22 | QAUTOTUNE |
| 23 | QACRO |
| 24 | THERMAL |
Flight mode for switch position 3 (1361 to 1490)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | CIRCLE |
| 2 | STABILIZE |
| 3 | TRAINING |
| 4 | ACRO |
| 5 | FBWA |
| 6 | FBWB |
| 7 | CRUISE |
| 8 | AUTOTUNE |
| 10 | Auto |
| 11 | RTL |
| 12 | Loiter |
| 13 | TAKEOFF |
| 14 | AVOID_ADSB |
| 15 | Guided |
| 17 | QSTABILIZE |
| 18 | QHOVER |
| 19 | QLOITER |
| 20 | QLAND |
| 21 | QRTL |
| 22 | QAUTOTUNE |
| 23 | QACRO |
| 24 | THERMAL |
Flight mode for switch position 4 (1491 to 1620)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | CIRCLE |
| 2 | STABILIZE |
| 3 | TRAINING |
| 4 | ACRO |
| 5 | FBWA |
| 6 | FBWB |
| 7 | CRUISE |
| 8 | AUTOTUNE |
| 10 | Auto |
| 11 | RTL |
| 12 | Loiter |
| 13 | TAKEOFF |
| 14 | AVOID_ADSB |
| 15 | Guided |
| 17 | QSTABILIZE |
| 18 | QHOVER |
| 19 | QLOITER |
| 20 | QLAND |
| 21 | QRTL |
| 22 | QAUTOTUNE |
| 23 | QACRO |
| 24 | THERMAL |
Flight mode for switch position 5 (1621 to 1749)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | CIRCLE |
| 2 | STABILIZE |
| 3 | TRAINING |
| 4 | ACRO |
| 5 | FBWA |
| 6 | FBWB |
| 7 | CRUISE |
| 8 | AUTOTUNE |
| 10 | Auto |
| 11 | RTL |
| 12 | Loiter |
| 13 | TAKEOFF |
| 14 | AVOID_ADSB |
| 15 | Guided |
| 17 | QSTABILIZE |
| 18 | QHOVER |
| 19 | QLOITER |
| 20 | QLAND |
| 21 | QRTL |
| 22 | QAUTOTUNE |
| 23 | QACRO |
| 24 | THERMAL |
Flight mode for switch position 6 (1750 to 2049)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | CIRCLE |
| 2 | STABILIZE |
| 3 | TRAINING |
| 4 | ACRO |
| 5 | FBWA |
| 6 | FBWB |
| 7 | CRUISE |
| 8 | AUTOTUNE |
| 10 | Auto |
| 11 | RTL |
| 12 | Loiter |
| 13 | TAKEOFF |
| 14 | AVOID_ADSB |
| 15 | Guided |
| 17 | QSTABILIZE |
| 18 | QHOVER |
| 19 | QLOITER |
| 20 | QLAND |
| 21 | QRTL |
| 22 | QAUTOTUNE |
| 23 | QACRO |
| 24 | THERMAL |
This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | CIRCLE |
| 2 | STABILIZE |
| 3 | TRAINING |
| 4 | ACRO |
| 5 | FBWA |
| 6 | FBWB |
| 7 | CRUISE |
| 8 | AUTOTUNE |
| 10 | Auto |
| 11 | RTL |
| 12 | Loiter |
| 13 | TAKEOFF |
| 14 | AVOID_ADSB |
| 15 | Guided |
| 17 | QSTABILIZE |
| 18 | QHOVER |
| 19 | QLOITER |
| 20 | QLAND |
| 21 | QRTL |
| 22 | QAUTOTUNE |
| 23 | QACRO |
| 24 | THERMAL |
Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.
Maximum pitch up angle commanded in modes with stabilized limits.
Maximum pitch down angle commanded in modes with stabilized limits
The maximum roll rate at full stick deflection in ACRO mode
The maximum pitch rate at full stick deflection in ACRO mode
Enable attitude locking when sticks are released
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude.
Ground steering rate in degrees per second for full rudder stick deflection
Enables the setting SERVOn_TRIM values to current levels when switching out of MANUAL mode. Should not be left on as mode switches while the plane is rolling or pitching can cause invalid trim values and subsequent unstable behavior. See newer and safer SERVO_AUTO_TRIM parameter for automated results.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.
Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response.
Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect).
Number of APM board resets
Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535
Target airspeed in cm/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values
Minimum ground speed in cm/s when under airspeed control
Offset applied to AHRS pitch used for in-flight pitch trimming. Correct ground leveling is better than changing this parameter.
Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home.
This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit.
The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps
The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps
The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels.
This controls whether the safety switch is turned off when you activate override with OVERRIDE_CHAN. When set to 1 the safety switch is de-activated (activating the servos) then a IO override is triggered. In that case the safety remains de-activated after override is disabled. If OVERRIDE_SAFETTY is set to 0 then the safety switch state does not change. Note that regardless of the value of this parameter the servos will be active while override is active.
Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable - go HOME then land |
| 2 | Enable - go directly to landing sequence |
X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.
Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Set to 0 to disable crash detection.
| Value | Meaning |
|---|---|
| 0 | Disabled |
This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This controls whether packets from other than the expected GCS system ID will be accepted
| Value | Meaning |
|---|---|
| 0 | NotEnforced |
| 1 | Enforced |
gain control from rudder to differential thrust
Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes.
When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continously reset it.
| Value | Meaning |
|---|---|
| -1 | Never reset |
| 0 | Always reset |
Flight mode specific options
This is the number of acceleration events to require for arming with TKOFF_THR_MINACC. The default is 1, which means a single forward acceleration above TKOFF_THR_MINACC will arm. By setting this higher than 1 you can require more forward/backward movements to arm.
This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 25.
This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 45.
This is the timeout for an automatic takeoff. If this is non-zero and the aircraft does not reach a ground speed of at least 4 m/s within this number of seconds then the takeoff is aborted and the vehicle disarmed. If the value is zero then no timeout applies.
Differential spoiler and crow flaps options
| Value | Meaning |
|---|---|
| 0 | none |
| 1 | D spoilers have pitch input |
| 2 | use both control surfaces on each wing for roll |
| 4 | Progressive crow flaps only first (0-50% flap in) then crow flaps (50 - 100% flap in) |
This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons, 100 is use full range, upwards travel is unaffected
Forward throttle battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.
Forward throttle battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.
Which battery monitor should be used for doing compensation for the forward throttle
| Value | Meaning |
|---|---|
| 0 | First battery |
| 1 | Second battery |
Allows setting the maximum acceptable compass and velocity variance used to check navigation health in VTOL modes
The vehicle will climb this many m during the initial climb portion of the RTL. During this time the roll will be limited to LEVEL_ROLL_LIMIT degrees.
Percentage exponential for roll input in MANUAL, ACRO and TRAINING modes
Percentage exponential for pitch input in MANUAL, ACRO and TRAINING modes
Percentage exponential for rudder input in MANUAL, ACRO and TRAINING modes
Mask of output channels to use oneshot on
Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | uAvionix-MAVLink |
| 2 | Sagetech |
ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.
ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.
ICAO_ID unique vehicle identification number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.
ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).
| Value | Meaning |
|---|---|
| 0 | NoInfo |
| 1 | Light |
| 2 | Small |
| 3 | Large |
| 4 | HighVortexlarge |
| 5 | Heavy |
| 6 | HighlyManuv |
| 7 | Rotocraft |
| 8 | RESERVED |
| 9 | Glider |
| 10 | LightAir |
| 11 | Parachute |
| 12 | UltraLight |
| 13 | RESERVED |
| 14 | UAV |
| 15 | Space |
| 16 | RESERVED |
| 17 | EmergencySurface |
| 18 | ServiceSurface |
| 19 | PointObstacle |
Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.
| Value | Meaning |
|---|---|
| 0 | NO_DATA |
| 1 | L15W23 |
| 2 | L25W28P5 |
| 3 | L25W34 |
| 4 | L35W33 |
| 5 | L35W38 |
| 6 | L45W39P5 |
| 7 | L45W45 |
| 8 | L55W45 |
| 9 | L55W52 |
| 10 | L65W59P5 |
| 11 | L65W67 |
| 12 | L75W72P5 |
| 13 | L75W80 |
| 14 | L85W80 |
| 15 | L85W90 |
GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft.
| Value | Meaning |
|---|---|
| 0 | NoData |
| 1 | Left2m |
| 2 | Left4m |
| 3 | Left6m |
| 4 | Center |
| 5 | Right2m |
| 6 | Right4m |
| 7 | Right6m |
GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor
| Value | Meaning |
|---|---|
| 0 | NO_DATA |
| 1 | AppliedBySensor |
Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only.
VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200.
Describes your hardware RF In/Out capabilities.
ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.
ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.
0: no logging, 1: log only special ID, 2:log all
| Value | Meaning |
|---|---|
| 0 | no logging |
| 1 | log only special ID |
| 2 | log all |
This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect
This sets a digital output pin to set high when in manual mode
This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 49 | BB Blue GP0 pin 4 |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
| 57 | BB Blue GP0 pin 3 |
| 113 | BB Blue GP0 pin 6 |
| 116 | BB Blue GP0 pin 5 |
Waypoint number to navigate to on comms loss
Waypoint number to navigate to on GPS lock loss
Can be set in flight to force termination of the heartbeat signal
This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter
This sets a digital output pin to set high on flight termination
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 49 | BB Blue GP0 pin 4 |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
| 57 | BB Blue GP0 pin 3 |
| 113 | BB Blue GP0 pin 6 |
| 116 | BB Blue GP0 pin 5 |
This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.
This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.
This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.
Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.
Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.
This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1
This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1
If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.
This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.
This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.
This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.
This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.
This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
This controls how fast the accelerometers correct the attitude
This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is. See ARSPD_OPTIONS and ARSPD_MAX_WIND to disable airspeed sensors.
Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.
Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.
Not Used
Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Yaw45 |
| 2 | Yaw90 |
| 3 | Yaw135 |
| 4 | Yaw180 |
| 5 | Yaw225 |
| 6 | Yaw270 |
| 7 | Yaw315 |
| 8 | Roll180 |
| 9 | Roll180Yaw45 |
| 10 | Roll180Yaw90 |
| 11 | Roll180Yaw135 |
| 12 | Pitch180 |
| 13 | Roll180Yaw225 |
| 14 | Roll180Yaw270 |
| 15 | Roll180Yaw315 |
| 16 | Roll90 |
| 17 | Roll90Yaw45 |
| 18 | Roll90Yaw90 |
| 19 | Roll90Yaw135 |
| 20 | Roll270 |
| 21 | Roll270Yaw45 |
| 22 | Roll270Yaw90 |
| 23 | Roll270Yaw135 |
| 24 | Pitch90 |
| 25 | Pitch270 |
| 26 | Pitch180Yaw90 |
| 27 | Pitch180Yaw270 |
| 28 | Roll90Pitch90 |
| 29 | Roll180Pitch90 |
| 30 | Roll270Pitch90 |
| 31 | Roll90Pitch180 |
| 32 | Roll270Pitch180 |
| 33 | Roll90Pitch270 |
| 34 | Roll180Pitch270 |
| 35 | Roll270Pitch270 |
| 36 | Roll90Pitch180Yaw90 |
| 37 | Roll90Yaw270 |
| 38 | Yaw293Pitch68Roll180 |
| 39 | Pitch315 |
| 40 | Roll90Pitch315 |
| 100 | Custom |
This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.
Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.
This controls which NavEKF Kalman filter version is used for attitude and position estimation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 2 | Enable EKF2 |
| 3 | Enable EKF3 |
| 11 | ExternalAHRS |
Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | THR_MIN PWM when disarmed |
| 2 | 0 PWM when disarmed |
Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.
Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | ArmingOnly |
| 2 | ArmOrDisarm |
Bitmask of mission items that are required to be planned in order to arm the aircraft
Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.
Type of airspeed sensor
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | I2C-MS4525D0 |
| 2 | Analog |
| 3 | I2C-MS5525 |
| 4 | I2C-MS5525 (0x76) |
| 5 | I2C-MS5525 (0x77) |
| 6 | I2C-SDP3X |
| 7 | I2C-DLVR-5in |
| 8 | UAVCAN |
| 9 | I2C-DLVR-10in |
| 10 | I2C-DLVR-20in |
| 11 | I2C-DLVR-30in |
| 12 | I2C-DLVR-60in |
| 13 | NMEA water speed |
| 14 | MSP |
| 15 | ASP5033 |
Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).
| Value | Meaning |
|---|---|
| 0 | DoNotUse |
| 1 | Use |
| 2 | UseWhenZeroThrottle |
Airspeed calibration offset
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.
Enables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed.
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
Bus number of the I2C bus where the airspeed sensor is connected
| Value | Meaning |
|---|---|
| 0 | Bus0(internal) |
| 1 | Bus1(external) |
| 2 | Bus2(auxillary) |
This selects which airspeed sensor will be the primary if multiple sensors are found
| Value | Meaning |
|---|---|
| 0 | FirstSensor |
| 1 | 2ndSensor |
Bitmask of options to use with airspeed. Disable and/or re-enable sensor based on the difference between airspeed and ground speed based on ARSPD_WIND_MAX threshold, if set
If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor.
If the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.
Type of 2nd airspeed sensor
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | I2C-MS4525D0 |
| 2 | Analog |
| 3 | I2C-MS5525 |
| 4 | I2C-MS5525 (0x76) |
| 5 | I2C-MS5525 (0x77) |
| 6 | I2C-SDP3X |
| 7 | I2C-DLVR-5in |
| 8 | UAVCAN |
| 9 | I2C-DLVR-10in |
| 10 | I2C-DLVR-20in |
| 11 | I2C-DLVR-30in |
| 12 | I2C-DLVR-60in |
| 13 | NMEA water speed |
| 14 | MSP |
| 15 | ASP5033 |
use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller
| Value | Meaning |
|---|---|
| 0 | Don't Use |
| 1 | use |
| 2 | UseWhenZeroThrottle |
Airspeed calibration offset
Airspeed calibration ratio
Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15.
If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended.
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed.
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
The bus number of the I2C bus to look for the sensor on
| Value | Meaning |
|---|---|
| 0 | Bus0(internal) |
| 1 | Bus1(external) |
| 2 | Bus2(auxillary) |
Enable Avoidance using ADSB
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Specifies aircraft behaviour when a collision is imminent
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Report |
| 2 | Climb Or Descend |
| 3 | Move Horizontally |
| 4 | Move Perpendicularly in 3D |
| 5 | RTL |
| 6 | Hover |
Specifies aircraft behaviour when a collision may occur
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Report |
Determines what the aircraft will do after a fail event is resolved
| Value | Meaning |
|---|---|
| 0 | Remain in AVOID_ADSB |
| 1 | Resume previous flight mode |
| 2 | RTL |
| 3 | Resume if AUTO else Loiter |
Maximum number of obstacles to track
Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)
Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken
Closest allowed projected distance before W_ACTION is undertaken
Closest allowed projected distance before F_ACTION is undertaken
Closest allowed projected distance before BEHAVIOUR_W is undertaken
Closest allowed projected distance before BEHAVIOUR_F is undertaken
Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.
calibrated ground pressure in Pascals
User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.
altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.
This selects which barometer will be the primary if multiple barometers are found
| Value | Meaning |
|---|---|
| 0 | FirstBaro |
| 1 | 2ndBaro |
| 2 | 3rdBaro |
This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Bus0 |
| 1 | Bus1 |
This sets the specific gravity of the fluid when flying an underwater ROV.
calibrated ground pressure in Pascals
calibrated ground pressure in Pascals
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.
Barometer sensor ID, taking into account its type, bus and instance
Barometer2 sensor ID, taking into account its type, bus and instance
Barometer3 sensor ID, taking into account its type, bus and instance
This enables the use of wind coefficients for barometer compensation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This enables the use of wind coefficients for barometer compensation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This enables the use of wind coefficients for barometer compensation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | UAVCAN-BatteryInfo |
| 9 | ESC |
| 10 | SumOfFollowing |
| 11 | FuelFlow |
| 12 | FuelLevelPWM |
| 13 | SMBUS-SUI3 |
| 14 | SMBUS-SUI6 |
| 15 | NeoDesign |
| 16 | SMBus-Maxell |
| 17 | Generator-Elec |
| 18 | Generator-Fuel |
| 19 | Rotoye |
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2 |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Voltage offset at zero current on current sensor
Capacity of the battery in mAh when full
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
| 5 | Parachute |
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.
Battery monitor I2C bus number
This sets options to change the behaviour of the battery monitor
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | UAVCAN-BatteryInfo |
| 9 | ESC |
| 10 | SumOfFollowing |
| 11 | FuelFlow |
| 12 | FuelLevelPWM |
| 13 | SMBUS-SUI3 |
| 14 | SMBUS-SUI6 |
| 15 | NeoDesign |
| 16 | SMBus-Maxell |
| 17 | Generator-Elec |
| 18 | Generator-Fuel |
| 19 | Rotoye |
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2 |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Voltage offset at zero current on current sensor
Capacity of the battery in mAh when full
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
| 5 | Parachute |
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.
Battery monitor I2C bus number
This sets options to change the behaviour of the battery monitor
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | UAVCAN-BatteryInfo |
| 9 | ESC |
| 10 | SumOfFollowing |
| 11 | FuelFlow |
| 12 | FuelLevelPWM |
| 13 | SMBUS-SUI3 |
| 14 | SMBUS-SUI6 |
| 15 | NeoDesign |
| 16 | SMBus-Maxell |
| 17 | Generator-Elec |
| 18 | Generator-Fuel |
| 19 | Rotoye |
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2 |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Voltage offset at zero current on current sensor
Capacity of the battery in mAh when full
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
| 5 | Parachute |
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.
Battery monitor I2C bus number
This sets options to change the behaviour of the battery monitor
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | UAVCAN-BatteryInfo |
| 9 | ESC |
| 10 | SumOfFollowing |
| 11 | FuelFlow |
| 12 | FuelLevelPWM |
| 13 | SMBUS-SUI3 |
| 14 | SMBUS-SUI6 |
| 15 | NeoDesign |
| 16 | SMBus-Maxell |
| 17 | Generator-Elec |
| 18 | Generator-Fuel |
| 19 | Rotoye |
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2 |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Voltage offset at zero current on current sensor
Capacity of the battery in mAh when full
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
| 5 | Parachute |
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.
Battery monitor I2C bus number
This sets options to change the behaviour of the battery monitor
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | UAVCAN-BatteryInfo |
| 9 | ESC |
| 10 | SumOfFollowing |
| 11 | FuelFlow |
| 12 | FuelLevelPWM |
| 13 | SMBUS-SUI3 |
| 14 | SMBUS-SUI6 |
| 15 | NeoDesign |
| 16 | SMBus-Maxell |
| 17 | Generator-Elec |
| 18 | Generator-Fuel |
| 19 | Rotoye |
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2 |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Voltage offset at zero current on current sensor
Capacity of the battery in mAh when full
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
| 5 | Parachute |
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.
Battery monitor I2C bus number
This sets options to change the behaviour of the battery monitor
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | UAVCAN-BatteryInfo |
| 9 | ESC |
| 10 | SumOfFollowing |
| 11 | FuelFlow |
| 12 | FuelLevelPWM |
| 13 | SMBUS-SUI3 |
| 14 | SMBUS-SUI6 |
| 15 | NeoDesign |
| 16 | SMBus-Maxell |
| 17 | Generator-Elec |
| 18 | Generator-Fuel |
| 19 | Rotoye |
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2 |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Voltage offset at zero current on current sensor
Capacity of the battery in mAh when full
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
| 5 | Parachute |
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.
Battery monitor I2C bus number
This sets options to change the behaviour of the battery monitor
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | UAVCAN-BatteryInfo |
| 9 | ESC |
| 10 | SumOfFollowing |
| 11 | FuelFlow |
| 12 | FuelLevelPWM |
| 13 | SMBUS-SUI3 |
| 14 | SMBUS-SUI6 |
| 15 | NeoDesign |
| 16 | SMBus-Maxell |
| 17 | Generator-Elec |
| 18 | Generator-Fuel |
| 19 | Rotoye |
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2 |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Voltage offset at zero current on current sensor
Capacity of the battery in mAh when full
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
| 5 | Parachute |
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.
Battery monitor I2C bus number
This sets options to change the behaviour of the battery monitor
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | UAVCAN-BatteryInfo |
| 9 | ESC |
| 10 | SumOfFollowing |
| 11 | FuelFlow |
| 12 | FuelLevelPWM |
| 13 | SMBUS-SUI3 |
| 14 | SMBUS-SUI6 |
| 15 | NeoDesign |
| 16 | SMBus-Maxell |
| 17 | Generator-Elec |
| 18 | Generator-Fuel |
| 19 | Rotoye |
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2 |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Voltage offset at zero current on current sensor
Capacity of the battery in mAh when full
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
| 5 | Parachute |
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.
Battery monitor I2C bus number
This sets options to change the behaviour of the battery monitor
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | UAVCAN-BatteryInfo |
| 9 | ESC |
| 10 | SumOfFollowing |
| 11 | FuelFlow |
| 12 | FuelLevelPWM |
| 13 | SMBUS-SUI3 |
| 14 | SMBUS-SUI6 |
| 15 | NeoDesign |
| 16 | SMBus-Maxell |
| 17 | Generator-Elec |
| 18 | Generator-Fuel |
| 19 | Rotoye |
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2 |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Voltage offset at zero current on current sensor
Capacity of the battery in mAh when full
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Land |
| 3 | Terminate |
| 4 | QLand |
| 5 | Parachute |
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.
Battery monitor I2C bus number
This sets options to change the behaviour of the battery monitor
Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO
| Value | Meaning |
|---|---|
| 0 | No PWMs |
| 1 | One PWMs |
| 2 | Two PWMs |
| 3 | Three PWMs |
| 4 | Four PWMs |
| 5 | Five PWMs |
| 6 | Six PWMs |
| 7 | Seven PWMs |
| 8 | Eight PWMs |
Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the SBUS output frame rate in Hz
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | 50Hz |
| 2 | 75Hz |
| 3 | 100Hz |
| 4 | 150Hz |
| 5 | 200Hz |
| 6 | 250Hz |
| 7 | 300Hz |
User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
A bitmask which controls what outputs can move while the safety switch has not been pressed
This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.
This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)
| Value | Meaning |
|---|---|
| 0 | AUTO |
| 1 | PX4V1 |
| 2 | Pixhawk |
| 3 | Cube/Pixhawk2 |
| 4 | Pixracer |
| 5 | PixhawkMini |
| 6 | Pixhawk2Slim |
| 13 | Intel Aero FC |
| 14 | Pixhawk Pro |
| 20 | AUAV2.1 |
| 21 | PCNC1 |
| 22 | MINDPXV2 |
| 23 | SP01 |
| 24 | CUAVv5/FMUV5 |
| 30 | VRX BRAIN51 |
| 32 | VRX BRAIN52 |
| 33 | VRX BRAIN52E |
| 34 | VRX UBRAIN51 |
| 35 | VRX UBRAIN52 |
| 36 | VRX CORE10 |
| 38 | VRX BRAIN54 |
| 39 | PX4 FMUV6 |
| 100 | PX4 OLDDRIVERS |
This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.
Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.
This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.
This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.
| Value | Meaning |
|---|---|
| 0 | 3.3V |
| 1 | 5V |
Board specific option flags
This adds a delay in milliseconds to boot to ensure peripherals initialise fully
IMU Heater P gain
IMU Heater integrator gain
IMU Heater integrator maximum
Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.
This enables support for direct attached radio receivers
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | CYRF6936 |
| 2 | CC2500 |
| 3 | BK2425 |
Select air protocol
| Value | Meaning |
|---|---|
| 0 | Auto |
| 1 | DSM2 |
| 2 | DSMX |
radio debug level
disable receive CRC (for debug)
| Value | Meaning |
|---|---|
| 0 | NotDisabled |
| 1 | Disabled |
Channel to show receive RSSI signal strength, or zero for disabled
Channel to show received packet-per-second rate, or zero for disabled
If this is non-zero then telemetry packets will be sent over DSM
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX
If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | MinChannel |
| 2 | MidChannel |
| 3 | MaxChannel |
| 4 | MinChannelCW |
| 5 | MidChannelCW |
| 6 | MaxChannelCW |
This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.
| Value | Meaning |
|---|---|
| 1 | Mode1 |
| 2 | Mode2 |
This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TestChan1 |
| 2 | TestChan2 |
| 3 | TestChan3 |
| 4 | TestChan4 |
| 5 | TestChan5 |
| 6 | TestChan6 |
| 7 | TestChan7 |
| 8 | TestChan8 |
Channel to show telemetry RSSI value as received by TX
Channel to show telemetry packets-per-second value, as received at TX
Set transmitter maximum transmit power (from 1 to 8)
Set transmitter buzzer note adjustment (adjust frequency up)
When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.
This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially
Specifies which sources of UTC time will be accepted
Adds offset in +- minutes from UTC to calculate local time
This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Digital pin number for first button input.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
Digital pin number for second button input.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
Digital pin number for third button input.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
Digital pin number for fourth button input.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.
Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Auxiliary RC Options function executed on pin change
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 |
| 67 | Relay6 |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
Auxiliary RC Options function executed on pin change
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 |
| 67 | Relay6 |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
Auxiliary RC Options function executed on pin change
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 |
| 67 | Relay6 |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
Auxiliary RC Options function executed on pin change
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 |
| 67 | Relay6 |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
how to trigger the camera to take a picture
| Value | Meaning |
|---|---|
| 0 | Servo |
| 1 | Relay |
| 2 | GoPro in Solo Gimbal |
How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)
PWM value in microseconds to move servo to when shutter is activated
PWM value in microseconds to move servo to when shutter is deactivated
Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.
This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera
| Value | Meaning |
|---|---|
| 0 | Low |
| 1 | High |
Postpone shooting if previous picture was taken less than preset time(ms) ago.
Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).
pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUX1 |
| 51 | AUX2 |
| 52 | AUX3 |
| 53 | AUX4 |
| 54 | AUX5 |
| 55 | AUX6 |
Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low
| Value | Meaning |
|---|---|
| 0 | TriggerLow |
| 1 | TriggerHigh |
When enabled, trigging by distance is done in AUTO mode only.
| Value | Meaning |
|---|---|
| 0 | Always |
| 1 | Only when in AUTO |
Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.
| Value | Meaning |
|---|---|
| 0 | Default |
| 1 | BMMCC |
RunCam deviee type used to determine OSD menu structure and shutter options.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RunCam Split Micro/RunCam with UART |
| 2 | RunCam Split |
| 3 | RunCam Split4 4k |
| 4 | RunCam Hybrid |
The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.
Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.
Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.
Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.
Specifies the allowed actions required to enter the OSD menu
Loglevel for recording initialisation and debug information from CAN Interface
| Value | Meaning |
|---|---|
| 0 | Log None |
| 1 | Log Error |
| 2 | Log Warning and below |
| 3 | Log Info and below |
| 4 | Log Everything |
Enabling this option starts selected protocol that will use this virtual driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UAVCAN |
| 3 | ToshibaCAN |
| 4 | PiccoloCAN |
| 5 | CANTester |
| 8 | KDECAN |
| 9 | PacketDigitalCAN |
Sets the number of motor poles to calculate the correct RPM value
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Output rate of ESC command messages
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Output rate of servo command messages
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
| Value | Meaning |
|---|---|
| 0 | TEST_NONE |
| 1 | TEST_LOOPBACK |
| 2 | TEST_BUSOFF_RECOVERY |
| 3 | TEST_UAVCAN_DNA |
| 4 | TEST_TOSHIBA_CAN |
| 5 | TEST_KDE_CAN |
| 6 | TEST_UAVCAN_ESC |
Selects the Looprate of Test methods
UAVCAN node should be set implicitly
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
Maximum transmit rate for servo outputs
Enabling this option starts selected protocol that will use this virtual driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UAVCAN |
| 3 | ToshibaCAN |
| 4 | PiccoloCAN |
| 5 | CANTester |
| 8 | KDECAN |
| 9 | PacketDigitalCAN |
Sets the number of motor poles to calculate the correct RPM value
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Output rate of ESC command messages
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Output rate of servo command messages
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
| Value | Meaning |
|---|---|
| 0 | TEST_NONE |
| 1 | TEST_LOOPBACK |
| 2 | TEST_BUSOFF_RECOVERY |
| 3 | TEST_UAVCAN_DNA |
| 4 | TEST_TOSHIBA_CAN |
| 5 | TEST_KDE_CAN |
| 6 | TEST_UAVCAN_ESC |
Selects the Looprate of Test methods
UAVCAN node should be set implicitly
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
Maximum transmit rate for servo outputs
Enabling this option starts selected protocol that will use this virtual driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UAVCAN |
| 3 | ToshibaCAN |
| 4 | PiccoloCAN |
| 5 | CANTester |
| 8 | KDECAN |
| 9 | PacketDigitalCAN |
Sets the number of motor poles to calculate the correct RPM value
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Output rate of ESC command messages
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Output rate of servo command messages
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
| Value | Meaning |
|---|---|
| 0 | TEST_NONE |
| 1 | TEST_LOOPBACK |
| 2 | TEST_BUSOFF_RECOVERY |
| 3 | TEST_UAVCAN_DNA |
| 4 | TEST_TOSHIBA_CAN |
| 5 | TEST_KDE_CAN |
| 6 | TEST_UAVCAN_ESC |
Selects the Looprate of Test methods
UAVCAN node should be set implicitly
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
Maximum transmit rate for servo outputs
Enabling this option enables use of CAN buses.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | First driver |
| 2 | Second driver |
Bit rate can be set up to from 10000 to 1000000
Enabling this option enables use of CAN buses.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | First driver |
| 2 | Second driver |
Bit rate can be set up to from 10000 to 1000000
Enabling this option enables use of CAN buses.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | First driver |
| 2 | Second driver |
Bit rate can be set up to from 10000 to 1000000
CAN Interface ID to be routed to SLCAN, 0 means no routing
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | First interface |
| 2 | Second interface |
Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Duration of inactivity after which SLCAN is switched back to original driver in seconds.
Duration after which slcan starts after setting SERNUM in seconds.
Parachute release enabled or disabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Parachute release mechanism type (relay or servo)
| Value | Meaning |
|---|---|
| 0 | First Relay |
| 1 | Second Relay |
| 2 | Third Relay |
| 3 | Fourth Relay |
| 10 | Servo |
Parachute Servo PWM value in microseconds when parachute is released
Parachute Servo PWM value in microseconds when parachute is not released
Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.
Delay in millseconds between motor stop and chute release
Release parachute when critical sink rate is reached
Offset to be added to the compass x-axis values to compensate for metal in the frame
Offset to be added to the compass y-axis values to compensate for metal in the frame
Offset to be added to the compass z-axis values to compensate for metal in the frame
An angle to compensate between the true north and magnetic north
Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Internal-Learning |
| 2 | EKF-Learning |
| 3 | InFlight-Learning |
Enable or disable the use of the compass (instead of the GPS) for determining heading
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Enable or disable the automatic calculation of the declination based on gps location
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Set motor interference compensation type to disabled, throttle or current. Do not change manually.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Use Throttle |
| 2 | Use Current |
Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Yaw45 |
| 2 | Yaw90 |
| 3 | Yaw135 |
| 4 | Yaw180 |
| 5 | Yaw225 |
| 6 | Yaw270 |
| 7 | Yaw315 |
| 8 | Roll180 |
| 9 | Roll180Yaw45 |
| 10 | Roll180Yaw90 |
| 11 | Roll180Yaw135 |
| 12 | Pitch180 |
| 13 | Roll180Yaw225 |
| 14 | Roll180Yaw270 |
| 15 | Roll180Yaw315 |
| 16 | Roll90 |
| 17 | Roll90Yaw45 |
| 18 | Roll90Yaw90 |
| 19 | Roll90Yaw135 |
| 20 | Roll270 |
| 21 | Roll270Yaw45 |
| 22 | Roll270Yaw90 |
| 23 | Roll270Yaw135 |
| 24 | Pitch90 |
| 25 | Pitch270 |
| 26 | Pitch180Yaw90 |
| 27 | Pitch180Yaw270 |
| 28 | Roll90Pitch90 |
| 29 | Roll180Pitch90 |
| 30 | Roll270Pitch90 |
| 31 | Roll90Pitch180 |
| 32 | Roll270Pitch180 |
| 33 | Roll90Pitch270 |
| 34 | Roll180Pitch270 |
| 35 | Roll270Pitch270 |
| 36 | Roll90Pitch180Yaw90 |
| 37 | Roll90Yaw270 |
| 38 | Yaw293Pitch68Roll180 |
| 39 | Pitch315 |
| 40 | Roll90Pitch315 |
| 100 | Custom |
Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
| Value | Meaning |
|---|---|
| 0 | Internal |
| 1 | External |
| 2 | ForcedExternal |
Offset to be added to compass2's x-axis values to compensate for metal in the frame
Offset to be added to compass2's y-axis values to compensate for metal in the frame
Offset to be added to compass2's z-axis values to compensate for metal in the frame
Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Offset to be added to compass3's x-axis values to compensate for metal in the frame
Offset to be added to compass3's y-axis values to compensate for metal in the frame
Offset to be added to compass3's z-axis values to compensate for metal in the frame
Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Compass device id. Automatically detected, do not set manually
Second compass's device id. Automatically detected, do not set manually
Third compass's device id. Automatically detected, do not set manually
Enable or disable the secondary compass for determining heading.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Yaw45 |
| 2 | Yaw90 |
| 3 | Yaw135 |
| 4 | Yaw180 |
| 5 | Yaw225 |
| 6 | Yaw270 |
| 7 | Yaw315 |
| 8 | Roll180 |
| 9 | Roll180Yaw45 |
| 10 | Roll180Yaw90 |
| 11 | Roll180Yaw135 |
| 12 | Pitch180 |
| 13 | Roll180Yaw225 |
| 14 | Roll180Yaw270 |
| 15 | Roll180Yaw315 |
| 16 | Roll90 |
| 17 | Roll90Yaw45 |
| 18 | Roll90Yaw90 |
| 19 | Roll90Yaw135 |
| 20 | Roll270 |
| 21 | Roll270Yaw45 |
| 22 | Roll270Yaw90 |
| 23 | Roll270Yaw135 |
| 24 | Pitch90 |
| 25 | Pitch270 |
| 26 | Pitch180Yaw90 |
| 27 | Pitch180Yaw270 |
| 28 | Roll90Pitch90 |
| 29 | Roll180Pitch90 |
| 30 | Roll270Pitch90 |
| 31 | Roll90Pitch180 |
| 32 | Roll270Pitch180 |
| 33 | Roll90Pitch270 |
| 34 | Roll180Pitch270 |
| 35 | Roll270Pitch270 |
| 36 | Roll90Pitch180Yaw90 |
| 37 | Roll90Yaw270 |
| 38 | Yaw293Pitch68Roll180 |
| 39 | Pitch315 |
| 40 | Roll90Pitch315 |
| 100 | Custom |
Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
| Value | Meaning |
|---|---|
| 0 | Internal |
| 1 | External |
| 2 | ForcedExternal |
Enable or disable the tertiary compass for determining heading.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Yaw45 |
| 2 | Yaw90 |
| 3 | Yaw135 |
| 4 | Yaw180 |
| 5 | Yaw225 |
| 6 | Yaw270 |
| 7 | Yaw315 |
| 8 | Roll180 |
| 9 | Roll180Yaw45 |
| 10 | Roll180Yaw90 |
| 11 | Roll180Yaw135 |
| 12 | Pitch180 |
| 13 | Roll180Yaw225 |
| 14 | Roll180Yaw270 |
| 15 | Roll180Yaw315 |
| 16 | Roll90 |
| 17 | Roll90Yaw45 |
| 18 | Roll90Yaw90 |
| 19 | Roll90Yaw135 |
| 20 | Roll270 |
| 21 | Roll270Yaw45 |
| 22 | Roll270Yaw90 |
| 23 | Roll270Yaw135 |
| 24 | Pitch90 |
| 25 | Pitch270 |
| 26 | Pitch180Yaw90 |
| 27 | Pitch180Yaw270 |
| 28 | Roll90Pitch90 |
| 29 | Roll180Pitch90 |
| 30 | Roll270Pitch90 |
| 31 | Roll90Pitch180 |
| 32 | Roll270Pitch180 |
| 33 | Roll90Pitch270 |
| 34 | Roll180Pitch270 |
| 35 | Roll270Pitch270 |
| 36 | Roll90Pitch180Yaw90 |
| 37 | Roll90Yaw270 |
| 38 | Yaw293Pitch68Roll180 |
| 39 | Pitch315 |
| 40 | Roll90Pitch315 |
| 100 | Custom |
Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
| Value | Meaning |
|---|---|
| 0 | Internal |
| 1 | External |
| 2 | ForcedExternal |
DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
| Value | Meaning |
|---|---|
| 4 | Very Strict |
| 8 | Strict |
| 16 | Default |
| 32 | Relaxed |
This sets the maximum allowed compass offset in calibration and arming checks
This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | CheckOnly |
| 2 | CheckAndFix |
Compass device id with 1st order priority, set automatically if 0. Reboot required after change.
Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.
Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.
Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
This sets options to change the behaviour of the compass
Extra 4th compass's device id. Automatically detected, do not set manually
Extra 5th compass's device id. Automatically detected, do not set manually
Extra 6th compass's device id. Automatically detected, do not set manually
Extra 7th compass's device id. Automatically detected, do not set manually
Extra 8th compass's device id. Automatically detected, do not set manually
Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
This enables per-motor compass corrections
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is the exponential correction for the power output of the motor for per-motor compass correction
Compensation for X axis of motor1
Compensation for Y axis of motor1
Compensation for Z axis of motor1
Compensation for X axis of motor2
Compensation for Y axis of motor2
Compensation for Z axis of motor2
Compensation for X axis of motor3
Compensation for Y axis of motor3
Compensation for Z axis of motor3
Compensation for X axis of motor4
Compensation for Y axis of motor4
Compensation for Z axis of motor4
Type of AHRS device
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | VectorNav |
Requested rate for AHRS device
What method of communication is used for EFI #1
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Serial-MS |
| 2 | NWPMU |
Used to calibrate fuel flow for MS protocol (Slope)
Used to calibrate fuel flow for MS protocol (Offset)
This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.
| Value | Meaning |
|---|---|
| 0 | GPS 3D Vel and 2D Pos |
| 1 | GPS 2D vel and 2D pos |
| 2 | GPS 2D pos |
| 3 | No GPS |
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.
This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).
| Value | Meaning |
|---|---|
| 0 | Use Baro |
| 1 | Use Range Finder |
| 2 | Use GPS |
| 3 | Use Range Beacon |
This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the Height measurements lag behind the inertial measurements.
This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.
| Value | Meaning |
|---|---|
| 0 | When flying |
| 1 | When manoeuvring |
| 2 | Never |
| 3 | After first climb yaw reset |
| 4 | Always |
This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Sets the time constant of the output complementary filter/predictor in centi-seconds.
This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.
This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Navigation |
| 2 | Terrain |
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
1 byte bitmap of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE, EK2_GSF_DELAY and EK2_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE to 0.
1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. Additionally the EKF2 will initiate a reset internally if navigation is lost for more than EK2_GSF_DELAY milli seconds.
Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter.
This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.
This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the Height measurements lag behind the inertial measurements.
This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.
| Value | Meaning |
|---|---|
| 0 | When flying |
| 1 | When manoeuvring |
| 2 | Never |
| 3 | After first climb yaw reset |
| 4 | Always |
| 5 | Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) |
| 6 | External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW) |
This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.
This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Sets the time constant of the output complementary filter/predictor in centi-seconds.
This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference
This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the range beacon measurements lag behind the inertial measurements.
The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
The accelerometer bias state will be limited to +- this value
1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.
Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Navigation |
| 2 | Terrain |
Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE, EK3_GSF_DELAY and EK3_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0.
1 byte bitmap of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. Additionally the EKF3 will initiate a reset internally if navigation is lost for more than EK3_GSF_DELAY milli seconds.
Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter.
lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences
These options control the affinity between sensor instances and EKF cores
Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.
Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.
This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters
This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters.
This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.
This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.
Position Horizontal Source (Primary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Horizontal Source
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 5 | OpticalFlow |
| 6 | ExternalNav |
| 7 | WheelEncoder |
Position Vertical Source
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Baro |
| 2 | RangeFinder |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Vertical Source
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Yaw Source
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Compass |
| 2 | GPS |
| 3 | GPS with Compass Fallback |
| 6 | ExternalNav |
| 8 | GSF |
Position Horizontal Source (Secondary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Horizontal Source (Secondary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 5 | OpticalFlow |
| 6 | ExternalNav |
| 7 | WheelEncoder |
Position Vertical Source (Secondary)
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Baro |
| 2 | RangeFinder |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Vertical Source (Secondary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Yaw Source (Secondary)
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Compass |
| 2 | GPS |
| 3 | GPS with Compass Fallback |
| 6 | ExternalNav |
| 8 | GSF |
Position Horizontal Source (Tertiary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Horizontal Source (Tertiary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 5 | OpticalFlow |
| 6 | ExternalNav |
| 7 | WheelEncoder |
Position Vertical Source (Tertiary)
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Baro |
| 2 | RangeFinder |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Vertical Source (Tertiary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Yaw Source (Tertiary)
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Compass |
| 2 | GPS |
| 3 | GPS with Compass Fallback |
| 6 | ExternalNav |
| 8 | GSF |
EKF Source Options
Allows you to enable (1) or disable (0) the fence functionality
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Enabled fence types held as bitmask
What action should be taken when fence is breached
| Value | Meaning |
|---|---|
| 0 | Report Only |
| 1 | RTL |
| 6 | Guided |
| 7 | GuidedThrottlePass |
Maximum altitude allowed before geofence triggers
Circle fence radius which when breached will cause an RTL
Distance that autopilot's should maintain from the fence to avoid a breach
Number of polygon points saved in eeprom (do not update manually)
Minimum altitude allowed before geofence triggers
Should the vehicle return to fence return point or rally point
| Value | Meaning |
|---|---|
| 0 | Fence Return Point |
| 1 | Nearest Rally Point |
Altitude the vehicle will transit to when a fence breach occurs
Auto-enable of fence
| Value | Meaning |
|---|---|
| 0 | AutoEnableOff |
| 1 | AutoEnableOnTakeoff |
| 2 | AutoEnableDisableFloorOnLanding |
| 3 | AutoEnableOnlyWhenArmed |
Enable Gyro FFT analyser
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.
Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.
Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.
Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.
Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.
The learned hover noise frequency
FFT learned thrust reference for the hover frequency and FFT minimum frequency.
FFT SNR reference threshold in dB at which a signal is determined to be present.
FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.
FFT learned bandwidth at hover for the attenuation frequencies.
FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.
The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).
| Value | Meaning |
|---|---|
| 0 | Auto |
| 1 | Center Frequency |
| 2 | Lower-Shoulder Frequency |
| 3 | Upper-Shoulder Frequency |
| 4 | Roll-Axis |
| 5 | Pitch-Axis |
Optical flow sensor type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | PX4Flow |
| 2 | Pixart |
| 3 | Bebop |
| 4 | CXOF |
| 5 | MAVLink |
| 6 | UAVCAN |
| 7 | MSP |
| 8 | UPFLOW |
This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.
This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.
Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.
X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.
Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.
Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.
This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.
Change the uplink sensor id (SPort only)
| Value | Meaning |
|---|---|
| -1 | Disable |
| 7 | 7 |
| 8 | 8 |
| 9 | 9 |
| 10 | 10 |
| 11 | 11 |
| 12 | 12 |
| 13 | 13 |
| 14 | 14 |
| 15 | 15 |
| 16 | 16 |
| 17 | 17 |
| 18 | 18 |
| 19 | 19 |
| 20 | 20 |
| 21 | 21 |
| 22 | 22 |
| 23 | 23 |
| 24 | 24 |
| 25 | 25 |
| 26 | 26 |
Change the first extra downlink sensor id (SPort only)
| Value | Meaning |
|---|---|
| -1 | Disable |
| 7 | 7 |
| 8 | 8 |
| 9 | 9 |
| 10 | 10 |
| 11 | 11 |
| 12 | 12 |
| 13 | 13 |
| 14 | 14 |
| 15 | 15 |
| 16 | 16 |
| 17 | 17 |
| 18 | 18 |
| 19 | 19 |
| 20 | 20 |
| 21 | 21 |
| 22 | 22 |
| 23 | 23 |
| 24 | 24 |
| 25 | 25 |
| 26 | 26 |
Change the second extra downlink sensor id (SPort only)
| Value | Meaning |
|---|---|
| -1 | Disable |
| 7 | 7 |
| 8 | 8 |
| 9 | 9 |
| 10 | 10 |
| 11 | 11 |
| 12 | 12 |
| 13 | 13 |
| 14 | 14 |
| 15 | 15 |
| 16 | 16 |
| 17 | 17 |
| 18 | 18 |
| 19 | 19 |
| 20 | 20 |
| 21 | 21 |
| 22 | 22 |
| 23 | 23 |
| 24 | 24 |
| 25 | 25 |
| 26 | 26 |
Change the default downlink sensor id (SPort only)
| Value | Meaning |
|---|---|
| -1 | Disable |
| 7 | 7 |
| 8 | 8 |
| 9 | 9 |
| 10 | 10 |
| 11 | 11 |
| 12 | 12 |
| 13 | 13 |
| 14 | 14 |
| 15 | 15 |
| 16 | 16 |
| 17 | 17 |
| 18 | 18 |
| 19 | 19 |
| 20 | 20 |
| 21 | 21 |
| 22 | 22 |
| 23 | 23 |
| 24 | 24 |
| 25 | 25 |
| 26 | 26 |
| 27 | 27 |
Generator type
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | IE 650w 800w Fuel Cell |
| 2 | IE 2.4kW Fuel Cell |
| 3 | Richenpower |
GPS type of 1st GPS
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | AUTO |
| 2 | uBlox |
| 3 | MTK |
| 4 | MTK19 |
| 5 | NMEA |
| 6 | SiRF |
| 7 | HIL |
| 8 | SwiftNav |
| 9 | UAVCAN |
| 10 | SBF |
| 11 | GSOF |
| 13 | ERB |
| 14 | MAV |
| 15 | NOVA |
| 16 | HemisphereNMEA |
| 17 | uBlox-MovingBaseline-Base |
| 18 | uBlox-MovingBaseline-Rover |
| 19 | MSP |
| 20 | AllyStar |
| 21 | ExternalAHRS |
GPS type of 2nd GPS
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | AUTO |
| 2 | uBlox |
| 3 | MTK |
| 4 | MTK19 |
| 5 | NMEA |
| 6 | SiRF |
| 7 | HIL |
| 8 | SwiftNav |
| 9 | UAVCAN |
| 10 | SBF |
| 11 | GSOF |
| 13 | ERB |
| 14 | MAV |
| 15 | NOVA |
| 16 | HemisphereNMEA |
| 17 | uBlox-MovingBaseline-Base |
| 18 | uBlox-MovingBaseline-Rover |
| 19 | MSP |
| 20 | AllyStar |
| 21 | ExternalAHRS |
Navigation filter engine setting
| Value | Meaning |
|---|---|
| 0 | Portable |
| 2 | Stationary |
| 3 | Pedestrian |
| 4 | Automotive |
| 5 | Sea |
| 6 | Airborne1G |
| 7 | Airborne2G |
| 8 | Airborne4G |
Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary
| Value | Meaning |
|---|---|
| 0 | Use primary |
| 1 | UseBest |
| 2 | Blend |
| 4 | Use primary if 3D fix or better |
Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
| Value | Meaning |
|---|---|
| 0 | Any |
| 50 | FloatRTK |
| 100 | IntegerRTK |
This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | NoChange |
This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.
The GGS can send raw serial packets to inject data to multiple GPSes.
| Value | Meaning |
|---|---|
| 0 | send to first GPS |
| 1 | send to 2nd GPS |
| 127 | send to all |
Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
| Value | Meaning |
|---|---|
| 0 | None (0x0000) |
| -1 | All (0xFFFF) |
| -256 | External only (0xFF00) |
Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming
| Value | Meaning |
|---|---|
| 0 | Ignore |
| 1 | Always log |
| 2 | Stop logging when disarmed (SBF only) |
| 5 | Only log every five samples (uBlox only) |
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.
| Value | Meaning |
|---|---|
| 0 | Do not save config |
| 1 | Save config |
| 2 | Save only when needed |
Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)
Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
| Value | Meaning |
|---|---|
| 0 | Disables automatic configuration |
| 1 | Enable automatic configuration |
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
| Value | Meaning |
|---|---|
| 100 | 10Hz |
| 125 | 8Hz |
| 200 | 5Hz |
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
| Value | Meaning |
|---|---|
| 100 | 10Hz |
| 125 | 8Hz |
| 200 | 5Hz |
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.
Additional backend specific options
The physical COM port on the connected device, currently only applies to SBF GPS
The physical COM port on the connected device, currently only applies to SBF GPS
This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
| Value | Meaning |
|---|---|
| 0 | FirstGPS |
| 1 | SecondGPS |
GPS Node id for discovered first.
GPS Node id for discovered second.
GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis.
GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis.
Controls the type of moving base used if using moving base.
| Value | Meaning |
|---|---|
| 0 | Relative to alternate GPS instance |
| 1 | RelativeToCustomBase |
X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Controls the type of moving base used if using moving base.
| Value | Meaning |
|---|---|
| 0 | Relative to alternate GPS instance |
| 1 | RelativeToCustomBase |
X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Gripper enable/disable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Gripper enable/disable
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Servo |
| 2 | EPM |
PWM value in microseconds sent to Gripper to initiate grabbing the cargo
PWM value in microseconds sent to Gripper to release the cargo
PWM value in microseconds sent to grabber when not grabbing or releasing
Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable
Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface
P Gain which produces an output value that is proportional to the current error value
I Gain which produces an output that is proportional to both the magnitude and the duration of the error
D Gain which produces an output that is proportional to the rate of change of the error
FF Gain which produces an output value that is proportional to the demanded input
The maximum/minimum value that the I term can output
Target filter frequency in Hz
Error filter frequency in Hz
Derivative filter frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
This enables internal combustion engine control
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disamed. See ICE_STARTCHN_MIN parameter to change engine stop PWM value and/or to enable debouncing of the START_CH to avoid accidental engine kills due to noise on channel.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Chan1 |
| 2 | Chan2 |
| 3 | Chan3 |
| 4 | Chan4 |
| 5 | Chan5 |
| 6 | Chan6 |
| 7 | Chan7 |
| 8 | Chan8 |
| 9 | Chan9 |
| 10 | Chan10 |
| 11 | Chan11 |
| 12 | Chan12 |
| 13 | Chan13 |
| 14 | Chan14 |
| 15 | Chan15 |
| 16 | Chan16 |
This is the number of seconds to run the starter when trying to start the engine
Delay between start attempts
This is the measured RPM above which the engine is considered to be running
This is the value sent to the ignition channel when on
This is the value sent to the ignition channel when off
This is the value sent to the starter channel when on
This is the value sent to the starter channel when off
This is which of the RPM instances to use for detecting the RPM of the engine
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RPM1 |
| 2 | RPM2 |
This is the percentage throttle output for engine start
This is the minimum percentage throttle output while running, this includes being disarmed, but not safe
This configures the RPM that will be commanded by the idle governor. Set to -1 to disable
This configures the deadband that is tolerated before adjusting the idle setpoint
This configures the slewrate used to adjust the idle setpoint in percentage points per second
Options for ICE control
This is a minimum PWM value for engine start channel for an engine stop to be commanded. Setting this value will avoid RC input glitches with low PWM values from causing an unwanted engine stop. A value of zero means any PWM below 1300 triggers an engine stop.
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine
Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine
Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine
Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations
Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations
Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations
Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine
Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine
Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine
Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations
Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations
Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations
Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Use first IMU for attitude, velocity and position estimates
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Use second IMU for attitude, velocity and position estimates
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Use third IMU for attitude, velocity and position estimates
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
Conrols when automatic gyro calibration is performed
| Value | Meaning |
|---|---|
| 0 | Never |
| 1 | Start-up only |
Specifies how the accel cal routine determines the trims
| Value | Meaning |
|---|---|
| 0 | Don't adjust the trims |
| 1 | Assume first orientation was level |
| 2 | Assume ACC_BODYFIX is perfectly aligned to the vehicle |
The body-fixed accelerometer to be used for trim calculation
| Value | Meaning |
|---|---|
| 1 | IMU 1 |
| 2 | IMU 2 |
| 3 | IMU 3 |
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Gyro sensor ID, taking into account its type, bus and instance
Gyro2 sensor ID, taking into account its type, bus and instance
Gyro3 sensor ID, taking into account its type, bus and instance
Accelerometer sensor ID, taking into account its type, bus and instance
Accelerometer2 sensor ID, taking into account its type, bus and instance
Accelerometer3 sensor ID, taking into account its type, bus and instance
Mask of IMUs to enable fast sampling on, if available
Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.
| Value | Meaning |
|---|---|
| 0 | 1kHz |
| 1 | 2kHz |
| 2 | 4kHz |
| 3 | 8kHz |
Temperature that the 1st accelerometer was calibrated at
Temperature that the 1st gyroscope was calibrated at
Temperature that the 2nd accelerometer was calibrated at
Temperature that the 2nd gyroscope was calibrated at
Temperature that the 3rd accelerometer was calibrated at
Temperature that the 3rd gyroscope was calibrated at
This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.
Harmonic Notch Filter enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz.
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time.
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Throttle |
| 2 | RPM Sensor |
| 3 | ESC Telemetry |
| 4 | Dynamic FFT |
Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz.
Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.
Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.
Options for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time.
Interval between pushing samples to the AP_Logger log
Number of samples to push to count every INS_LOG_BAT_LGIN
Enable notch filter
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Notch attenuation in dB
Notch center frequency in Hz
Notch bandwidth in Hz
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | LearnCalibration |
The minimum temperature that the calibration is valid for
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | LearnCalibration |
The minimum temperature that the calibration is valid for
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | LearnCalibration |
The minimum temperature that the calibration is valid for
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m.
This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the original slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.
Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate.
Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC.
Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate. Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT).
Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0.
Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0.
Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable.
This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough.
After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm.
When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Servos to Neutral |
| 2 | Servos to Zero PWM |
Allow a landing abort to trigger with a throttle > 95%
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing
Specifies the auto-landing type to use
| Value | Meaning |
|---|---|
| 0 | Standard Glide Slope |
| 1 | Deepstall |
Bitmask of options to use with landing.
The forward velocity of the aircraft while stalled
The a component of distance = a*wind + b
The a component of distance = a*wind + b
The horizontal distance from which the aircraft will approach before the stall
The downward velocity of the aircraft while stalled
The speed at which the elevator slews to deepstall
The PWM value in microseconds for the elevator at full deflection in deepstall
The maximum aispeed where the deepstall steering controller is allowed to have control
Deepstall lowest airspeed where the deepstall controller isn't allowed full control
Deepstall L1 navigational controller period
Deepstall L1 integratior gain
The yaw rate limit while navigating in deepstall
Time constant for deepstall L1 control
P gain
I gain
D gain
Maximum integrator value
The minimum altitude which the aircraft must be above to abort a deepstall landing
A scalar to reduce or increase the aileron control
Landing Gear Startup behaviour control
| Value | Meaning |
|---|---|
| 0 | WaitForPilotInput |
| 1 | Retract |
| 2 | Deploy |
Pin number to use for detection of gear deployment. If set to -1 feedback is disabled.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUX1 |
| 51 | AUX2 |
| 52 | AUX3 |
| 53 | AUX4 |
| 54 | AUX5 |
| 55 | AUX6 |
Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.
| Value | Meaning |
|---|---|
| 0 | Low |
| 1 | High |
Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUX1 |
| 51 | AUX2 |
| 52 | AUX3 |
| 53 | AUX4 |
| 54 | AUX5 |
| 55 | AUX6 |
Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.
| Value | Meaning |
|---|---|
| 0 | Low |
| 1 | High |
Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.
Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.
Options to retract or deploy landing gear in Auto or Guided mode
Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.
The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.
If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Maximum amount of memory to allocate to AP_Logger-over-mavlink
This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.
Set this such that the free space is larger than your largest typical flight log
The number of mission mission items that has been loaded by the ground station. Do not change this manually.
Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)
| Value | Meaning |
|---|---|
| 0 | Resume Mission |
| 1 | Restart Mission |
Bitmask of what options to use in missions.
Mount Type (None, Servo or MAVLink)
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Servo |
| 2 | 3DR Solo |
| 3 | Alexmos Serial |
| 4 | SToRM32 MAVLink |
| 5 | SToRM32 Serial |
Mount default operating mode on startup and after control is returned from autopilot
| Value | Meaning |
|---|---|
| 0 | Retracted |
| 1 | Neutral |
| 2 | MavLink Targeting |
| 3 | RC Targeting |
| 4 | GPS Point |
Mount roll angle when in retracted position
Mount tilt/pitch angle when in retracted position
Mount yaw/pan angle when in retracted position
Mount roll angle when in neutral position
Mount tilt/pitch angle when in neutral position
Mount pan/yaw angle when in neutral position
enable roll stabilisation relative to Earth
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
enable tilt/pitch stabilisation relative to Earth
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
enable pan/yaw stabilisation relative to Earth
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
0 for none, any other for the RC channel to be used to control roll movements
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 5 | RC5 |
| 6 | RC6 |
| 7 | RC7 |
| 8 | RC8 |
| 9 | RC9 |
| 10 | RC10 |
| 11 | RC11 |
| 12 | RC12 |
Minimum physical roll angular position of mount.
Maximum physical roll angular position of the mount
0 for none, any other for the RC channel to be used to control tilt (pitch) movements
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 5 | RC5 |
| 6 | RC6 |
| 7 | RC7 |
| 8 | RC8 |
| 9 | RC9 |
| 10 | RC10 |
| 11 | RC11 |
| 12 | RC12 |
Minimum physical tilt (pitch) angular position of mount.
Maximum physical tilt (pitch) angular position of the mount
0 for none, any other for the RC channel to be used to control pan (yaw) movements
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 5 | RC5 |
| 6 | RC6 |
| 7 | RC7 |
| 8 | RC8 |
| 9 | RC9 |
| 10 | RC10 |
| 11 | RC11 |
| 12 | RC12 |
Minimum physical pan (yaw) angular position of mount.
Maximum physical pan (yaw) angular position of the mount
0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.
Mount default operating mode on startup and after control is returned from autopilot
| Value | Meaning |
|---|---|
| 0 | Retracted |
| 1 | Neutral |
| 2 | MavLink Targeting |
| 3 | RC Targeting |
| 4 | GPS Point |
Mount2 roll angle when in retracted position
Mount2 tilt/pitch angle when in retracted position
Mount2 yaw/pan angle when in retracted position
Mount2 roll angle when in neutral position
Mount2 tilt/pitch angle when in neutral position
Mount2 pan/yaw angle when in neutral position
enable roll stabilisation relative to Earth
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
enable tilt/pitch stabilisation relative to Earth
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
enable pan/yaw stabilisation relative to Earth
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
0 for none, any other for the RC channel to be used to control roll movements
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 5 | RC5 |
| 6 | RC6 |
| 7 | RC7 |
| 8 | RC8 |
| 9 | RC9 |
| 10 | RC10 |
| 11 | RC11 |
| 12 | RC12 |
Mount2's minimum physical roll angular position
Mount2's maximum physical roll angular position
0 for none, any other for the RC channel to be used to control tilt (pitch) movements
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 5 | RC5 |
| 6 | RC6 |
| 7 | RC7 |
| 8 | RC8 |
| 9 | RC9 |
| 10 | RC10 |
| 11 | RC11 |
| 12 | RC12 |
Mount2's minimum physical tilt (pitch) angular position
Mount2's maximum physical tilt (pitch) angular position
0 for none, any other for the RC channel to be used to control pan (yaw) movements
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 5 | RC5 |
| 6 | RC6 |
| 7 | RC7 |
| 8 | RC8 |
| 9 | RC9 |
| 10 | RC10 |
| 11 | RC11 |
| 12 | RC12 |
Mount2's minimum physical pan (yaw) angular position
MOunt2's maximum physical pan (yaw) angular position
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.
Mount Type (None, Servo or MAVLink)
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Servo |
| 2 | 3DR Solo |
| 3 | Alexmos Serial |
| 4 | SToRM32 MAVLink |
| 5 | SToRM32 Serial |
Used for average cell voltage calculation
| Value | Meaning |
|---|---|
| 0 | Auto |
| 1 | 1 |
| 2 | 2 |
| 3 | 3 |
| 4 | 4 |
| 5 | 5 |
| 6 | 6 |
| 7 | 7 |
| 8 | 8 |
| 9 | 9 |
| 10 | 10 |
| 11 | 11 |
| 12 | 12 |
| 13 | 13 |
| 14 | 14 |
A bitmask to set some MSP specific options
Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.
Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.
Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.
The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly
Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | Low |
| 2 | Medium |
| 3 | High |
Controls what types of Buzzer will be enabled
Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
| Value | Meaning |
|---|---|
| 0 | Standard |
| 1 | MAVLink/Scripting/AP_Periph |
| 2 | OutbackChallenge |
| 3 | TrafficLight |
This sets up the type of on-board I2C display. Disabled by default.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | ssd1306 |
| 2 | sh1106 |
| 10 | SITL |
Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Aircraft |
| 2 | Rover |
Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!
| Value | Meaning |
|---|---|
| 0 | Disabled |
Controls what types of LEDs will be enabled
Specifies pin level that indicates buzzer should play
| Value | Meaning |
|---|---|
| 0 | LowIsOn |
| 1 | HighIsOn |
Control the volume of the buzzer
The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | MAX7456 |
| 2 | SITL |
| 3 | MSP |
| 4 | TXONLY |
This sets the channel used to switch different OSD screens.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 5 | Chan5 |
| 6 | Chan6 |
| 7 | Chan7 |
| 8 | Chan8 |
| 9 | Chan9 |
| 10 | Chan10 |
| 11 | Chan11 |
| 12 | Chan12 |
| 13 | Chan13 |
| 14 | Chan14 |
| 15 | Chan15 |
| 16 | Chan16 |
This sets the method used to switch different OSD screens.
| Value | Meaning |
|---|---|
| 0 | switch to next screen if channel value was changed |
| 1 | select screen based on pwm ranges specified for each screen |
| 2 | switch to next screen after low to high transition and every 1s while channel value is high |
This sets options that change the display
This sets which OSD font to use. It is an integer from 0 to the number of fonts available
Sets vertical offset of the osd inside image
Sets horizontal offset of the osd inside image
Set level at which RSSI item will flash
Set level at which NSAT item will flash
Set level at which BAT_VOLT item will flash
Sets the units to use in displaying items
| Value | Meaning |
|---|---|
| 0 | Metric |
| 1 | Imperial |
| 2 | SI |
| 3 | Aviation |
Sets message duration seconds
Screen to be shown on Arm event. Zero to disable the feature.
Screen to be shown on disarm event. Zero to disable the feature.
Screen to be shown on failsafe event. Zero to disable the feature.
Debounce time in ms for stick commanded parameter navigation.
Set level below which TER_HGT item will flash. -1 disables.
Set level at which AVGCELLV item will flash
Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.
Set level at which RESTVOLT item will flash
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Enables display of altitude AGL
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC signal strength
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays primary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays number of acquired satellites
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight mode
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Mavlink messages
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS ground speed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays distance and relative direction to HOME
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays heading
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays actual throttle percentage being sent to motor(s)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enables display of compass rose
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed value being used by TECS (fused value)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb rate
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's temp
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's rpm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS latitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS longitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of roll from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of pitch from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Horizontal Dilution Of Position
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays bearing and distance to next waypoint
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays crosstrack error
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total distance flown
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight stats
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total flight time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb efficiency (climb rate/current)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight efficiency (mAh/km or /mi)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by secondary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery2 voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays secondary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from secondary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a clock panel based on AP_RTC local time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon side bars (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays artificial horizon crosshair (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays distance from HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays relative direction to HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays power (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery usage bar (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays arming status (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays pluscode (OLC) element
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays callsign from callsign.txt on microSD card
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays 2nd battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays VTX Power
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Height above terrain
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery resting voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays indication of fence enable and breach
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a rangefinder's distance in cm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Enables display of altitude AGL
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC signal strength
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays primary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays number of acquired satellites
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight mode
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Mavlink messages
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS ground speed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays distance and relative direction to HOME
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays heading
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays actual throttle percentage being sent to motor(s)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enables display of compass rose
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed value being used by TECS (fused value)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb rate
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's temp
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's rpm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS latitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS longitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of roll from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of pitch from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Horizontal Dilution Of Position
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays bearing and distance to next waypoint
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays crosstrack error
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total distance flown
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight stats
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total flight time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb efficiency (climb rate/current)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight efficiency (mAh/km or /mi)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by secondary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery2 voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays secondary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from secondary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a clock panel based on AP_RTC local time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon side bars (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays artificial horizon crosshair (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays distance from HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays relative direction to HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays power (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery usage bar (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays arming status (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays pluscode (OLC) element
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays callsign from callsign.txt on microSD card
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays 2nd battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays VTX Power
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Height above terrain
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery resting voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays indication of fence enable and breach
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a rangefinder's distance in cm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Enables display of altitude AGL
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC signal strength
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays primary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays number of acquired satellites
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight mode
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Mavlink messages
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS ground speed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays distance and relative direction to HOME
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays heading
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays actual throttle percentage being sent to motor(s)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enables display of compass rose
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed value being used by TECS (fused value)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb rate
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's temp
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's rpm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS latitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS longitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of roll from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of pitch from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Horizontal Dilution Of Position
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays bearing and distance to next waypoint
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays crosstrack error
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total distance flown
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight stats
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total flight time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb efficiency (climb rate/current)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight efficiency (mAh/km or /mi)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by secondary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery2 voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays secondary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from secondary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a clock panel based on AP_RTC local time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon side bars (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays artificial horizon crosshair (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays distance from HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays relative direction to HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays power (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery usage bar (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays arming status (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays pluscode (OLC) element
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays callsign from callsign.txt on microSD card
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays 2nd battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays VTX Power
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Height above terrain
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery resting voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays indication of fence enable and breach
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a rangefinder's distance in cm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Enables display of altitude AGL
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC signal strength
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays primary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays number of acquired satellites
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight mode
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Mavlink messages
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS ground speed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays distance and relative direction to HOME
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays heading
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays actual throttle percentage being sent to motor(s)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enables display of compass rose
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed value being used by TECS (fused value)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb rate
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's temp
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's rpm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays first esc's current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS latitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS longitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of roll from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of pitch from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Horizontal Dilution Of Position
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays bearing and distance to next waypoint
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays crosstrack error
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total distance flown
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight stats
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total flight time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb efficiency (climb rate/current)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight efficiency (mAh/km or /mi)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by secondary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery2 voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays secondary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from secondary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a clock panel based on AP_RTC local time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon side bars (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays artificial horizon crosshair (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays distance from HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays relative direction to HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays power (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery usage bar (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays arming status (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays pluscode (OLC) element
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays callsign from callsign.txt on microSD card
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays 2nd battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays VTX Power
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Height above terrain
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery resting voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays indication of fence enable and breach
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a rangefinder's distance in cm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Horizontal position of Save button on screen
Vertical position of Save button on screen
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Horizontal position of Save button on screen
Vertical position of Save button on screen
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Time constant in seconds from demanded to achieved pitch angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help.
Maximum pitch up rate that the pitch controller demands (degrees/sec) in ACRO mode.
This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.
Gain added to pitch to keep aircraft from descending or ascending in turns. Increase in increments of 0.05 to reduce altitude loss. Decrease for altitude gain.
Pitch axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
Pitch axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
Pitch axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
Pitch axis rate controller feed forward
Pitch axis rate controller target frequency in Hz
Pitch axis rate controller error frequency in Hz
Pitch axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
| 2 | Enable VTOL AUTO |
Maximum lean angle in all VTOL flight modes
Transition time in milliseconds after minimum airspeed is reached
The maximum ascending vertical velocity the pilot may request in cm/s
The maximum vertical velocity the pilot may request in cm/s going down. If 0, uses Q_VELZ_MAX value.
The vertical acceleration used when pilot is controlling the altitude
This is the PWM refresh rate in Hz for QuadPlane quad motors
This is the minimum PWM output for the quad motors
This is the maximum PWM output for the quad motors
This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. Zero means no assistance except during transition
This is the maximum yaw rate for pilot input on rudder stick in degrees/second
The descent speed for the final stage of landing in cm/s
The altitude at which we should switch to Q_LAND_SPEED descent rate
Maximum pitch during transition to auto fixed wing flight
Controls major frame class for multicopter component
| Value | Meaning |
|---|---|
| 0 | Undefined |
| 1 | Quad |
| 2 | Hexa |
| 3 | Octa |
| 4 | OctaQuad |
| 5 | Y6 |
| 7 | Tri |
| 10 | TailSitter |
| 12 | DodecaHexa |
| 14 | Deca |
| 15 | Scripting Matrix |
Controls motor mixing for multicopter component
| Value | Meaning |
|---|---|
| 0 | Plus |
| 1 | X |
| 2 | V |
| 3 | H |
| 4 | V-Tail |
| 5 | A-Tail |
| 10 | Y6B |
| 11 | Y6F |
| 12 | BetaFlightX |
| 13 | DJIX |
| 14 | ClockwiseX |
| 15 | I |
| 16 | MOTOR_FRAME_TYPE_NYT_PLUS |
| 17 | MOTOR_FRAME_TYPE_NYT_X |
| 18 | BetaFlightXReversed |
Controls use of forward motor in vtol modes. If this is zero then the forward motor will not be used for position control in VTOL modes. A value of 0.05 is a good place to start if you want to use the forward motor for position control. No forward motor will be used in QSTABILIZE or QHOVER modes. Use QLOITER for position hold with the forward motor.
This controls the tendency to yaw to face into the wind. A value of 0.1 is to start with and will give a slow turn into the wind. Use a value of 0.4 for more rapid response. The weathervaning works by turning into the direction of roll.
This set the minimum roll in degrees before active weathervaning will start. This may need to be larger if your aircraft has bad roll trim.
The altitude which QRTL mode heads to initially
If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS meters of the RTL destination, VTOL approach: vehicle will RTL at RTL alt and circle with a radius of Q_FW_LND_APR_RAD down to Q_RLT_ALT and then transission into the wind and QRTL, see 'AUTO VTOL Landing', QRTL Always: do a QRTL instead of RTL
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | VTOL approach |
| 3 | QRTL Always |
This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type.
This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover
This is the maximum angle of the tiltable motors at which multicopter control will be enabled. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT_RATE
This enables use of VTOL in guided mode. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is used to calibrate the throttle range of the VTOL motors. Please read https://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | ThrottleInput |
| 2 | FullInput |
Controls altitude to disable forward velocity assist when below this relative altitude. This is useful to keep the forward velocity propeller from hitting the ground. Rangefinder height data is incorporated when available.
This controls stopping an internal combustion engine in the final landing stage of a VTOL. This is important for aircraft where the forward thrust engine may experience prop-strike if left running during landing. This requires the engine controls are enabled using the ICE_* parameters.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance. This will only be used if Q_ASSIST_SPEED is also non-zero. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least Q_ASSIST_DELAY seconds. Set to zero to disable angle assistance.
This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover, Bicopter tiltrottor must use the tailsitter frame class (10)
| Value | Meaning |
|---|---|
| 0 | Continuous |
| 1 | Binary |
| 2 | VectoredYaw |
| 3 | Bicopter |
This is the pitch angle at which tailsitter aircraft will change from VTOL control to fixed wing control.
This is the pitch angle at which tailsitter aircraft will change from fixed wing control to VTOL control, if zero Q_TAILSIT_ANGLE will be used
This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP value is used.
This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When PlaneMode is not enabled (bit0 = 0) the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When PlaneMode input is enabled, the roll and yaw sticks are swapped so that the roll stick controls earth-frame yaw and rudder controls earth-frame roll. When body-frame roll is enabled (bit1 = 1), the yaw stick controls earth-frame yaw rate and the roll stick controls roll in the tailsitter's body frame when flying level.
This controls what channels have full manual control when hovering as a tailsitter and the Q_TAILSIT_MASKCH channel in high. This can be used to teach yourself to prop-hang a 3D plane by learning one or more channels at a time.
This controls what input channel will activate the Q_TAILSIT_MASK mask. When this channel goes above 1700 then the pilot will have direct manual control of the output channels specified in Q_TAILSIT_MASK. Set to zero to disable.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Channel1 |
| 2 | Channel2 |
| 3 | Channel3 |
| 4 | Channel4 |
| 5 | Channel5 |
| 6 | Channel6 |
| 7 | Channel7 |
| 8 | Channel8 |
This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter
This controls the amount of vectored thrust control used in hover for a vectored tailsitter
This is the angle of the tilt servos when in VTOL mode and at minimum output. This needs to be set for Q_TILT_TYPE=3 to enable vectored control for yaw of tricopter tilt quadplanes. This is also used to limit the forwards travel of bicopter tilts when in VTOL modes
This controls the amount of extra pitch given to the vectored control when at high pitch errors
This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation.
| Value | Meaning |
|---|---|
| 0 | AUTO |
| 1 | FIXED_WING |
| 2 | QUADROTOR |
| 3 | COAXIAL |
| 4 | HELICOPTER |
| 7 | AIRSHIP |
| 8 | FREE_BALLOON |
| 9 | ROCKET |
| 10 | GROUND_ROVER |
| 11 | SURFACE_BOAT |
| 12 | SUBMARINE |
| 16 | FLAPPING_WING |
| 17 | KITE |
| 19 | VTOL_DUOROTOR |
| 20 | VTOL_QUADROTOR |
| 21 | VTOL_TILTROTOR |
Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Use FW Approach:Use a fixed wing approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming, ThrLandControl: enable throttle stick control of landing rate, DisableApproach: Disable use of approach and airbrake stages in VTOL landing, EnableLandResponsition: enable pilot controlled repositioning in AUTO land. Descent will pause while repositioning.
This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight.
Maximum gain scaling for tailsitter Q_TAILSIT_GSCMSK options
This sets the compensation for the pitch angle trim difference between forward and vertical flight pitch, NOTE! this is relative to forward flight trim not mounting locaiton. For tailsitters this is relative to a baseline of 90 degrees.
Maximum Allowed roll angle for tailsitters. If this is zero then Q_ANGLE_MAX is used.
This provides the radius used, when using a fixed wing landing approach. If set to 0 then the WP_LOITER_RAD will be selected.
Maximum time allowed for forward transitions, exceeding this time will cancel the transition and the aircraft will immediately change to QLAND. 0 for no limit.
Bitmask of motors to remain active in forward flight for a 'Copter' tailsitter. Non-zero indicates airframe is a Copter tailsitter and uses copter style motor layouts determined by Q_FRAME_CLASS and Q_FRAME_TYPE. This should be zero for non-Copter tailsitters.
Amount of curvature in throttle curve: 0 is linear, 1 is cubic
The maximum roll rate at full stick deflection in QACRO mode
The maximum pitch rate at full stick deflection in QACRO mode
The maximum yaw rate at full stick deflection in QACRO mode
Scalar for how long past the expected takeoff time a takeoff should be considered as failed and the vehicle will switch to QLAND. If set to 0 there is no limit on takeoff time.
Airspeed limit during takeoff. If the airspeed exceeds this level the vehicle will switch to QLAND. This is useful for ensuring that you don't takeoff into excessively strong wind. If set to 0 there is no limit on airspeed during takeoff.
This is the altitude below which quadplane assistance will be triggered. This acts the same way as Q_ASSIST_ANGLE and Q_ASSIST_SPEED, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running. A value of zero disables this feature. The altutude is calculated as being above ground level. The height above ground is given from a Lidar used if available and RNGFND_LANDING=1. Otherwise it comes from terrain data if TERRAIN_FOLLOW=1 and comes from height above home otherwise.
Bitmask of gain scaling methods to be applied: Throttle: scale gains with throttle, ATT_THR: reduce gain at high throttle/tilt, 2:Disk theory velocity calculation, requires Q_TAILSIT_DSKLD to be set, ATT_THR must not be set, 3:Altitude correction, scale with air density
Minimum gain scaling for tailsitter Q_TAILSIT_GSCMSK options
This is delay between the assistance thresholds being met and the assistance starting.
Maximum value for manual forward throttle; used with RC option FWD_THR (209)
This is the vehicle weight in kg divided by the total disk area of all propellers in m^2. Only used with Q_TAILSIT_GSCMSK = 4
This is the angle the motors tilt down when at maximum output for forward flight. Set this to a non-zero value to enable vectoring for roll/pitch in forward flight on tilt-vectored aircraft
This is the gain for use of tilting motors in fixed wing flight for tilt vectored quadplanes
The pitch rate at which tailsitter aircraft will pitch down in the transition from VTOL to forward flight
The pitch rate at which tailsitter aircraft will pitch up in the transition from forward flight to VTOL
1-byte bitmap of axes to autotune
Autotune aggressiveness. Defines the bounce back used to detect size of the D term.
Defines the minimum D gain
Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes
Maximum acceleration in yaw axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 9000 | VerySlow |
| 18000 | Slow |
| 36000 | Medium |
| 54000 | Fast |
Controls whether body-frame rate feedfoward is enabled or disabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Maximum acceleration in roll axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 30000 | VerySlow |
| 72000 | Slow |
| 108000 | Medium |
| 162000 | Fast |
Maximum acceleration in pitch axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 30000 | VerySlow |
| 72000 | Slow |
| 108000 | Medium |
| 162000 | Fast |
Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate
Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate
Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate
Angle Limit (to maintain altitude) Time Constant
Maximum angular velocity in roll axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 360 | Slow |
| 720 | Medium |
| 1080 | Fast |
Maximum angular velocity in pitch axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 360 | Slow |
| 720 | Medium |
| 1080 | Fast |
Maximum angular velocity in yaw axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 360 | Slow |
| 720 | Medium |
| 1080 | Fast |
Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response
Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
Roll axis rate controller feed forward
Roll axis rate controller target frequency in Hz
Roll axis rate controller error frequency in Hz
Roll axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output
Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
Pitch axis rate controller feed forward
Pitch axis rate controller target frequency in Hz
Pitch axis rate controller error frequency in Hz
Pitch axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output
Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
Yaw axis rate controller feed forward
Yaw axis rate controller target frequency in Hz
Yaw axis rate controller error frequency in Hz
Yaw axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)
Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)
Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX
Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode
Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.
Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.
Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.
Loiter brake start delay (in seconds)
Yaw control is given at least this pwm in microseconds range
Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled
Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled
Maximum current over which maximum throttle is limited (0 = Disabled)
This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | OneShot |
| 2 | OneShot125 |
| 3 | Brushed |
| 4 | DShot150 |
| 5 | DShot300 |
| 6 | DShot600 |
| 7 | DShot1200 |
This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN
This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX
Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.
Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.
Time constant used to limit the maximum current
Motor thrust needed to hover expressed as a number from 0 to 1
Enable/Disable automatic learning of hover throttle
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Learn |
| 2 | Learn and Save |
Disables motor PWM output when disarmed
| Value | Meaning |
|---|---|
| 0 | PWM enabled while disarmed |
| 1 | PWM disabled while disarmed |
Yaw servo's maximum lean angle
Time in seconds to spool up the motors from zero to min throttle.
Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.
Which battery monitor should be used for doing compensation
| Value | Meaning |
|---|---|
| 0 | First battery |
| 1 | Second battery |
Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
Time taken to disable and enable the motor PWM output when disarmed and armed.
Lower values will slow the response of the navigation controller and reduce twitchiness
Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration
Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output
Velocity (vertical) controller D gain. Corrects short-term changes in velocity
Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target
Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms
Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms
Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration
Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate
Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration
Acceleration (vertical) controller feed forward
Acceleration (vertical) controller target frequency in Hz
Acceleration (vertical) controller error frequency in Hz
Acceleration (vertical) controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller
Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration
Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration
Velocity (horizontal) D gain. Corrects short-term changes in velocity
Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms
Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term
Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration
Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value
Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target
Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target
Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission
Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission
Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission
Defines the horizontal acceleration in cm/s/s used during missions
Defines the vertical acceleration in cm/s/s used during missions
This controls if waypoint missions use rangefinder for terrain following
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Defines the horizontal jerk in m/s/s used during missions
Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)
Number of rally points currently loaded
Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.
Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL
| Value | Meaning |
|---|---|
| 0 | DoNotIncludeHome |
| 1 | IncludeHome |
Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
RC input options
Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 4 | ModeRTL |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | ModeAuto |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 29 | Landing Gear |
| 30 | Lost Plane Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 38 | ADSB Avoidance En |
| 41 | ArmDisarm |
| 43 | InvertedFlight |
| 46 | RC Override Enable |
| 51 | ModeManual |
| 55 | ModeGuided |
| 56 | ModeLoiter |
| 58 | Clear Waypoints |
| 62 | Compass Learn |
| 64 | Reverse Throttle |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 72 | ModeCircle |
| 77 | ModeTakeoff |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 81 | Disarm |
| 82 | QAssist 3pos |
| 84 | Air Mode |
| 85 | Generator |
| 86 | Non Auto Terrain Follow Disable |
| 87 | Crow Select |
| 88 | Soaring Enable |
| 89 | Landing Flare |
| 90 | EKF Pos Source |
| 91 | Airspeed Ratio Calibration |
| 92 | FBWA |
| 94 | VTX Power |
| 95 | FBWA taildragger takeoff mode |
| 96 | trigger re-reading of mode switch |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 208 | Flap |
| 209 | Forward Throttle |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended. Reboot is required for changes to take effect.
Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Digital pin number for first relay control. This is the pin used for camera control.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 49 | BB Blue GP0 pin 4 |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
| 57 | BB Blue GP0 pin 3 |
| 113 | BB Blue GP0 pin 6 |
| 116 | BB Blue GP0 pin 5 |
| 27 | BBBMini Pin P8.17 |
Digital pin number for 2nd relay control.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 49 | BB Blue GP0 pin 4 |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
| 57 | BB Blue GP0 pin 3 |
| 113 | BB Blue GP0 pin 6 |
| 116 | BB Blue GP0 pin 5 |
| 65 | BBBMini Pin P8.18 |
Digital pin number for 3rd relay control.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 49 | BB Blue GP0 pin 4 |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
| 57 | BB Blue GP0 pin 3 |
| 113 | BB Blue GP0 pin 6 |
| 116 | BB Blue GP0 pin 5 |
| 22 | BBBMini Pin P8.19 |
Digital pin number for 4th relay control.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 49 | BB Blue GP0 pin 4 |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
| 57 | BB Blue GP0 pin 3 |
| 113 | BB Blue GP0 pin 6 |
| 116 | BB Blue GP0 pin 5 |
| 63 | BBBMini Pin P8.34 |
The state of the relay on boot.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
Digital pin number for 5th relay control.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 49 | BB Blue GP0 pin 4 |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
| 57 | BB Blue GP0 pin 3 |
| 113 | BB Blue GP0 pin 6 |
| 116 | BB Blue GP0 pin 5 |
| 62 | BBBMini Pin P8.13 |
Digital pin number for 6th relay control.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 49 | BB Blue GP0 pin 4 |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
| 57 | BB Blue GP0 pin 3 |
| 113 | BB Blue GP0 pin 6 |
| 116 | BB Blue GP0 pin 5 |
| 37 | BBBMini Pin P8.14 |
Time constant in seconds from demanded to achieved roll angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help.
Maximum roll rate that the roll controller demands (degrees/sec) in ACRO mode.
Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output
Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output
Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
Roll axis rate controller feed forward
Roll axis rate controller target frequency in Hz
Roll axis rate controller error frequency in Hz
Roll axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
What type of rangefinder device that is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Analog |
| 2 | MaxbotixI2C |
| 3 | LidarLite-I2C |
| 5 | PWM |
| 6 | BBB-PRU |
| 7 | LightWareI2C |
| 8 | LightWareSerial |
| 9 | Bebop |
| 10 | MAVLink |
| 11 | uLanding |
| 12 | LeddarOne |
| 13 | MaxbotixSerial |
| 14 | TeraRangerI2C |
| 15 | LidarLiteV3-I2C |
| 16 | VL53L0X or VL53L1X |
| 17 | NMEA |
| 18 | WASP-LRF |
| 19 | BenewakeTF02 |
| 20 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | UAVCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 11 | PX4-airspeed port |
| 15 | Pixhawk-airspeed port |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in centimeters that rangefinder can reliably read
Maximum distance in centimeters that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
| 111 | PX4 FMU Relay1 |
| 112 | PX4 FMU Relay2 |
| 113 | PX4IO Relay1 |
| 114 | PX4IO Relay2 |
| 115 | PX4IO ACC1 |
| 116 | PX4IO ACC2 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
What type of rangefinder device that is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Analog |
| 2 | MaxbotixI2C |
| 3 | LidarLite-I2C |
| 5 | PWM |
| 6 | BBB-PRU |
| 7 | LightWareI2C |
| 8 | LightWareSerial |
| 9 | Bebop |
| 10 | MAVLink |
| 11 | uLanding |
| 12 | LeddarOne |
| 13 | MaxbotixSerial |
| 14 | TeraRangerI2C |
| 15 | LidarLiteV3-I2C |
| 16 | VL53L0X or VL53L1X |
| 17 | NMEA |
| 18 | WASP-LRF |
| 19 | BenewakeTF02 |
| 20 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | UAVCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 11 | PX4-airspeed port |
| 15 | Pixhawk-airspeed port |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in centimeters that rangefinder can reliably read
Maximum distance in centimeters that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
| 111 | PX4 FMU Relay1 |
| 112 | PX4 FMU Relay2 |
| 113 | PX4IO Relay1 |
| 114 | PX4IO Relay2 |
| 115 | PX4IO ACC1 |
| 116 | PX4IO ACC2 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
What type of rangefinder device that is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Analog |
| 2 | MaxbotixI2C |
| 3 | LidarLite-I2C |
| 5 | PWM |
| 6 | BBB-PRU |
| 7 | LightWareI2C |
| 8 | LightWareSerial |
| 9 | Bebop |
| 10 | MAVLink |
| 11 | uLanding |
| 12 | LeddarOne |
| 13 | MaxbotixSerial |
| 14 | TeraRangerI2C |
| 15 | LidarLiteV3-I2C |
| 16 | VL53L0X or VL53L1X |
| 17 | NMEA |
| 18 | WASP-LRF |
| 19 | BenewakeTF02 |
| 20 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | UAVCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 11 | PX4-airspeed port |
| 15 | Pixhawk-airspeed port |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in centimeters that rangefinder can reliably read
Maximum distance in centimeters that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
| 111 | PX4 FMU Relay1 |
| 112 | PX4 FMU Relay2 |
| 113 | PX4IO Relay1 |
| 114 | PX4IO Relay2 |
| 115 | PX4IO ACC1 |
| 116 | PX4IO ACC2 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
What type of rangefinder device that is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Analog |
| 2 | MaxbotixI2C |
| 3 | LidarLite-I2C |
| 5 | PWM |
| 6 | BBB-PRU |
| 7 | LightWareI2C |
| 8 | LightWareSerial |
| 9 | Bebop |
| 10 | MAVLink |
| 11 | uLanding |
| 12 | LeddarOne |
| 13 | MaxbotixSerial |
| 14 | TeraRangerI2C |
| 15 | LidarLiteV3-I2C |
| 16 | VL53L0X or VL53L1X |
| 17 | NMEA |
| 18 | WASP-LRF |
| 19 | BenewakeTF02 |
| 20 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | UAVCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 11 | PX4-airspeed port |
| 15 | Pixhawk-airspeed port |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in centimeters that rangefinder can reliably read
Maximum distance in centimeters that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
| 111 | PX4 FMU Relay1 |
| 112 | PX4 FMU Relay2 |
| 113 | PX4IO Relay1 |
| 114 | PX4IO Relay2 |
| 115 | PX4IO ACC1 |
| 116 | PX4IO ACC2 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
What type of rangefinder device that is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Analog |
| 2 | MaxbotixI2C |
| 3 | LidarLite-I2C |
| 5 | PWM |
| 6 | BBB-PRU |
| 7 | LightWareI2C |
| 8 | LightWareSerial |
| 9 | Bebop |
| 10 | MAVLink |
| 11 | uLanding |
| 12 | LeddarOne |
| 13 | MaxbotixSerial |
| 14 | TeraRangerI2C |
| 15 | LidarLiteV3-I2C |
| 16 | VL53L0X or VL53L1X |
| 17 | NMEA |
| 18 | WASP-LRF |
| 19 | BenewakeTF02 |
| 20 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | UAVCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 11 | PX4-airspeed port |
| 15 | Pixhawk-airspeed port |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in centimeters that rangefinder can reliably read
Maximum distance in centimeters that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
| 111 | PX4 FMU Relay1 |
| 112 | PX4 FMU Relay2 |
| 113 | PX4IO Relay1 |
| 114 | PX4IO Relay2 |
| 115 | PX4IO ACC1 |
| 116 | PX4IO ACC2 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
What type of rangefinder device that is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Analog |
| 2 | MaxbotixI2C |
| 3 | LidarLite-I2C |
| 5 | PWM |
| 6 | BBB-PRU |
| 7 | LightWareI2C |
| 8 | LightWareSerial |
| 9 | Bebop |
| 10 | MAVLink |
| 11 | uLanding |
| 12 | LeddarOne |
| 13 | MaxbotixSerial |
| 14 | TeraRangerI2C |
| 15 | LidarLiteV3-I2C |
| 16 | VL53L0X or VL53L1X |
| 17 | NMEA |
| 18 | WASP-LRF |
| 19 | BenewakeTF02 |
| 20 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | UAVCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 11 | PX4-airspeed port |
| 15 | Pixhawk-airspeed port |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in centimeters that rangefinder can reliably read
Maximum distance in centimeters that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
| 111 | PX4 FMU Relay1 |
| 112 | PX4 FMU Relay2 |
| 113 | PX4IO Relay1 |
| 114 | PX4IO Relay2 |
| 115 | PX4IO ACC1 |
| 116 | PX4IO ACC2 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
What type of rangefinder device that is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Analog |
| 2 | MaxbotixI2C |
| 3 | LidarLite-I2C |
| 5 | PWM |
| 6 | BBB-PRU |
| 7 | LightWareI2C |
| 8 | LightWareSerial |
| 9 | Bebop |
| 10 | MAVLink |
| 11 | uLanding |
| 12 | LeddarOne |
| 13 | MaxbotixSerial |
| 14 | TeraRangerI2C |
| 15 | LidarLiteV3-I2C |
| 16 | VL53L0X or VL53L1X |
| 17 | NMEA |
| 18 | WASP-LRF |
| 19 | BenewakeTF02 |
| 20 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | UAVCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 11 | PX4-airspeed port |
| 15 | Pixhawk-airspeed port |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in centimeters that rangefinder can reliably read
Maximum distance in centimeters that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
| 111 | PX4 FMU Relay1 |
| 112 | PX4 FMU Relay2 |
| 113 | PX4IO Relay1 |
| 114 | PX4IO Relay2 |
| 115 | PX4IO ACC1 |
| 116 | PX4IO ACC2 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
What type of rangefinder device that is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Analog |
| 2 | MaxbotixI2C |
| 3 | LidarLite-I2C |
| 5 | PWM |
| 6 | BBB-PRU |
| 7 | LightWareI2C |
| 8 | LightWareSerial |
| 9 | Bebop |
| 10 | MAVLink |
| 11 | uLanding |
| 12 | LeddarOne |
| 13 | MaxbotixSerial |
| 14 | TeraRangerI2C |
| 15 | LidarLiteV3-I2C |
| 16 | VL53L0X or VL53L1X |
| 17 | NMEA |
| 18 | WASP-LRF |
| 19 | BenewakeTF02 |
| 20 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | UAVCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 11 | PX4-airspeed port |
| 15 | Pixhawk-airspeed port |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in centimeters that rangefinder can reliably read
Maximum distance in centimeters that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
| 111 | PX4 FMU Relay1 |
| 112 | PX4 FMU Relay2 |
| 113 | PX4IO Relay1 |
| 114 | PX4IO Relay2 |
| 115 | PX4IO ACC1 |
| 116 | PX4IO ACC2 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
What type of rangefinder device that is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Analog |
| 2 | MaxbotixI2C |
| 3 | LidarLite-I2C |
| 5 | PWM |
| 6 | BBB-PRU |
| 7 | LightWareI2C |
| 8 | LightWareSerial |
| 9 | Bebop |
| 10 | MAVLink |
| 11 | uLanding |
| 12 | LeddarOne |
| 13 | MaxbotixSerial |
| 14 | TeraRangerI2C |
| 15 | LidarLiteV3-I2C |
| 16 | VL53L0X or VL53L1X |
| 17 | NMEA |
| 18 | WASP-LRF |
| 19 | BenewakeTF02 |
| 20 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | UAVCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 11 | PX4-airspeed port |
| 15 | Pixhawk-airspeed port |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in centimeters that rangefinder can reliably read
Maximum distance in centimeters that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
| 111 | PX4 FMU Relay1 |
| 112 | PX4 FMU Relay2 |
| 113 | PX4IO Relay1 |
| 114 | PX4IO Relay2 |
| 115 | PX4IO ACC1 |
| 116 | PX4IO ACC2 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
What type of rangefinder device that is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Analog |
| 2 | MaxbotixI2C |
| 3 | LidarLite-I2C |
| 5 | PWM |
| 6 | BBB-PRU |
| 7 | LightWareI2C |
| 8 | LightWareSerial |
| 9 | Bebop |
| 10 | MAVLink |
| 11 | uLanding |
| 12 | LeddarOne |
| 13 | MaxbotixSerial |
| 14 | TeraRangerI2C |
| 15 | LidarLiteV3-I2C |
| 16 | VL53L0X or VL53L1X |
| 17 | NMEA |
| 18 | WASP-LRF |
| 19 | BenewakeTF02 |
| 20 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | UAVCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 11 | PX4-airspeed port |
| 15 | Pixhawk-airspeed port |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in centimeters that rangefinder can reliably read
Maximum distance in centimeters that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
| Value | Meaning |
|---|---|
| -1 | Not Used |
| 50 | Pixhawk AUXOUT1 |
| 51 | Pixhawk AUXOUT2 |
| 52 | Pixhawk AUXOUT3 |
| 53 | Pixhawk AUXOUT4 |
| 54 | Pixhawk AUXOUT5 |
| 55 | Pixhawk AUXOUT6 |
| 111 | PX4 FMU Relay1 |
| 112 | PX4 FMU Relay2 |
| 113 | PX4IO Relay1 |
| 114 | PX4IO Relay2 |
| 115 | PX4IO ACC1 |
| 116 | PX4IO ACC2 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
What type of RPM sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | PWM |
| 2 | AUXPIN |
| 3 | EFI |
| 4 | Harmonic Notch |
Scaling factor between sensor reading and RPM.
Maximum RPM to report
Minimum RPM to report
Minimum data quality to be used
Which pin to use
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | PixhawkAUX1 |
| 51 | PixhawkAUX2 |
| 52 | PixhawkAUX3 |
| 53 | PixhawkAUX4 |
| 54 | PixhawkAUX5 |
| 55 | PixhawkAUX6 |
What type of RPM sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | PWM |
| 2 | AUXPIN |
| 3 | EFI |
| 4 | Harmonic Notch |
Scaling factor between sensor reading and RPM.
Which pin to use
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | PixhawkAUX1 |
| 51 | PixhawkAUX2 |
| 52 | PixhawkAUX3 |
| 53 | PixhawkAUX4 |
| 54 | PixhawkAUX5 |
| 55 | PixhawkAUX6 |
Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | AnalogPin |
| 2 | RCChannelPwmValue |
| 3 | ReceiverProtocol |
| 4 | PWMInputPin |
| 5 | TelemetryRadioRSSI |
Pin used to read the RSSI voltage or PWM value
| Value | Meaning |
|---|---|
| 8 | V5 Nano |
| 11 | Pixracer |
| 13 | Pixhawk ADC4 |
| 14 | Pixhawk ADC3 |
| 15 | Pixhawk ADC6/Pixhawk2 ADC |
| 50 | PixhawkAUX1 |
| 51 | PixhawkAUX2 |
| 52 | PixhawkAUX3 |
| 53 | PixhawkAUX4 |
| 54 | PixhawkAUX5 |
| 55 | PixhawkAUX6 |
| 103 | Pixhawk SBUS |
RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH
RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW
The channel number where RSSI will be output by the radio receiver (5 and above).
PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH
PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW
Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 2 | ShowSlips |
| 3 | ShowOverruns |
This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.
| Value | Meaning |
|---|---|
| 50 | 50Hz |
| 100 | 100Hz |
| 200 | 200Hz |
| 250 | 250Hz |
| 300 | 300Hz |
| 400 | 400Hz |
This controls optional aspects of the scheduler.
Controls if scripting is enabled
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Lua Scripts |
The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time
Amount of memory available for scripting
The higher the number the more verbose builtin scripting debug will be.
General purpose user variable input for scripts
General purpose user variable input for scripts
General purpose user variable input for scripts
General purpose user variable input for scripts
This will stop scripts being loaded from the given locations
The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1500000 |
Control what protocol to use on the console.
| Value | Meaning |
|---|---|
| 1 | MAVlink1 |
| 2 | MAVLink2 |
Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | SToRM32 Gimbal Serial |
| 9 | Rangefinder |
| 10 | FrSky SPort Passthrough (OpenTX) |
| 11 | Lidar360 |
| 13 | Beacon |
| 14 | Volz servo out |
| 15 | SBus servo out |
| 16 | ESC Telemetry |
| 17 | Devo Telemetry |
| 18 | OpticalFlow |
| 19 | RobotisServo |
| 20 | NMEA Output |
| 21 | WindVane |
| 22 | SLCAN |
| 23 | RCIN |
| 24 | MegaSquirt EFI |
| 25 | LTM |
| 26 | RunCam |
| 27 | HottTelem |
| 28 | Scripting |
| 29 | Crossfire |
| 30 | Generator |
| 31 | Winch |
| 32 | MSP |
| 33 | DJI FPV |
| 34 | AirSpeed |
| 35 | ADSB |
| 36 | AHRS |
| 37 | SmartAudio |
The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1500000 |
Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | SToRM32 Gimbal Serial |
| 9 | Rangefinder |
| 10 | FrSky SPort Passthrough (OpenTX) |
| 11 | Lidar360 |
| 13 | Beacon |
| 14 | Volz servo out |
| 15 | SBus servo out |
| 16 | ESC Telemetry |
| 17 | Devo Telemetry |
| 18 | OpticalFlow |
| 19 | RobotisServo |
| 20 | NMEA Output |
| 21 | WindVane |
| 22 | SLCAN |
| 23 | RCIN |
| 24 | MegaSquirt EFI |
| 25 | LTM |
| 26 | RunCam |
| 27 | HottTelem |
| 28 | Scripting |
| 29 | Crossfire |
| 30 | Generator |
| 31 | Winch |
| 32 | MSP |
| 33 | DJI FPV |
| 34 | AirSpeed |
| 35 | ADSB |
| 36 | AHRS |
| 37 | SmartAudio |
The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1500000 |
Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | SToRM32 Gimbal Serial |
| 9 | Rangefinder |
| 10 | FrSky SPort Passthrough (OpenTX) |
| 11 | Lidar360 |
| 13 | Beacon |
| 14 | Volz servo out |
| 15 | SBus servo out |
| 16 | ESC Telemetry |
| 17 | Devo Telemetry |
| 18 | OpticalFlow |
| 19 | RobotisServo |
| 20 | NMEA Output |
| 21 | WindVane |
| 22 | SLCAN |
| 23 | RCIN |
| 24 | MegaSquirt EFI |
| 25 | LTM |
| 26 | RunCam |
| 27 | HottTelem |
| 28 | Scripting |
| 29 | Crossfire |
| 30 | Generator |
| 31 | Winch |
| 32 | MSP |
| 33 | DJI FPV |
| 34 | AirSpeed |
| 35 | ADSB |
| 36 | AHRS |
| 37 | SmartAudio |
The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1500000 |
Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | SToRM32 Gimbal Serial |
| 9 | Rangefinder |
| 10 | FrSky SPort Passthrough (OpenTX) |
| 11 | Lidar360 |
| 13 | Beacon |
| 14 | Volz servo out |
| 15 | SBus servo out |
| 16 | ESC Telemetry |
| 17 | Devo Telemetry |
| 18 | OpticalFlow |
| 19 | RobotisServo |
| 20 | NMEA Output |
| 21 | WindVane |
| 22 | SLCAN |
| 23 | RCIN |
| 24 | MegaSquirt EFI |
| 25 | LTM |
| 26 | RunCam |
| 27 | HottTelem |
| 28 | Scripting |
| 29 | Crossfire |
| 30 | Generator |
| 31 | Winch |
| 32 | MSP |
| 33 | DJI FPV |
| 34 | AirSpeed |
| 35 | ADSB |
| 36 | AHRS |
| 37 | SmartAudio |
The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1500000 |
Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | SToRM32 Gimbal Serial |
| 9 | Rangefinder |
| 10 | FrSky SPort Passthrough (OpenTX) |
| 11 | Lidar360 |
| 13 | Beacon |
| 14 | Volz servo out |
| 15 | SBus servo out |
| 16 | ESC Telemetry |
| 17 | Devo Telemetry |
| 18 | OpticalFlow |
| 19 | RobotisServo |
| 20 | NMEA Output |
| 21 | WindVane |
| 22 | SLCAN |
| 23 | RCIN |
| 24 | MegaSquirt EFI |
| 25 | LTM |
| 26 | RunCam |
| 27 | HottTelem |
| 28 | Scripting |
| 29 | Crossfire |
| 30 | Generator |
| 31 | Winch |
| 32 | MSP |
| 33 | DJI FPV |
| 34 | AirSpeed |
| 35 | ADSB |
| 36 | AHRS |
| 37 | SmartAudio |
The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1500000 |
Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | SToRM32 Gimbal Serial |
| 9 | Rangefinder |
| 10 | FrSky SPort Passthrough (OpenTX) |
| 11 | Lidar360 |
| 13 | Beacon |
| 14 | Volz servo out |
| 15 | SBus servo out |
| 16 | ESC Telemetry |
| 17 | Devo Telemetry |
| 18 | OpticalFlow |
| 19 | RobotisServo |
| 20 | NMEA Output |
| 21 | WindVane |
| 22 | SLCAN |
| 23 | RCIN |
| 24 | MegaSquirt EFI |
| 25 | LTM |
| 26 | RunCam |
| 27 | HottTelem |
| 28 | Scripting |
| 29 | Crossfire |
| 30 | Generator |
| 31 | Winch |
| 32 | MSP |
| 33 | DJI FPV |
| 34 | AirSpeed |
| 35 | ADSB |
| 36 | AHRS |
| 37 | SmartAudio |
The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1500000 |
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.
Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | SToRM32 Gimbal Serial |
| 9 | Rangefinder |
| 10 | FrSky SPort Passthrough (OpenTX) |
| 11 | Lidar360 |
| 13 | Beacon |
| 14 | Volz servo out |
| 15 | SBus servo out |
| 16 | ESC Telemetry |
| 17 | Devo Telemetry |
| 18 | OpticalFlow |
| 19 | RobotisServo |
| 20 | NMEA Output |
| 21 | WindVane |
| 22 | SLCAN |
| 23 | RCIN |
| 24 | MegaSquirt EFI |
| 25 | LTM |
| 26 | RunCam |
| 27 | HottTelem |
| 28 | Scripting |
| 29 | Crossfire |
| 30 | Generator |
| 31 | Winch |
| 32 | MSP |
| 33 | DJI FPV |
| 34 | AirSpeed |
| 35 | ADSB |
| 36 | AHRS |
The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1500000 |
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | SToRM32 Gimbal Serial |
| 9 | Rangefinder |
| 10 | FrSky SPort Passthrough (OpenTX) |
| 11 | Lidar360 |
| 13 | Beacon |
| 14 | Volz servo out |
| 15 | SBus servo out |
| 16 | ESC Telemetry |
| 17 | Devo Telemetry |
| 18 | OpticalFlow |
| 19 | RobotisServo |
| 20 | NMEA Output |
| 21 | WindVane |
| 22 | SLCAN |
| 23 | RCIN |
| 24 | MegaSquirt EFI |
| 25 | LTM |
| 26 | RunCam |
| 27 | HottTelem |
| 28 | Scripting |
| 29 | Crossfire |
| 30 | Generator |
| 31 | Winch |
| 32 | MSP |
| 33 | DJI FPV |
| 34 | AirSpeed |
| 35 | ADSB |
| 36 | AHRS |
The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1500000 |
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights. The automatic trim won't go more than 20% away from a centered trim.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
This sets the default output rate in Hz for all outputs.
This sets the DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.
| Value | Meaning |
|---|---|
| 0 | 1Khz |
| 1 | loop-rate |
| 2 | double loop-rate |
| 3 | triple loop-rate |
| 4 | quadruple loop rate |
This sets the DShot ESC type for all outputs. The ESC type affects the range of DShot commands available. None means that no dshot commands will be executed.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | BLHeli32/BLHeli_S/Kiss |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RCPassThru |
| 2 | Flap |
| 3 | FlapAuto |
| 4 | Aileron |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 16 | DifferentialSpoilerLeft1 |
| 17 | DifferentialSpoilerRight1 |
| 19 | Elevator |
| 21 | Rudder |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 24 | FlaperonLeft |
| 25 | FlaperonRight |
| 26 | GroundSteering |
| 27 | Parachute |
| 28 | Gripper |
| 29 | LandingGear |
| 30 | EngineRunEnable |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7/TailTiltServo |
| 40 | Motor8 |
| 41 | TiltMotorsFront |
| 45 | TiltMotorsRear |
| 46 | TiltMotorRearLeft |
| 47 | TiltMotorRearRight |
| 51 | RCIN1 |
| 52 | RCIN2 |
| 53 | RCIN3 |
| 54 | RCIN4 |
| 55 | RCIN5 |
| 56 | RCIN6 |
| 57 | RCIN7 |
| 58 | RCIN8 |
| 59 | RCIN9 |
| 60 | RCIN10 |
| 61 | RCIN11 |
| 62 | RCIN12 |
| 63 | RCIN13 |
| 64 | RCIN14 |
| 65 | RCIN15 |
| 66 | RCIN16 |
| 67 | Ignition |
| 69 | Starter |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)
If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TestMotor1 |
| 2 | TestMotor2 |
| 3 | TestMotor3 |
| 4 | TestMotor4 |
| 5 | TestMotor5 |
| 6 | TestMotor6 |
| 7 | TestMotor7 |
| 8 | TestMotor8 |
This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout
This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests
When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | OneShot |
| 2 | OneShot125 |
| 3 | Brushed |
| 4 | DShot150 |
| 5 | DShot300 |
| 6 | DShot600 |
| 7 | DShot1200 |
This sets the serial port to use for blheli pass-thru
| Value | Meaning |
|---|---|
| 0 | Console |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
This allows calculation of true RPM from ESC's eRPM. The default is 14.
Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction
Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.
Mask of channels which are reversed. This is used to configure ESCs in reversed mode
Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095
Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095
This sets the SBUS output frame rate in Hz.
Enable of volz servo protocol to specific channels
Toggles the soaring mode on and off
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Rate of climb to trigger themalling speed
Standard deviation of noise in process for strength
Standard deviation of noise in process for position and radius
Standard deviation of noise in measurement
Initial guess of the distance to the thermal center
Minimum number of seconds to spend thermalling
Minimum number of seconds to spend cruising
Zero lift drag coefficient
Induced drag coeffient
Cl factor 2*m*g/(rho*S)
Don't thermal any higher than this.
Don't get any lower than this.
Cut off throttle at this alt.
The previous mode will be restored if the horizontal distance to the thermalling start location exceeds this value. -1 to disable.
RTL will be entered when a thermal is exited and the plane is more than this distance from home. -1 to disable.
This parameter sets the bank angle to use when thermalling. Typically 30 - 45 degrees works well.
Raw sensor stream rate to ground station
Extended status stream rate to ground station
RC Channel stream rate to ground station
Raw Control stream rate to ground station
Position stream rate to ground station
Extra data type 1 stream rate to ground station
Extra data type 2 stream rate to ground station
Extra data type 3 stream rate to ground station
Parameter stream rate to ground station
ADSB stream rate to ground station
Raw sensor stream rate to ground station
Extended status stream rate to ground station
RC Channel stream rate to ground station
Raw Control stream rate to ground station
Position stream rate to ground station
Extra data type 1 stream rate to ground station
Extra data type 2 stream rate to ground station
Extra data type 3 stream rate to ground station
Parameter stream rate to ground station
ADSB stream rate to ground station
Raw sensor stream rate to ground station
Extended status stream rate to ground station
RC Channel stream rate to ground station
Raw Control stream rate to ground station
Position stream rate to ground station
Extra data type 1 stream rate to ground station
Extra data type 2 stream rate to ground station
Extra data type 3 stream rate to ground station
Parameter stream rate to ground station
ADSB stream rate to ground station
Raw sensor stream rate to ground station
Extended status stream rate to ground station
RC Channel stream rate to ground station
Raw Control stream rate to ground station
Position stream rate to ground station
Extra data type 1 stream rate to ground station
Extra data type 2 stream rate to ground station
Extra data type 3 stream rate to ground station
Parameter stream rate to ground station
ADSB stream rate to ground station
Raw sensor stream rate to ground station
Extended status stream rate to ground station
RC Channel stream rate to ground station
Raw Control stream rate to ground station
Position stream rate to ground station
Extra data type 1 stream rate to ground station
Extra data type 2 stream rate to ground station
Extra data type 3 stream rate to ground station
Parameter stream rate to ground station
ADSB stream rate to ground station
Raw sensor stream rate to ground station
Extended status stream rate to ground station
RC Channel stream rate to ground station
Raw Control stream rate to ground station
Position stream rate to ground station
Extra data type 1 stream rate to ground station
Extra data type 2 stream rate to ground station
Extra data type 3 stream rate to ground station
Parameter stream rate to ground station
ADSB stream rate to ground station
Raw sensor stream rate to ground station
Extended status stream rate to ground station
RC Channel stream rate to ground station
Raw Control stream rate to ground station
Position stream rate to ground station
Extra data type 1 stream rate to ground station
Extra data type 2 stream rate to ground station
Extra data type 3 stream rate to ground station
Parameter stream rate to ground station
ADSB stream rate to ground station
Number of times board has been booted
Total FlightTime (seconds)
Total time autopilot has run
Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)
This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve.
The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle
This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle.
This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle.
This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim.
This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed.
The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed.
Speed after that the maximum degree of steering will start to derate. Set this speed to a maximum speed that a plane can do controlled turn at maximum angle of steering wheel without rolling to wing. If 0 then no derating is used.
Degrees of steering wheel to derate at each additional m/s of speed above "Derating speed". Should be set so that at higher speeds the plane does not roll to the wing in turns.
The angle that limits smallest angle of steering wheel at maximum speed. Even if it should derate below, it will stop derating at this angle.
Maximum demanded climb rate. Do not set higher than the climb speed at THR_MAX at TRIM_ARSPD_CM when the battery is at low voltage. Reduce value if airspeed cannot be maintained on ascent. Increase value if throttle does not increase significantly to ascend.
Minimum sink rate when at THR_MIN and TRIM_ARSPD_CM.
Time constant of the TECS control algorithm. Small values make faster altitude corrections but can cause overshoot and aggressive behavior.
Damping gain for throttle demand loop. Increase to add throttle activity to dampen oscillations in speed and height.
Integrator gain to trim out long-term speed and height errors.
Maximum vertical acceleration used to correct speed or height errors.
This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height.
This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed.
Gain from bank angle to throttle to compensate for loss of airspeed from drag in turns. Set to approximately 10x the sink rate in m/s caused by a 45-degree turn. High efficiency models may need less while less efficient aircraft may need more. Should be tuned in an automatic mission with waypoints and turns greater than 90 degrees. Tune with PTCH2SRV_RLL and KFF_RDDRMIX to achieve constant airspeed, constant altitude turns.
Mixing of pitch and throttle correction for height and airspeed errors. Pitch controls altitude and throttle controls airspeed if set to 0. Pitch controls airspeed and throttle controls altitude if set to 2 (good for gliders). Blended if set to 1.
Damping gain for pitch control from TECS control. Increasing may correct for oscillations in speed and height, but too much may cause additional oscillation and degraded control.
Maximum demanded descent rate. Do not set higher than the vertical speed the aircraft can maintain at THR_MIN, TECS_PITCH_MIN, and ARSPD_FBW_MAX.
When performing an autonomus landing, this value is used as the goal airspeed during approach. Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead). If negative then this value is not used during landing.
Use this parameter instead of LAND_ARSPD if your platform does not have an airspeed sensor. It is the cruise throttle during landing approach. If this value is negative then it is disabled and TECS_LAND_ARSPD is used instead.
Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages. A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point). A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall. Values between 0 and 2 are valid values for a fixed landing weight. When using -1 the weight will be scaled during the landing. At the start of the landing approach it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the land point. Example: Halfway down the landing approach you'll effectively have a weight of TECS_SPDWEIGHT/2.
Overrides LIM_PITCH_MAX in automatic throttle modes to reduce climb rates. Uses LIM_PITCH_MAX if set to 0. For proper TECS tuning, set to the angle that the aircraft can climb at TRIM_ARSPD_CM and THR_MAX.
Overrides LIM_PITCH_MIN in automatic throttle modes to reduce descent rates. Uses LIM_PITCH_MIN if set to 0. For proper TECS tuning, set to the angle that the aircraft can descend at without overspeeding.
The sink rate in meters/second for the final stage of landing.
This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare
This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare.
This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits.
The sink rate max for the landing approach stage of landing. This will need to be large for steep landing approaches especially when using reverse thrust. If 0, then use TECS_SINK_MAX.
When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.
Damping gain for the throttle demand loop during an auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add throttle activity to dampen oscillations in speed and height. When set to 0 landing throttle damping is controlled by TECS_THR_DAMP.
This is the integrator gain on the control loop during landing. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work best
This is the integrator gain on the control loop during takeoff. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values higher than TECS_INTEG_GAIN work best
This is the damping gain for the pitch demand loop during landing. Increase to add damping to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead.
This enable the use of synthetic airspeed for aircraft that don't have a real airspeed sensor. This is useful for development testing where the user is aware of the considerable limitations of the synthetic airspeed system, such as very poor estimates when a wind estimate is not accurate. Do not enable this option unless you fully understand the limitations of a synthetic airspeed estimate.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
This allows the enabling of special features in the speed/height controller
This parameter sets the airspeed at which no feed-forward is applied between demanded airspeed and pitch. It should correspond to the airspeed in metres per second at which the plane glides at neutral pitch including STAB_PITCH_DOWN.
This parameter sets the gain between demanded airspeed and pitch. It has units of radians per metre per second and should generally be negative. A good starting value is -0.04 for gliders and -0.08 for draggy airframes. The default (0.0) disables this feed-forward.
enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed.
Options to change behaviour of terrain system
This is the target altitude for TAKEOFF mode
This is the altitude below which wings are held level for TAKEOFF mode
This is the target pitch for the initial climb to TKOFF_LVL_ALT
This is the distance from the takeoff location where the plane will loiter. The loiter point will be in the direction of takeoff (the direction the plane is facing when the motor starts)
This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RateRollPI |
| 2 | RateRollP |
| 3 | RateRollI |
| 4 | RateRollD |
| 5 | RatePitchPI |
| 6 | RatePitchP |
| 7 | RatePitchI |
| 8 | RatePitchD |
| 9 | RateYawPI |
| 10 | RateYawP |
| 11 | RateYawI |
| 12 | RateYawD |
| 13 | AngleRollP |
| 14 | AnglePitchP |
| 15 | AngleYawP |
| 16 | PosXYP |
| 17 | PosZP |
| 18 | VelXYP |
| 19 | VelXYI |
| 20 | VelZP |
| 21 | AccelZP |
| 22 | AccelZI |
| 23 | AccelZD |
| 50 | FixedWingRollP |
| 51 | FixedWingRollI |
| 52 | FixedWingRollD |
| 53 | FixedWingRollFF |
| 54 | FixedWingPitchP |
| 55 | FixedWingPitchI |
| 56 | FixedWingPitchD |
| 57 | FixedWingPitchFF |
| 101 | Set_RateRollPitch |
| 102 | Set_RateRoll |
| 103 | Set_RatePitch |
| 104 | Set_RateYaw |
| 105 | Set_AngleRollPitch |
| 106 | Set_VelXY |
| 107 | Set_AccelZ |
This sets the channel for transmitter tuning. This should be connected to a knob or slider on your transmitter. It needs to be setup to use the PWM range given by TUNE_CHAN_MIN to TUNE_CHAN_MAX
| Value | Meaning |
|---|---|
| 0 | Disable |
| 5 | Chan5 |
| 6 | Chan6 |
| 7 | Chan7 |
| 8 | Chan8 |
| 9 | Chan9 |
| 10 | Chan10 |
| 11 | Chan11 |
| 12 | Chan12 |
| 13 | Chan13 |
| 14 | Chan14 |
| 15 | Chan15 |
| 16 | Chan16 |
This sets the PWM lower limit for the tuning channel
This sets the PWM upper limit for the tuning channel
This sets the channel for the transmitter tuning selector switch. This should be a 2 position switch, preferably spring loaded. A PWM above 1700 means high, below 1300 means low. If no selector is set then you won't be able to switch between parameters during flight or re-center the tuning knob
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Chan1 |
| 2 | Chan3 |
| 3 | Chan3 |
| 4 | Chan4 |
| 5 | Chan5 |
| 6 | Chan6 |
| 7 | Chan7 |
| 8 | Chan8 |
| 9 | Chan9 |
| 10 | Chan10 |
| 11 | Chan11 |
| 12 | Chan12 |
| 13 | Chan13 |
| 14 | Chan14 |
| 15 | Chan15 |
| 16 | Chan16 |
This sets the range over which tuning will change a parameter. A value of 2 means the tuning parameter will go from 0.5 times the start value to 2x the start value over the range of the tuning channel
This controls whether tuning values will revert on a flight mode change.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability
Visual odometry camera connection type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | MAVLink |
| 2 | IntelT265 |
X position of the camera in body frame. Positive X is forward of the origin.
Y position of the camera in body frame. Positive Y is to the right of the origin.
Z position of the camera in body frame. Positive Z is down from the origin.
Visual odometery camera orientation
| Value | Meaning |
|---|---|
| 0 | Forward |
| 2 | Right |
| 4 | Back |
| 6 | Left |
| 24 | Up |
| 25 | Down |
Visual odometry scaling factor applied to position estimates from sensor
Visual odometry sensor delay relative to inertial measurements
Visual odometry velocity measurement noise in m/s
Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)
Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)
Toggles the Video Transmitter on and off
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level
Video Transmitter Channel
Video Transmitter Band
| Value | Meaning |
|---|---|
| 0 | Band A |
| 1 | Band B |
| 2 | Band E |
| 3 | Airwave |
| 4 | RaceBand |
| 5 | Low RaceBand |
Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL
Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels.
Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.
Gain from lateral acceleration to demanded yaw rate for aircraft with enough fuselage area to detect lateral acceleration and sideslips. Do not enable for flying wings and gliders. Actively coordinates flight more than just yaw damping. Set after YAW2SRV_DAMP and YAW2SRV_INT are tuned.
Integral gain from lateral acceleration error. Effectively trims rudder to eliminate long-term sideslip.
Gain from yaw rate to rudder. Most effective at yaw damping and should be tuned after KFF_RDDRMIX. Also disables YAW2SRV_INT if set to 0.
Gain to the yaw rate required to keep it consistent with the turn rate in a coordinated turn. Corrects for yaw tendencies after the turn is established. Increase yaw into the turn by raising. Increase yaw out of the turn by decreasing. Values outside of 0.9-1.1 range indicate airspeed calibration problems.
Limit of yaw integrator gain in centi-degrees of servo travel. Servos are assumed to have +/- 4500 centi-degrees of travel, so a value of 1500 allows trim of up to 1/3 of servo travel range.