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
Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices 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, Rangefinder=16384, Arming=32768, FullLogs=65535
RC channel to use to reset to last flight mode after geofence takeover.
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. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | Acro |
| 3 | Steering |
| 4 | Hold |
| 5 | Loiter |
| 6 | Follow |
| 7 | Simple |
| 10 | Auto |
| 11 | RTL |
| 12 | SmartRTL |
| 15 | Guided |
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.
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
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Steering |
| 2 | Throttle |
| 4 | Pitch |
| 8 | Left Wheel |
| 16 | Right Wheel |
| 32 | Sailboat Heel |
pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | APM TriggerPin0 |
| 1 | APM TriggerPin1 |
| 2 | APM TriggerPin2 |
| 3 | APM TriggerPin3 |
| 4 | APM TriggerPin4 |
| 5 | APM TriggerPin5 |
| 6 | APM TriggerPin6 |
| 7 | APM TriggerPin7 |
| 8 | APM TriggerPin8 |
| 50 | Pixhawk TriggerPin50 |
| 51 | Pixhawk TriggerPin51 |
| 52 | Pixhawk TriggerPin52 |
| 53 | Pixhawk TriggerPin53 |
| 54 | Pixhawk TriggerPin54 |
| 55 | Pixhawk TriggerPin55 |
X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor
The target speed in auto missions.
The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going.
Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control
| Value | Meaning |
|---|---|
| 0 | Default |
| 1 | Two Paddles Input |
| 2 | Direction reversed when backing up |
| 3 | Direction unchanged when backing up |
What to do on a failsafe event
| Value | Meaning |
|---|---|
| 0 | Nothing |
| 1 | RTL |
| 2 | Hold |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Hold |
The time in seconds that a failsafe condition must persist before the failsafe action is triggered
The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Enabled Continue with Mission in Auto |
The PWM level on the throttle channel below which throttle failsafe triggers.
Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Enabled Continue with Mission in Auto |
What to do on a crash event. When enabled the rover will go to hold if a crash is detected.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Hold |
| 2 | HoldAndDisarm |
Controls the action that will be taken when an EKF failsafe is invoked
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Hold |
| 2 | ReportOnly |
Allows setting the maximum acceptable compass and velocity variance
RC Channel to use for driving mode control
Driving mode for switch position 1 (910 to 1230 and above 2049)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | Acro |
| 3 | Steering |
| 4 | Hold |
| 5 | Loiter |
| 6 | Follow |
| 7 | Simple |
| 10 | Auto |
| 11 | RTL |
| 12 | SmartRTL |
| 15 | Guided |
Driving mode for switch position 2 (1231 to 1360)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | Acro |
| 3 | Steering |
| 4 | Hold |
| 5 | Loiter |
| 6 | Follow |
| 7 | Simple |
| 10 | Auto |
| 11 | RTL |
| 12 | SmartRTL |
| 15 | Guided |
Driving mode for switch position 3 (1361 to 1490)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | Acro |
| 3 | Steering |
| 4 | Hold |
| 5 | Loiter |
| 6 | Follow |
| 7 | Simple |
| 10 | Auto |
| 11 | RTL |
| 12 | SmartRTL |
| 15 | Guided |
Driving mode for switch position 4 (1491 to 1620)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | Acro |
| 3 | Steering |
| 4 | Hold |
| 5 | Loiter |
| 6 | Follow |
| 7 | Simple |
| 10 | Auto |
| 11 | RTL |
| 12 | SmartRTL |
| 15 | Guided |
Driving mode for switch position 5 (1621 to 1749)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | Acro |
| 3 | Steering |
| 4 | Hold |
| 5 | Loiter |
| 6 | Follow |
| 7 | Simple |
| 10 | Auto |
| 11 | RTL |
| 12 | SmartRTL |
| 15 | Guided |
Driving mode for switch position 6 (1750 to 2049)
| Value | Meaning |
|---|---|
| 0 | Manual |
| 1 | Acro |
| 3 | Steering |
| 4 | Hold |
| 5 | Loiter |
| 6 | Follow |
| 7 | Simple |
| 10 | Auto |
| 11 | RTL |
| 12 | SmartRTL |
| 15 | Guided |
This controls whether packets from other than the expected GCS system ID will be accepted
| Value | Meaning |
|---|---|
| 0 | NotEnforced |
| 1 | Enforced |
Turn radius of vehicle in meters while at low speeds. Lower values produce tighter turns in steering mode
Acro mode turn rate maximum
Return-to-Launch speed default. If zero use WP_SPEED or CRUISE_SPEED.
Frame Class
| Value | Meaning |
|---|---|
| 0 | Undefined |
| 1 | Rover |
| 2 | Boat |
| 3 | BalanceBot |
Pitch angle in degrees at 100% throttle
Pitch/Roll angle limit in degrees for crash check. Zero disables check
Frame Type
| Value | Meaning |
|---|---|
| 0 | Undefined |
| 1 | Omni3 |
| 2 | OmniX |
| 3 | OmniPlus |
Loiter behaviour when moving to the target point
| Value | Meaning |
|---|---|
| 0 | Forward or reverse to target point |
| 1 | Always face bow towards target point |
| 2 | Always face stern towards target point |
Simple mode types
| Value | Meaning |
|---|---|
| 0 | InitialHeading |
| 1 | CardinalDirections |
Vehicle will drift when within this distance of the target position
Behaviour after mission completes
| Value | Meaning |
|---|---|
| 0 | Hold |
| 1 | Loiter |
| 2 | Acro |
| 3 | Manual |
Balance Bot pitch trim for balancing. This offsets the tilt of the center of mass.
When enabled, this adds steering user stick input in auto modes, allowing the user to have some degree of control without changing modes.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Maximum speed vehicle can obtain at full throttle. If 0, it will be estimated based on CRUISE_SPEED and CRUISE_THROTTLE.
Determines how agressively LOITER tries to correct for drift from loiter point. Higher is faster but default should be acceptable.
Bitmask to enable Rover failsafe options
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Failsafe enabled in Hold mode |
What to do use channel 7 for
| Value | Meaning |
|---|---|
| 0 | Nothing |
| 1 | SaveWaypoint |
| 2 | LearnCruiseSpeed |
| 3 | ArmDisarm |
| 4 | Manual |
| 5 | Acro |
| 6 | Steering |
| 7 | Hold |
| 8 | Auto |
| 9 | RTL |
| 10 | SmartRTL |
| 11 | Guided |
| 12 | Loiter |
RC Channel to use for auxiliary functions including saving waypoints
Navigation angle threshold in degrees to switch to pivot steering. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns.
Desired pivot turn rate in deg/s.
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) |
Steering control rate P gain. Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1)
Steering control I gain. Corrects long term error between the desired turn rate (in rad/s) and actual
Steering control I gain maximum. Constrains the steering output (range -1 to +1) that the I term will generate
Steering control D gain. Compensates for short-term change in desired turn rate vs actual
Steering control feed forward
Steering control input filter. Lower values reduce noise but add delay.
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.
Speed control P gain. Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1)
Speed control I gain. Corrects long term error between the desired speed (in m/s) and actual speed
Speed control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate
Speed control D gain. Compensates for short-term change in desired speed vs actual
Speed control feed forward
Speed control input filter. Lower values reduce noise but add delay.
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.
Speed control acceleration (and deceleration) maximum in m/s/s. 0 to disable acceleration limiting
Speed control brake enable/disable. Allows sending a reversed output to the motors to slow the vehicle.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Speed control stop speed. Motor outputs to zero once vehicle speed falls below this value
Steering control angle P gain. Converts the error between the desired heading/yaw (in radians) and actual heading/yaw to a desired turn rate (in rad/sec)
Steering control angular acceleration maximum (in deg/s/s). 0 to disable acceleration limiting
Steering control rotation rate maximum in deg/s. 0 to remove rate limiting
Speed control and deceleration maximum in m/s/s. 0 to use ATC_ACCEL_MAX for deceleration
Pitch control P gain for BalanceBots. Converts the error between the desired pitch (in radians) and actual pitch to a motor output (in the range -1 to +1)
Pitch control I gain for BalanceBots. Corrects long term error between the desired pitch (in radians) and actual pitch
Pitch control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate
Pitch control D gain. Compensates for short-term change in desired pitch vs actual
Pitch control feed forward
Pitch control input filter. Lower values reduce noise but add delay.
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.
Pitch control feed forward from speed
Sail Heel control P gain for sailboats. Converts the error between the desired heel angle (in radians) and actual heel to a main sail output (in the range -1 to +1)
Sail Heel control I gain for sailboats. Corrects long term error between the desired heel angle (in radians) and actual
Sail Heel control I gain maximum. Constrains the maximum I term contribution to the main sail output (range -1 to +1)
Sail Heel control D gain. Compensates for short-term change in desired heel angle vs actual
Sail Heel control feed forward
Sail Heel control input filter. Lower values reduce noise but add delay.
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.
The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns
Enabled/disable avoidance input sources
Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes
Maximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable
Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits
Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.
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
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 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
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
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 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
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
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 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
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
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 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
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
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 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
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
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 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
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
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 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
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
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 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
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
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 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | RTL |
| 2 | Hold |
| 3 | SmartRTL |
| 4 | SmartRTL or Hold |
| 5 | Terminate |
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
What type of beacon based position estimation device is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Pozyx |
| 2 | Marvelmind |
| 3 | Nooploop |
| 10 | SITL |
Beacon origin's latitude
Beacon origin's longitude
Beacon origin's altitude above sealevel in meters
Beacon systems rotation from north in degrees
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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 |
| 67 | Relay6 |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 |
| 67 | Relay6 |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 |
| 67 | Relay6 |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 |
| 67 | Relay6 |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 |
| 11 | Benewake |
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
Option flags
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 |
| 11 | Benewake |
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
Option flags
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 |
| 11 | Benewake |
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
Option flags
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.
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
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.
The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.
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 or Hold |
| 2 | Hold |
| 3 | SmartRTL or RTL or Hold |
| 4 | SmartRTL or Hold |
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)
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 |
Enabled/disable following a target
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Follow target's mavlink system id
Follow distance maximum. targets further than this will be ignored
Follow offset type
| Value | Meaning |
|---|---|
| 0 | North-East-Down |
| 1 | Relative to lead vehicle heading |
Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE
Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE
Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle
Follow yaw behaviour
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Face Lead Vehicle |
| 2 | Same as Lead vehicle |
| 3 | Direction of Flight |
Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
Follow altitude type
| Value | Meaning |
|---|---|
| 0 | absolute |
| 1 | relative |
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
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
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 |
This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | OneShot |
| 2 | OneShot125 |
| 3 | BrushedWithRelay |
| 4 | BrushedBiPolar |
| 5 | DShot150 |
| 6 | DShot300 |
| 7 | DShot600 |
| 8 | DShot1200 |
Motor Output PWM freq for brushed motors
Disables motor PWM output when disarmed
| Value | Meaning |
|---|---|
| 0 | PWM enabled while disarmed |
| 1 | PWM disabled while disarmed |
Throttle minimum percentage the autopilot will apply. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions.
Throttle maximum percentage the autopilot will apply. This can be used to prevent overheating an ESC or motor on an electric rover
Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second. A value of zero disables the limit. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts.
Thrust curve exponent (-1 to +1 with 0 being linear)
Speed above which steering is scaled down when using regular steering/throttle vehicles. zero to disable speed scaling
Steering vs Throttle priorisation. Higher numbers prioritise steering, lower numbers prioritise throttle. Only valid for Skid Steering vehicles
The angle between steering's middle position and maximum position when using vectored thrust (boats only)
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)
Enabled/disable path planning around obstacles
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | BendyRuler |
| 2 | Dijkstra |
| 3 | Dijkstra with BendyRuler |
Object Avoidance will ignore objects more than this many meters from vehicle
Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).
Object Avoidance will look this many meters ahead of vehicle
BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.
BendyRuler will resist changing current bearing if the change in bearing is over this angle
OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process
OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.
OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.
OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Send only HIGH importance items |
| 2 | Send HIGH and NORMAL importance items |
| 3 | Send all items |
Beam width of incoming lidar data
Minimum radius of objects held in database
Maximum distance of objects held in database. Set to zero to disable the limits
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
What type of proximity sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 7 | LightwareSF40c |
| 1 | LightWareSF40C-legacy |
| 2 | MAVLink |
| 3 | TeraRangerTower |
| 4 | RangeFinder |
| 5 | RPLidarA2 |
| 6 | TeraRangerTowerEvo |
| 8 | LightwareSF45B |
| 10 | SITL |
| 12 | AirSimSITL |
Proximity sensor orientation
| Value | Meaning |
|---|---|
| 0 | Default |
| 1 | Upside Down |
Proximity sensor yaw correction
Proximity sensor ignore angle 1
Proximity sensor ignore width 1
Proximity sensor ignore angle 2
Proximity sensor ignore width 2
Proximity sensor ignore angle 3
Proximity sensor ignore width 3
Proximity sensor ignore angle 4
Proximity sensor ignore width 4
Proximity sensor ignore angle 5
Proximity sensor ignore width 5
Proximity sensor ignore angle 6
Proximity sensor ignore width 6
Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
Cutoff frequency for low pass filter applied to each face in the proximity boundary
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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 11 | Fence |
| 16 | Auto |
| 19 | Gripper |
| 24 | Auto Mission Reset |
| 27 | Retract Mount |
| 28 | Relay On/Off |
| 30 | Lost Rover Sound |
| 31 | Motor Emergency Stop |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 40 | Proximity Avoidance |
| 41 | ArmDisarm |
| 42 | SmartRTL |
| 46 | RC Override Enable |
| 50 | LearnCruise |
| 51 | Manual |
| 52 | Acro |
| 53 | Steering |
| 54 | Hold |
| 55 | Guided |
| 56 | Loiter |
| 57 | Follow |
| 58 | Clear Waypoints |
| 59 | Simple Mode |
| 62 | Compass Learn |
| 63 | Sailboat Tack |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 74 | Sailboat motoring 3pos |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | Viso Align |
| 81 | Disarm |
| 90 | EKF Pos Source |
| 94 | VTX Power |
| 97 | Windvane home heading direction offset |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 105 | GPS Disable Yaw |
| 106 | Disable Airspeed Use |
| 201 | Roll |
| 202 | Pitch |
| 203 | Walking Height |
| 207 | MainSail |
| 208 | Flap |
| 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.
Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, 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 |
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 |
| 34 | Benewake_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 |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Minimum signal strength (SNR) to accept distance
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 |
| 34 | Benewake_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 |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Minimum signal strength (SNR) to accept distance
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 |
| 34 | Benewake_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 |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Minimum signal strength (SNR) to accept distance
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 |
| 34 | Benewake_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 |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Minimum signal strength (SNR) to accept distance
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 |
| 34 | Benewake_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 |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Minimum signal strength (SNR) to accept distance
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 |
| 34 | Benewake_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 |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Minimum signal strength (SNR) to accept distance
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 |
| 34 | Benewake_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 |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Minimum signal strength (SNR) to accept distance
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 |
| 34 | Benewake_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 |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Minimum signal strength (SNR) to accept distance
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 |
| 34 | Benewake_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 |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Minimum signal strength (SNR) to accept distance
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 |
| 34 | Benewake_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 |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Minimum signal strength (SNR) to accept distance
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
This enables Sailboat functionality
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Mainsheet tight, angle between centerline and boom
Mainsheet loose, angle between centerline and boom. For direct-control rotating masts, the rotation angle at SERVOx_MAX/_MIN; for rotating masts, this value can exceed 90 degrees if the linkages can physically rotate the mast past that angle.
Ideal angle between sail and apparent wind
When in auto sail trim modes the heel will be limited to this value using PID control
The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind
Sailboat minimum wind speed to continue sail in, at lower wind speeds the sailboat will motor if one is fitted
The sail boat will tack when it reaches this cross track error, defines a corridor of 2 times this value wide, 0 disables
When in sailing modes the vehicle will keep moving within this loiter radius
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 |
| 38 | FETtecOneWire |
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 |
| 38 | FETtecOneWire |
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 |
| 38 | FETtecOneWire |
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 |
| 38 | FETtecOneWire |
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 |
| 38 | FETtecOneWire |
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 |
| 38 | FETtecOneWire |
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 |
| 37 | SmartAudio |
| 38 | FETtecOneWire |
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 |
| 37 | SmartAudio |
| 38 | FETtecOneWire |
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 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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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 |
| 6 | MountPan |
| 7 | MountTilt |
| 8 | MountRoll |
| 9 | MountOpen |
| 10 | CameraTrigger |
| 12 | Mount2Pan |
| 13 | Mount2Tilt |
| 14 | Mount2Roll |
| 15 | Mount2Open |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 26 | GroundSteering |
| 28 | Gripper |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 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 |
| 70 | Throttle |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 88 | Winch |
| 89 | Main Sail |
| 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 |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
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
Servo channel mask specifying FETtec ESC output.
Servo channel mask to reverse rotation of FETtec ESC outputs.
Number of motor electrical poles
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
Allows you to enable (1) or disable (0) the sprayer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Desired pump speed when traveling 1m/s expressed as a percentage
Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)
Speed minimum at which we will begin spraying
Minimum pump speed expressed as a percentage
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
SmartRTL accuracy. The minimum distance between points.
SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.
Bitmask of SmartRTL options.
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)
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.
What type of WheelEncoder is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Quadrature |
| 10 | SITL Quadrature |
WheelEncoder counts per full revolution of the wheel
Wheel radius
X position of the center of the wheel in body frame. Positive X is forward of the origin.
Y position of the center of the wheel in body frame. Positive Y is to the right of the origin.
Z position of the center of the wheel in body frame. Positive Z is down from the origin.
Input Pin A
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | PixhawkAUX1 |
| 51 | PixhawkAUX2 |
| 52 | PixhawkAUX3 |
| 53 | PixhawkAUX4 |
| 54 | PixhawkAUX5 |
| 55 | PixhawkAUX6 |
Input Pin B
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | PixhawkAUX1 |
| 51 | PixhawkAUX2 |
| 52 | PixhawkAUX3 |
| 53 | PixhawkAUX4 |
| 54 | PixhawkAUX5 |
| 55 | PixhawkAUX6 |
What type of WheelEncoder sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Quadrature |
| 10 | SITL Quadrature |
WheelEncoder 2 counts per full revolution of the wheel
Wheel2's radius
X position of the center of the second wheel in body frame. Positive X is forward of the origin.
Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin.
Z position of the center of the second wheel in body frame. Positive Z is down from the origin.
Second Encoder Input Pin A
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | PixhawkAUX1 |
| 51 | PixhawkAUX2 |
| 52 | PixhawkAUX3 |
| 53 | PixhawkAUX4 |
| 54 | PixhawkAUX5 |
| 55 | PixhawkAUX6 |
Second Encoder Input Pin B
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | PixhawkAUX1 |
| 51 | PixhawkAUX2 |
| 52 | PixhawkAUX3 |
| 53 | PixhawkAUX4 |
| 54 | PixhawkAUX5 |
| 55 | PixhawkAUX6 |
Wind Vane type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Heading when armed |
| 2 | RC input offset heading when armed |
| 3 | Analog |
| 4 | NMEA |
| 10 | SITL true |
| 11 | SITL apparent |
Analog input pin to read as wind vane direction
| Value | Meaning |
|---|---|
| 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 |
Minimum voltage supplied by analog wind vane
Maximum voltage supplied by analog wind vane
Angle offset when analog windvane is indicating a headwind, ie 0 degress relative to vehicle
apparent Wind vane direction low pass filter frequency, a value of -1 disables filter
Start wind vane calibration by setting this to 1 or 2
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Calibrate direction |
| 2 | Calibrate speed |
Wind vane deadzone when using analog sensor
Wind vane direction will be ignored when apparent wind speeds are below this value (if wind speed sensor is present). If the apparent wind is consistently below this value the vane will not work
Wind speed sensor type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Airspeed library |
| 2 | Modern Devices Wind Sensor |
| 3 | RPM library |
| 4 | NMEA |
| 10 | SITL true |
| 11 | SITL apparent |
Wind speed analog speed input pin for Modern Devices Wind Sensor rev. p
| Value | Meaning |
|---|---|
| 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 |
Wind speed sensor analog temp input pin for Modern Devices Wind Sensor rev. p, set to -1 to diasble temp readings
| Value | Meaning |
|---|---|
| 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 |
Wind sensor analog voltage offset at zero wind speed
apparent Wind speed low pass filter frequency, a value of -1 disables filter
True speed and direction low pass filter frequency, a value of -1 disables filter
Waypoint speed default
The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the vehicle will turn toward the next waypoint.
Waypoint overshoot maximum in meters. The vehicle will attempt to stay within this many meters of the track as it completes one waypoint and moves to the next.
Pivot when the difference between the vehicle's heading and its target heading is more than this many degrees. Set to zero to disable pivot turns. Note: This parameter should be greater than 10 degrees for pivot turns to work.
Turn rate during pivot turns
Vehicle will not slow below this speed for corners. Should be set to boat's plane speed. Does not apply to pivot turns.
Waiting time after pivot turn
Enable or disable wheel rate control
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Wheel max rotation rate
Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)
Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)
Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual
Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate
Wheel rate control D gain. Compensates for short-term change in desired rate vs actual
Wheel rate control input filter. Lower values reduce noise but add delay.
Wheel rate control target frequency in Hz
Wheel rate control error frequency in Hz
Wheel rate control 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.
Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)
Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)
Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual
Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate
Wheel rate control D gain. Compensates for short-term change in desired rate vs actual
Wheel rate control input filter. Lower values reduce noise but add delay.
Wheel rate control target frequency in Hz
Wheel rate control error frequency in Hz
Wheel rate control 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.