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Plane
* Introduction to Plane
* Choosing an Autopilot
* Ground Control Stations
* First Time Setup
* First Flight and Tuning
* QuadPlane Setup and Operation
* Mission Planning
* If A Problem Arises
* Advanced Configuration
* Advanced Failsafe
* Autopilot Output Mapping
* Auxiliary Functions
* Battery Voltage Compensation
* Bootloader Update
* BLHeli ESCs
* CAN Bus Setup
* Compass Setup (Advanced)
* Compass-less Operation
* Crash Detection
* DroneCAN Setup
* EKF (Extended Kalman Filter)
* EKF Affinity & Lane Switching
* EKF Sources and Selection
* Flight Time Recorder
* Flight Options
* Fly-By-Wire Low Altitude Limit
* FPort Setup
* GeoFencing Failsafe
* GPIOs
* GPS for Yaw (aka Moving Baseline)
* GPS for Altitude
* GPS/Non-GPS Transitions
* Ground Control Station Only Operation
* IMU Temperature Calibration
* Independent Watchdog
* In-Flight FTT and filter control
* Limiting Maximum Power Draw
* Limit Cycle Prevention
* LUA Scripting
* Magnetic Interference
* MAVLink2 Packet Signing (Security)
* Moving Vehicle Initialization
* Multiple Radio Control Receivers
* Network/Ethernet Setup
* Notification Devices (LEDs,Buzzer,etc.)
* Notch Filter Configuration
* Object Avoidance
* Optical Flow Sensor
* On Screen Displays (OSD)
* OSD Parameter Editor
* Parameter List (Full)
* ArduPlane Parameters
* FORMAT_VERSION: Eeprom format version number
* SYSID_THISMAV: MAVLink system ID of this vehicle
* SYSID_MYGCS: Ground station MAVLink system ID
* AUTOTUNE_LEVEL: Autotune level
* AUTOTUNE_OPTIONS: Autotune options bitmask
* TELEM_DELAY: Telemetry startup delay
* GCS_PID_MASK: GCS PID tuning mask
* KFF_RDDRMIX: Rudder Mix
* KFF_THR2PTCH: Throttle to Pitch Mix
* STAB_PITCH_DOWN: Low throttle pitch down trim
* GLIDE_SLOPE_MIN: Glide slope minimum
* GLIDE_SLOPE_THR: Glide slope threshold
* STICK_MIXING: Stick Mixing
* TKOFF_THR_MINSPD: Takeoff throttle min speed
* TKOFF_THR_MINACC: Takeoff throttle min acceleration
* TKOFF_THR_DELAY: Takeoff throttle delay
* TKOFF_THR_MAX_T: Takeoff throttle maximum time
* TKOFF_TDRAG_ELEV: Takeoff tail dragger elevator
* TKOFF_TDRAG_SPD1: Takeoff tail dragger speed1
* TKOFF_ROTATE_SPD: Takeoff rotate speed
* TKOFF_THR_SLEW: Takeoff throttle slew rate
* TKOFF_PLIM_SEC: Takeoff pitch limit reduction
* TKOFF_FLAP_PCNT: Takeoff flap percentage
* LEVEL_ROLL_LIMIT: Level flight roll limit
* USE_REV_THRUST: Bitmask for when to allow negative reverse thrust
* ALT_OFFSET: Altitude offset
* WP_RADIUS: Waypoint Radius
* WP_MAX_RADIUS: Waypoint Maximum Radius
* WP_LOITER_RAD: Waypoint Loiter Radius
* RTL_RADIUS: RTL loiter radius
* STALL_PREVENTION: Enable stall prevention
* AIRSPEED_CRUISE: Target cruise airspeed
* AIRSPEED_MIN: Minimum Airspeed
* AIRSPEED_MAX: Maximum Airspeed
* FBWB_ELEV_REV: Fly By Wire elevator reverse
* TERRAIN_FOLLOW: Use terrain following
* TERRAIN_LOOKAHD: Terrain lookahead
* FBWB_CLIMB_RATE: Fly By Wire B altitude change rate
* THR_MIN: Minimum Throttle
* THR_MAX: Maximum Throttle
* TKOFF_THR_MAX: Maximum Throttle for takeoff
* THR_SLEWRATE: Throttle slew rate
* FLAP_SLEWRATE: Flap slew rate
* THR_SUPP_MAN: Throttle suppress manual passthru
* THR_PASS_STAB: Throttle passthru in stabilize
* THR_FAILSAFE: Throttle and RC Failsafe Enable
* THR_FS_VALUE: Throttle Failsafe Value
* TRIM_THROTTLE: Throttle cruise percentage
* THROTTLE_NUDGE: Throttle nudge enable
* FS_SHORT_ACTN: Short failsafe action
* FS_SHORT_TIMEOUT: Short failsafe timeout
* FS_LONG_ACTN: Long failsafe action
* FS_LONG_TIMEOUT: Long failsafe timeout
* FS_GCS_ENABL: GCS failsafe enable
* FLTMODE_CH: Flightmode channel
* FLTMODE1: FlightMode1
* FLTMODE2: FlightMode2
* FLTMODE3: FlightMode3
* FLTMODE4: FlightMode4
* FLTMODE5: FlightMode5
* FLTMODE6: FlightMode6
* INITIAL_MODE: Initial flight mode
* ROLL_LIMIT_DEG: Maximum Bank Angle
* PTCH_LIM_MAX_DEG: Maximum Pitch Angle
* PTCH_LIM_MIN_DEG: Minimum Pitch Angle
* ACRO_ROLL_RATE: ACRO mode roll rate
* ACRO_PITCH_RATE: ACRO mode pitch rate
* ACRO_YAW_RATE: ACRO mode yaw rate
* ACRO_LOCKING: ACRO mode attitude locking
* GROUND_STEER_ALT: Ground steer altitude
* GROUND_STEER_DPS: Ground steer rate
* MIXING_GAIN: Mixing Gain
* RUDDER_ONLY: Rudder only aircraft
* MIXING_OFFSET: Mixing Offset
* DSPOILR_RUD_RATE: Differential spoilers rudder rate
* LOG_BITMASK: Log bitmask
* SCALING_SPEED: speed used for speed scaling calculations
* MIN_GROUNDSPEED: Minimum ground speed
* PTCH_TRIM_DEG: Pitch angle offset
* RTL_ALTITUDE: RTL altitude
* CRUISE_ALT_FLOOR: Minimum altitude for FBWB and CRUISE mode
* FLAP_1_PERCNT: Flap 1 percentage
* FLAP_1_SPEED: Flap 1 speed
* FLAP_2_PERCNT: Flap 2 percentage
* FLAP_2_SPEED: Flap 2 speed
* OVERRIDE_CHAN: IO override channel
* RTL_AUTOLAND: RTL auto land
* CRASH_ACC_THRESH: Crash Deceleration Threshold
* CRASH_DETECT: Crash Detection
* RNGFND_LANDING: Enable rangefinder for landing
* SYSID_ENFORCE: GCS sysid enforcement
* RUDD_DT_GAIN: rudder differential thrust gain
* MANUAL_RCMASK: Manual R/C pass-through mask
* HOME_RESET_ALT: Home reset altitude threshold
* FLIGHT_OPTIONS: Flight mode options
* TKOFF_ACCEL_CNT: Takeoff throttle acceleration count
* DSPOILER_CROW_W1: Differential spoiler crow flaps outer weight
* DSPOILER_CROW_W2: Differential spoiler crow flaps inner weight
* TKOFF_TIMEOUT: Takeoff timeout
* DSPOILER_OPTS: Differential spoiler and crow flaps options
* DSPOILER_AILMTCH: Differential spoiler aileron matching
* FWD_BAT_VOLT_MAX: Forward throttle battery voltage compensation maximum
voltage
* FWD_BAT_VOLT_MIN: Forward throttle battery voltage compensation minimum
voltage
* FWD_BAT_IDX: Forward throttle battery compensation index
* FS_EKF_THRESH: EKF failsafe variance threshold
* RTL_CLIMB_MIN: RTL minimum climb
* MAN_EXPO_ROLL: Manual control expo for roll
* MAN_EXPO_PITCH: Manual input expo for pitch
* MAN_EXPO_RUDDER: Manual input expo for rudder
* ONESHOT_MASK: Oneshot output mask
* AUTOTUNE_AXES: Autotune axis bitmask
* VEHICLE Parameters
* FLTMODE_GCSBLOCK: Flight mode block from GCS
* ADSB_ Parameters
* ADSB_TYPE: ADSB Type
* ADSB_LIST_MAX: ADSB vehicle list size
* ADSB_LIST_RADIUS: ADSB vehicle list radius filter
* ADSB_ICAO_ID: ICAO_ID vehicle identification number
* ADSB_EMIT_TYPE: Emitter type
* ADSB_LEN_WIDTH: Aircraft length and width
* ADSB_OFFSET_LAT: GPS antenna lateral offset
* ADSB_OFFSET_LON: GPS antenna longitudinal offset
* ADSB_RF_SELECT: Transceiver RF selection
* ADSB_SQUAWK: Squawk code
* ADSB_RF_CAPABLE: RF capabilities
* ADSB_LIST_ALT: ADSB vehicle list altitude filter
* ADSB_ICAO_SPECL: ICAO_ID of special vehicle
* ADSB_LOG: ADS-B logging
* ADSB_OPTIONS: ADS-B Options
* AFS_ Parameters
* AFS_ENABLE: Enable Advanced Failsafe
* AFS_MAN_PIN: Manual Pin
* AFS_HB_PIN: Heartbeat Pin
* AFS_WP_COMMS: Comms Waypoint
* AFS_WP_GPS_LOSS: GPS Loss Waypoint
* AFS_TERMINATE: Force Terminate
* AFS_TERM_ACTION: Terminate action
* AFS_TERM_PIN: Terminate Pin
* AFS_AMSL_LIMIT: AMSL limit
* AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit
* AFS_QNH_PRESSURE: QNH pressure
* AFS_MAX_GPS_LOSS: Maximum number of GPS loss events
* AFS_MAX_COM_LOSS: Maximum number of comms loss events
* AFS_GEOFENCE: Enable geofence Advanced Failsafe
* AFS_RC: Enable RC Advanced Failsafe
* AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes
* AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS
and GPS simultaneously
* AFS_RC_FAIL_TIME: RC failure time
* AFS_MAX_RANGE: Max allowed range
* AFS_OPTIONS: AFS options
* AFS_GCS_TIMEOUT: GCS timeout
* AHRS_ Parameters
* AHRS_GPS_GAIN: AHRS GPS gain
* AHRS_GPS_USE: AHRS use GPS for DCM navigation and position-down
* AHRS_YAW_P: Yaw P
* AHRS_RP_P: AHRS RP_P
* AHRS_WIND_MAX: Maximum wind
* AHRS_TRIM_X: AHRS Trim Roll
* AHRS_TRIM_Y: AHRS Trim Pitch
* AHRS_TRIM_Z: AHRS Trim Yaw
* AHRS_ORIENTATION: Board Orientation
* AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient
* AHRS_GPS_MINSATS: AHRS GPS Minimum satellites
* AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position
estimation
* AHRS_CUSTOM_ROLL: Board orientation roll offset
* AHRS_CUSTOM_PIT: Board orientation pitch offset
* AHRS_CUSTOM_YAW: Board orientation yaw offset
* AHRS_OPTIONS: Optional AHRS behaviour
* AIS_ Parameters
* AIS_TYPE: AIS receiver type
* AIS_LIST_MAX: AIS vessel list size
* AIS_TIME_OUT: AIS vessel time out
* AIS_LOGGING: AIS logging options
* ARMING_ Parameters
* ARMING_BBOX_SPD: Blackbox speed
* ARMING_REQUIRE: Require Arming Motors
* ARMING_ACCTHRESH: Accelerometer error threshold
* ARMING_RUDDER: Arming with Rudder enable/disable
* ARMING_MIS_ITEMS: Required mission items
* ARMING_CHECK: Arm Checks to Perform (bitmask)
* ARMING_OPTIONS: Arming options
* ARMING_MAGTHRESH: Compass magnetic field strength error threshold vs
earth magnetic model
* ARMING_CRSDP_IGN: Disable CrashDump Arming check
* ARSPD Parameters
* ARSPD_ENABLE: Airspeed Enable
* ARSPD_TUBE_ORDER: Control pitot tube order
* ARSPD_PRIMARY: Primary airspeed sensor
* ARSPD_OPTIONS: Airspeed options bitmask
* ARSPD_WIND_MAX: Maximum airspeed and ground speed difference
* ARSPD_WIND_WARN: Airspeed and GPS speed difference that gives a warning
* ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size
* ARSPD_OFF_PCNT: Maximum offset cal speed error
* ARSPD2_ Parameters
* ARSPD2_TYPE: Airspeed type
* ARSPD2_USE: Airspeed use
* ARSPD2_OFFSET: Airspeed offset
* ARSPD2_RATIO: Airspeed ratio
* ARSPD2_PIN: Airspeed pin
* ARSPD2_AUTOCAL: Automatic airspeed ratio calibration
* ARSPD2_TUBE_ORDR: Control pitot tube order
* ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup
* ARSPD2_PSI_RANGE: The PSI range of the device
* ARSPD2_BUS: Airspeed I2C bus
* ARSPD2_DEVID: Airspeed ID
* ARSPD_ Parameters
* ARSPD_TYPE: Airspeed type
* ARSPD_USE: Airspeed use
* ARSPD_OFFSET: Airspeed offset
* ARSPD_RATIO: Airspeed ratio
* ARSPD_PIN: Airspeed pin
* ARSPD_AUTOCAL: Automatic airspeed ratio calibration
* ARSPD_TUBE_ORDR: Control pitot tube order
* ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup
* ARSPD_PSI_RANGE: The PSI range of the device
* ARSPD_BUS: Airspeed I2C bus
* ARSPD_DEVID: Airspeed ID
* AVD_ Parameters
* AVD_ENABLE: Enable Avoidance using ADSB
* AVD_F_ACTION: Collision Avoidance Behavior
* AVD_W_ACTION: Collision Avoidance Behavior - Warn
* AVD_F_RCVRY: Recovery behaviour after a fail event
* AVD_OBS_MAX: Maximum number of obstacles to track
* AVD_W_TIME: Time Horizon Warn
* AVD_F_TIME: Time Horizon Fail
* AVD_W_DIST_XY: Distance Warn XY
* AVD_F_DIST_XY: Distance Fail XY
* AVD_W_DIST_Z: Distance Warn Z
* AVD_F_DIST_Z: Distance Fail Z
* AVD_F_ALT_MIN: ADS-B avoidance minimum altitude
* BARO Parameters
* BARO1_GND_PRESS: Ground Pressure
* BARO_GND_TEMP: ground temperature
* BARO_ALT_OFFSET: altitude offset
* BARO_PRIMARY: Primary barometer
* BARO_EXT_BUS: External baro bus
* BARO2_GND_PRESS: Ground Pressure
* BARO3_GND_PRESS: Absolute Pressure
* BARO_FLTR_RNG: Range in which sample is accepted
* BARO_PROBE_EXT: External barometers to probe
* BARO1_DEVID: Baro ID
* BARO2_DEVID: Baro ID2
* BARO3_DEVID: Baro ID3
* BARO_FIELD_ELV: field elevation
* BARO_ALTERR_MAX: Altitude error maximum
* BARO_OPTIONS: Barometer options
* BARO1_WCF_ Parameters
* BARO1_WCF_ENABLE: Wind coefficient enable
* BARO1_WCF_FWD: Pressure error coefficient in positive X direction
(forward)
* BARO1_WCF_BCK: Pressure error coefficient in negative X direction
(backwards)
* BARO1_WCF_RGT: Pressure error coefficient in positive Y direction
(right)
* BARO1_WCF_LFT: Pressure error coefficient in negative Y direction
(left)
* BARO1_WCF_UP: Pressure error coefficient in positive Z direction (up)
* BARO1_WCF_DN: Pressure error coefficient in negative Z direction (down)
* BARO2_WCF_ Parameters
* BARO2_WCF_ENABLE: Wind coefficient enable
* BARO2_WCF_FWD: Pressure error coefficient in positive X direction
(forward)
* BARO2_WCF_BCK: Pressure error coefficient in negative X direction
(backwards)
* BARO2_WCF_RGT: Pressure error coefficient in positive Y direction
(right)
* BARO2_WCF_LFT: Pressure error coefficient in negative Y direction
(left)
* BARO2_WCF_UP: Pressure error coefficient in positive Z direction (up)
* BARO2_WCF_DN: Pressure error coefficient in negative Z direction (down)
* BARO3_WCF_ Parameters
* BARO3_WCF_ENABLE: Wind coefficient enable
* BARO3_WCF_FWD: Pressure error coefficient in positive X direction
(forward)
* BARO3_WCF_BCK: Pressure error coefficient in negative X direction
(backwards)
* BARO3_WCF_RGT: Pressure error coefficient in positive Y direction
(right)
* BARO3_WCF_LFT: Pressure error coefficient in negative Y direction
(left)
* BARO3_WCF_UP: Pressure error coefficient in positive Z direction (up)
* BARO3_WCF_DN: Pressure error coefficient in negative Z direction (down)
* BATT2_ Parameters
* BATT2_MONITOR: Battery monitoring
* BATT2_CAPACITY: Battery capacity
* BATT2_WATT_MAX: Maximum allowed power (Watts)
* BATT2_SERIAL_NUM: Battery serial number
* BATT2_LOW_TIMER: Low voltage timeout
* BATT2_FS_VOLTSRC: Failsafe voltage source
* BATT2_LOW_VOLT: Low battery voltage
* BATT2_LOW_MAH: Low battery capacity
* BATT2_CRT_VOLT: Critical battery voltage
* BATT2_CRT_MAH: Battery critical capacity
* BATT2_FS_LOW_ACT: Low battery failsafe action
* BATT2_FS_CRT_ACT: Critical battery failsafe action
* BATT2_ARM_VOLT: Required arming voltage
* BATT2_ARM_MAH: Required arming remaining capacity
* BATT2_OPTIONS: Battery monitor options
* BATT2_ESC_INDEX: ESC Telemetry Index to write to
* BATT2_VOLT_PIN: Battery Voltage sensing pin
* BATT2_CURR_PIN: Battery Current sensing pin
* BATT2_VOLT_MULT: Voltage Multiplier
* BATT2_AMP_PERVLT: Amps per volt
* BATT2_AMP_OFFSET: AMP offset
* BATT2_VLT_OFFSET: Voltage offset
* BATT2_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATT2_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATT2_SUM_MASK: Battery Sum mask
* BATT2_CURR_MULT: Scales reported power monitor current
* BATT2_FL_VLT_MIN: Empty fuel level voltage
* BATT2_FL_V_MULT: Fuel level voltage multiplier
* BATT2_FL_FLTR: Fuel level filter frequency
* BATT2_FL_PIN: Fuel level analog pin number
* BATT2_FL_FF: First order term
* BATT2_FL_FS: Second order term
* BATT2_FL_FT: Third order term
* BATT2_FL_OFF: Offset term
* BATT2_MAX_VOLT: Maximum Battery Voltage
* BATT2_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATT2_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATT2_MAX_AMPS: Battery monitor max current
* BATT2_SHUNT: Battery monitor shunt resistor
* BATT2_ESC_MASK: ESC mask
* BATT3_ Parameters
* BATT3_MONITOR: Battery monitoring
* BATT3_CAPACITY: Battery capacity
* BATT3_WATT_MAX: Maximum allowed power (Watts)
* BATT3_SERIAL_NUM: Battery serial number
* BATT3_LOW_TIMER: Low voltage timeout
* BATT3_FS_VOLTSRC: Failsafe voltage source
* BATT3_LOW_VOLT: Low battery voltage
* BATT3_LOW_MAH: Low battery capacity
* BATT3_CRT_VOLT: Critical battery voltage
* BATT3_CRT_MAH: Battery critical capacity
* BATT3_FS_LOW_ACT: Low battery failsafe action
* BATT3_FS_CRT_ACT: Critical battery failsafe action
* BATT3_ARM_VOLT: Required arming voltage
* BATT3_ARM_MAH: Required arming remaining capacity
* BATT3_OPTIONS: Battery monitor options
* BATT3_ESC_INDEX: ESC Telemetry Index to write to
* BATT3_VOLT_PIN: Battery Voltage sensing pin
* BATT3_CURR_PIN: Battery Current sensing pin
* BATT3_VOLT_MULT: Voltage Multiplier
* BATT3_AMP_PERVLT: Amps per volt
* BATT3_AMP_OFFSET: AMP offset
* BATT3_VLT_OFFSET: Voltage offset
* BATT3_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATT3_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATT3_SUM_MASK: Battery Sum mask
* BATT3_CURR_MULT: Scales reported power monitor current
* BATT3_FL_VLT_MIN: Empty fuel level voltage
* BATT3_FL_V_MULT: Fuel level voltage multiplier
* BATT3_FL_FLTR: Fuel level filter frequency
* BATT3_FL_PIN: Fuel level analog pin number
* BATT3_FL_FF: First order term
* BATT3_FL_FS: Second order term
* BATT3_FL_FT: Third order term
* BATT3_FL_OFF: Offset term
* BATT3_MAX_VOLT: Maximum Battery Voltage
* BATT3_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATT3_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATT3_MAX_AMPS: Battery monitor max current
* BATT3_SHUNT: Battery monitor shunt resistor
* BATT3_ESC_MASK: ESC mask
* BATT4_ Parameters
* BATT4_MONITOR: Battery monitoring
* BATT4_CAPACITY: Battery capacity
* BATT4_WATT_MAX: Maximum allowed power (Watts)
* BATT4_SERIAL_NUM: Battery serial number
* BATT4_LOW_TIMER: Low voltage timeout
* BATT4_FS_VOLTSRC: Failsafe voltage source
* BATT4_LOW_VOLT: Low battery voltage
* BATT4_LOW_MAH: Low battery capacity
* BATT4_CRT_VOLT: Critical battery voltage
* BATT4_CRT_MAH: Battery critical capacity
* BATT4_FS_LOW_ACT: Low battery failsafe action
* BATT4_FS_CRT_ACT: Critical battery failsafe action
* BATT4_ARM_VOLT: Required arming voltage
* BATT4_ARM_MAH: Required arming remaining capacity
* BATT4_OPTIONS: Battery monitor options
* BATT4_ESC_INDEX: ESC Telemetry Index to write to
* BATT4_VOLT_PIN: Battery Voltage sensing pin
* BATT4_CURR_PIN: Battery Current sensing pin
* BATT4_VOLT_MULT: Voltage Multiplier
* BATT4_AMP_PERVLT: Amps per volt
* BATT4_AMP_OFFSET: AMP offset
* BATT4_VLT_OFFSET: Voltage offset
* BATT4_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATT4_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATT4_SUM_MASK: Battery Sum mask
* BATT4_CURR_MULT: Scales reported power monitor current
* BATT4_FL_VLT_MIN: Empty fuel level voltage
* BATT4_FL_V_MULT: Fuel level voltage multiplier
* BATT4_FL_FLTR: Fuel level filter frequency
* BATT4_FL_PIN: Fuel level analog pin number
* BATT4_FL_FF: First order term
* BATT4_FL_FS: Second order term
* BATT4_FL_FT: Third order term
* BATT4_FL_OFF: Offset term
* BATT4_MAX_VOLT: Maximum Battery Voltage
* BATT4_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATT4_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATT4_MAX_AMPS: Battery monitor max current
* BATT4_SHUNT: Battery monitor shunt resistor
* BATT4_ESC_MASK: ESC mask
* BATT5_ Parameters
* BATT5_MONITOR: Battery monitoring
* BATT5_CAPACITY: Battery capacity
* BATT5_WATT_MAX: Maximum allowed power (Watts)
* BATT5_SERIAL_NUM: Battery serial number
* BATT5_LOW_TIMER: Low voltage timeout
* BATT5_FS_VOLTSRC: Failsafe voltage source
* BATT5_LOW_VOLT: Low battery voltage
* BATT5_LOW_MAH: Low battery capacity
* BATT5_CRT_VOLT: Critical battery voltage
* BATT5_CRT_MAH: Battery critical capacity
* BATT5_FS_LOW_ACT: Low battery failsafe action
* BATT5_FS_CRT_ACT: Critical battery failsafe action
* BATT5_ARM_VOLT: Required arming voltage
* BATT5_ARM_MAH: Required arming remaining capacity
* BATT5_OPTIONS: Battery monitor options
* BATT5_ESC_INDEX: ESC Telemetry Index to write to
* BATT5_VOLT_PIN: Battery Voltage sensing pin
* BATT5_CURR_PIN: Battery Current sensing pin
* BATT5_VOLT_MULT: Voltage Multiplier
* BATT5_AMP_PERVLT: Amps per volt
* BATT5_AMP_OFFSET: AMP offset
* BATT5_VLT_OFFSET: Voltage offset
* BATT5_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATT5_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATT5_SUM_MASK: Battery Sum mask
* BATT5_CURR_MULT: Scales reported power monitor current
* BATT5_FL_VLT_MIN: Empty fuel level voltage
* BATT5_FL_V_MULT: Fuel level voltage multiplier
* BATT5_FL_FLTR: Fuel level filter frequency
* BATT5_FL_PIN: Fuel level analog pin number
* BATT5_FL_FF: First order term
* BATT5_FL_FS: Second order term
* BATT5_FL_FT: Third order term
* BATT5_FL_OFF: Offset term
* BATT5_MAX_VOLT: Maximum Battery Voltage
* BATT5_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATT5_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATT5_MAX_AMPS: Battery monitor max current
* BATT5_SHUNT: Battery monitor shunt resistor
* BATT5_ESC_MASK: ESC mask
* BATT6_ Parameters
* BATT6_MONITOR: Battery monitoring
* BATT6_CAPACITY: Battery capacity
* BATT6_WATT_MAX: Maximum allowed power (Watts)
* BATT6_SERIAL_NUM: Battery serial number
* BATT6_LOW_TIMER: Low voltage timeout
* BATT6_FS_VOLTSRC: Failsafe voltage source
* BATT6_LOW_VOLT: Low battery voltage
* BATT6_LOW_MAH: Low battery capacity
* BATT6_CRT_VOLT: Critical battery voltage
* BATT6_CRT_MAH: Battery critical capacity
* BATT6_FS_LOW_ACT: Low battery failsafe action
* BATT6_FS_CRT_ACT: Critical battery failsafe action
* BATT6_ARM_VOLT: Required arming voltage
* BATT6_ARM_MAH: Required arming remaining capacity
* BATT6_OPTIONS: Battery monitor options
* BATT6_ESC_INDEX: ESC Telemetry Index to write to
* BATT6_VOLT_PIN: Battery Voltage sensing pin
* BATT6_CURR_PIN: Battery Current sensing pin
* BATT6_VOLT_MULT: Voltage Multiplier
* BATT6_AMP_PERVLT: Amps per volt
* BATT6_AMP_OFFSET: AMP offset
* BATT6_VLT_OFFSET: Voltage offset
* BATT6_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATT6_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATT6_SUM_MASK: Battery Sum mask
* BATT6_CURR_MULT: Scales reported power monitor current
* BATT6_FL_VLT_MIN: Empty fuel level voltage
* BATT6_FL_V_MULT: Fuel level voltage multiplier
* BATT6_FL_FLTR: Fuel level filter frequency
* BATT6_FL_PIN: Fuel level analog pin number
* BATT6_FL_FF: First order term
* BATT6_FL_FS: Second order term
* BATT6_FL_FT: Third order term
* BATT6_FL_OFF: Offset term
* BATT6_MAX_VOLT: Maximum Battery Voltage
* BATT6_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATT6_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATT6_MAX_AMPS: Battery monitor max current
* BATT6_SHUNT: Battery monitor shunt resistor
* BATT6_ESC_MASK: ESC mask
* BATT7_ Parameters
* BATT7_MONITOR: Battery monitoring
* BATT7_CAPACITY: Battery capacity
* BATT7_WATT_MAX: Maximum allowed power (Watts)
* BATT7_SERIAL_NUM: Battery serial number
* BATT7_LOW_TIMER: Low voltage timeout
* BATT7_FS_VOLTSRC: Failsafe voltage source
* BATT7_LOW_VOLT: Low battery voltage
* BATT7_LOW_MAH: Low battery capacity
* BATT7_CRT_VOLT: Critical battery voltage
* BATT7_CRT_MAH: Battery critical capacity
* BATT7_FS_LOW_ACT: Low battery failsafe action
* BATT7_FS_CRT_ACT: Critical battery failsafe action
* BATT7_ARM_VOLT: Required arming voltage
* BATT7_ARM_MAH: Required arming remaining capacity
* BATT7_OPTIONS: Battery monitor options
* BATT7_ESC_INDEX: ESC Telemetry Index to write to
* BATT7_VOLT_PIN: Battery Voltage sensing pin
* BATT7_CURR_PIN: Battery Current sensing pin
* BATT7_VOLT_MULT: Voltage Multiplier
* BATT7_AMP_PERVLT: Amps per volt
* BATT7_AMP_OFFSET: AMP offset
* BATT7_VLT_OFFSET: Voltage offset
* BATT7_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATT7_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATT7_SUM_MASK: Battery Sum mask
* BATT7_CURR_MULT: Scales reported power monitor current
* BATT7_FL_VLT_MIN: Empty fuel level voltage
* BATT7_FL_V_MULT: Fuel level voltage multiplier
* BATT7_FL_FLTR: Fuel level filter frequency
* BATT7_FL_PIN: Fuel level analog pin number
* BATT7_FL_FF: First order term
* BATT7_FL_FS: Second order term
* BATT7_FL_FT: Third order term
* BATT7_FL_OFF: Offset term
* BATT7_MAX_VOLT: Maximum Battery Voltage
* BATT7_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATT7_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATT7_MAX_AMPS: Battery monitor max current
* BATT7_SHUNT: Battery monitor shunt resistor
* BATT7_ESC_MASK: ESC mask
* BATT8_ Parameters
* BATT8_MONITOR: Battery monitoring
* BATT8_CAPACITY: Battery capacity
* BATT8_WATT_MAX: Maximum allowed power (Watts)
* BATT8_SERIAL_NUM: Battery serial number
* BATT8_LOW_TIMER: Low voltage timeout
* BATT8_FS_VOLTSRC: Failsafe voltage source
* BATT8_LOW_VOLT: Low battery voltage
* BATT8_LOW_MAH: Low battery capacity
* BATT8_CRT_VOLT: Critical battery voltage
* BATT8_CRT_MAH: Battery critical capacity
* BATT8_FS_LOW_ACT: Low battery failsafe action
* BATT8_FS_CRT_ACT: Critical battery failsafe action
* BATT8_ARM_VOLT: Required arming voltage
* BATT8_ARM_MAH: Required arming remaining capacity
* BATT8_OPTIONS: Battery monitor options
* BATT8_ESC_INDEX: ESC Telemetry Index to write to
* BATT8_VOLT_PIN: Battery Voltage sensing pin
* BATT8_CURR_PIN: Battery Current sensing pin
* BATT8_VOLT_MULT: Voltage Multiplier
* BATT8_AMP_PERVLT: Amps per volt
* BATT8_AMP_OFFSET: AMP offset
* BATT8_VLT_OFFSET: Voltage offset
* BATT8_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATT8_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATT8_SUM_MASK: Battery Sum mask
* BATT8_CURR_MULT: Scales reported power monitor current
* BATT8_FL_VLT_MIN: Empty fuel level voltage
* BATT8_FL_V_MULT: Fuel level voltage multiplier
* BATT8_FL_FLTR: Fuel level filter frequency
* BATT8_FL_PIN: Fuel level analog pin number
* BATT8_FL_FF: First order term
* BATT8_FL_FS: Second order term
* BATT8_FL_FT: Third order term
* BATT8_FL_OFF: Offset term
* BATT8_MAX_VOLT: Maximum Battery Voltage
* BATT8_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATT8_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATT8_MAX_AMPS: Battery monitor max current
* BATT8_SHUNT: Battery monitor shunt resistor
* BATT8_ESC_MASK: ESC mask
* BATT9_ Parameters
* BATT9_MONITOR: Battery monitoring
* BATT9_CAPACITY: Battery capacity
* BATT9_WATT_MAX: Maximum allowed power (Watts)
* BATT9_SERIAL_NUM: Battery serial number
* BATT9_LOW_TIMER: Low voltage timeout
* BATT9_FS_VOLTSRC: Failsafe voltage source
* BATT9_LOW_VOLT: Low battery voltage
* BATT9_LOW_MAH: Low battery capacity
* BATT9_CRT_VOLT: Critical battery voltage
* BATT9_CRT_MAH: Battery critical capacity
* BATT9_FS_LOW_ACT: Low battery failsafe action
* BATT9_FS_CRT_ACT: Critical battery failsafe action
* BATT9_ARM_VOLT: Required arming voltage
* BATT9_ARM_MAH: Required arming remaining capacity
* BATT9_OPTIONS: Battery monitor options
* BATT9_ESC_INDEX: ESC Telemetry Index to write to
* BATT9_VOLT_PIN: Battery Voltage sensing pin
* BATT9_CURR_PIN: Battery Current sensing pin
* BATT9_VOLT_MULT: Voltage Multiplier
* BATT9_AMP_PERVLT: Amps per volt
* BATT9_AMP_OFFSET: AMP offset
* BATT9_VLT_OFFSET: Voltage offset
* BATT9_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATT9_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATT9_SUM_MASK: Battery Sum mask
* BATT9_CURR_MULT: Scales reported power monitor current
* BATT9_FL_VLT_MIN: Empty fuel level voltage
* BATT9_FL_V_MULT: Fuel level voltage multiplier
* BATT9_FL_FLTR: Fuel level filter frequency
* BATT9_FL_PIN: Fuel level analog pin number
* BATT9_FL_FF: First order term
* BATT9_FL_FS: Second order term
* BATT9_FL_FT: Third order term
* BATT9_FL_OFF: Offset term
* BATT9_MAX_VOLT: Maximum Battery Voltage
* BATT9_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATT9_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATT9_MAX_AMPS: Battery monitor max current
* BATT9_SHUNT: Battery monitor shunt resistor
* BATT9_ESC_MASK: ESC mask
* BATTA_ Parameters
* BATTA_MONITOR: Battery monitoring
* BATTA_CAPACITY: Battery capacity
* BATTA_WATT_MAX: Maximum allowed power (Watts)
* BATTA_SERIAL_NUM: Battery serial number
* BATTA_LOW_TIMER: Low voltage timeout
* BATTA_FS_VOLTSRC: Failsafe voltage source
* BATTA_LOW_VOLT: Low battery voltage
* BATTA_LOW_MAH: Low battery capacity
* BATTA_CRT_VOLT: Critical battery voltage
* BATTA_CRT_MAH: Battery critical capacity
* BATTA_FS_LOW_ACT: Low battery failsafe action
* BATTA_FS_CRT_ACT: Critical battery failsafe action
* BATTA_ARM_VOLT: Required arming voltage
* BATTA_ARM_MAH: Required arming remaining capacity
* BATTA_OPTIONS: Battery monitor options
* BATTA_ESC_INDEX: ESC Telemetry Index to write to
* BATTA_VOLT_PIN: Battery Voltage sensing pin
* BATTA_CURR_PIN: Battery Current sensing pin
* BATTA_VOLT_MULT: Voltage Multiplier
* BATTA_AMP_PERVLT: Amps per volt
* BATTA_AMP_OFFSET: AMP offset
* BATTA_VLT_OFFSET: Voltage offset
* BATTA_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATTA_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATTA_SUM_MASK: Battery Sum mask
* BATTA_CURR_MULT: Scales reported power monitor current
* BATTA_FL_VLT_MIN: Empty fuel level voltage
* BATTA_FL_V_MULT: Fuel level voltage multiplier
* BATTA_FL_FLTR: Fuel level filter frequency
* BATTA_FL_PIN: Fuel level analog pin number
* BATTA_FL_FF: First order term
* BATTA_FL_FS: Second order term
* BATTA_FL_FT: Third order term
* BATTA_FL_OFF: Offset term
* BATTA_MAX_VOLT: Maximum Battery Voltage
* BATTA_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATTA_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATTA_MAX_AMPS: Battery monitor max current
* BATTA_SHUNT: Battery monitor shunt resistor
* BATTA_ESC_MASK: ESC mask
* BATTB_ Parameters
* BATTB_MONITOR: Battery monitoring
* BATTB_CAPACITY: Battery capacity
* BATTB_WATT_MAX: Maximum allowed power (Watts)
* BATTB_SERIAL_NUM: Battery serial number
* BATTB_LOW_TIMER: Low voltage timeout
* BATTB_FS_VOLTSRC: Failsafe voltage source
* BATTB_LOW_VOLT: Low battery voltage
* BATTB_LOW_MAH: Low battery capacity
* BATTB_CRT_VOLT: Critical battery voltage
* BATTB_CRT_MAH: Battery critical capacity
* BATTB_FS_LOW_ACT: Low battery failsafe action
* BATTB_FS_CRT_ACT: Critical battery failsafe action
* BATTB_ARM_VOLT: Required arming voltage
* BATTB_ARM_MAH: Required arming remaining capacity
* BATTB_OPTIONS: Battery monitor options
* BATTB_ESC_INDEX: ESC Telemetry Index to write to
* BATTB_VOLT_PIN: Battery Voltage sensing pin
* BATTB_CURR_PIN: Battery Current sensing pin
* BATTB_VOLT_MULT: Voltage Multiplier
* BATTB_AMP_PERVLT: Amps per volt
* BATTB_AMP_OFFSET: AMP offset
* BATTB_VLT_OFFSET: Voltage offset
* BATTB_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATTB_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATTB_SUM_MASK: Battery Sum mask
* BATTB_CURR_MULT: Scales reported power monitor current
* BATTB_FL_VLT_MIN: Empty fuel level voltage
* BATTB_FL_V_MULT: Fuel level voltage multiplier
* BATTB_FL_FLTR: Fuel level filter frequency
* BATTB_FL_PIN: Fuel level analog pin number
* BATTB_FL_FF: First order term
* BATTB_FL_FS: Second order term
* BATTB_FL_FT: Third order term
* BATTB_FL_OFF: Offset term
* BATTB_MAX_VOLT: Maximum Battery Voltage
* BATTB_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATTB_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATTB_MAX_AMPS: Battery monitor max current
* BATTB_SHUNT: Battery monitor shunt resistor
* BATTB_ESC_MASK: ESC mask
* BATTC_ Parameters
* BATTC_MONITOR: Battery monitoring
* BATTC_CAPACITY: Battery capacity
* BATTC_WATT_MAX: Maximum allowed power (Watts)
* BATTC_SERIAL_NUM: Battery serial number
* BATTC_LOW_TIMER: Low voltage timeout
* BATTC_FS_VOLTSRC: Failsafe voltage source
* BATTC_LOW_VOLT: Low battery voltage
* BATTC_LOW_MAH: Low battery capacity
* BATTC_CRT_VOLT: Critical battery voltage
* BATTC_CRT_MAH: Battery critical capacity
* BATTC_FS_LOW_ACT: Low battery failsafe action
* BATTC_FS_CRT_ACT: Critical battery failsafe action
* BATTC_ARM_VOLT: Required arming voltage
* BATTC_ARM_MAH: Required arming remaining capacity
* BATTC_OPTIONS: Battery monitor options
* BATTC_ESC_INDEX: ESC Telemetry Index to write to
* BATTC_VOLT_PIN: Battery Voltage sensing pin
* BATTC_CURR_PIN: Battery Current sensing pin
* BATTC_VOLT_MULT: Voltage Multiplier
* BATTC_AMP_PERVLT: Amps per volt
* BATTC_AMP_OFFSET: AMP offset
* BATTC_VLT_OFFSET: Voltage offset
* BATTC_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATTC_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATTC_SUM_MASK: Battery Sum mask
* BATTC_CURR_MULT: Scales reported power monitor current
* BATTC_FL_VLT_MIN: Empty fuel level voltage
* BATTC_FL_V_MULT: Fuel level voltage multiplier
* BATTC_FL_FLTR: Fuel level filter frequency
* BATTC_FL_PIN: Fuel level analog pin number
* BATTC_FL_FF: First order term
* BATTC_FL_FS: Second order term
* BATTC_FL_FT: Third order term
* BATTC_FL_OFF: Offset term
* BATTC_MAX_VOLT: Maximum Battery Voltage
* BATTC_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATTC_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATTC_MAX_AMPS: Battery monitor max current
* BATTC_SHUNT: Battery monitor shunt resistor
* BATTC_ESC_MASK: ESC mask
* BATTD_ Parameters
* BATTD_MONITOR: Battery monitoring
* BATTD_CAPACITY: Battery capacity
* BATTD_WATT_MAX: Maximum allowed power (Watts)
* BATTD_SERIAL_NUM: Battery serial number
* BATTD_LOW_TIMER: Low voltage timeout
* BATTD_FS_VOLTSRC: Failsafe voltage source
* BATTD_LOW_VOLT: Low battery voltage
* BATTD_LOW_MAH: Low battery capacity
* BATTD_CRT_VOLT: Critical battery voltage
* BATTD_CRT_MAH: Battery critical capacity
* BATTD_FS_LOW_ACT: Low battery failsafe action
* BATTD_FS_CRT_ACT: Critical battery failsafe action
* BATTD_ARM_VOLT: Required arming voltage
* BATTD_ARM_MAH: Required arming remaining capacity
* BATTD_OPTIONS: Battery monitor options
* BATTD_ESC_INDEX: ESC Telemetry Index to write to
* BATTD_VOLT_PIN: Battery Voltage sensing pin
* BATTD_CURR_PIN: Battery Current sensing pin
* BATTD_VOLT_MULT: Voltage Multiplier
* BATTD_AMP_PERVLT: Amps per volt
* BATTD_AMP_OFFSET: AMP offset
* BATTD_VLT_OFFSET: Voltage offset
* BATTD_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATTD_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATTD_SUM_MASK: Battery Sum mask
* BATTD_CURR_MULT: Scales reported power monitor current
* BATTD_FL_VLT_MIN: Empty fuel level voltage
* BATTD_FL_V_MULT: Fuel level voltage multiplier
* BATTD_FL_FLTR: Fuel level filter frequency
* BATTD_FL_PIN: Fuel level analog pin number
* BATTD_FL_FF: First order term
* BATTD_FL_FS: Second order term
* BATTD_FL_FT: Third order term
* BATTD_FL_OFF: Offset term
* BATTD_MAX_VOLT: Maximum Battery Voltage
* BATTD_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATTD_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATTD_MAX_AMPS: Battery monitor max current
* BATTD_SHUNT: Battery monitor shunt resistor
* BATTD_ESC_MASK: ESC mask
* BATTE_ Parameters
* BATTE_MONITOR: Battery monitoring
* BATTE_CAPACITY: Battery capacity
* BATTE_WATT_MAX: Maximum allowed power (Watts)
* BATTE_SERIAL_NUM: Battery serial number
* BATTE_LOW_TIMER: Low voltage timeout
* BATTE_FS_VOLTSRC: Failsafe voltage source
* BATTE_LOW_VOLT: Low battery voltage
* BATTE_LOW_MAH: Low battery capacity
* BATTE_CRT_VOLT: Critical battery voltage
* BATTE_CRT_MAH: Battery critical capacity
* BATTE_FS_LOW_ACT: Low battery failsafe action
* BATTE_FS_CRT_ACT: Critical battery failsafe action
* BATTE_ARM_VOLT: Required arming voltage
* BATTE_ARM_MAH: Required arming remaining capacity
* BATTE_OPTIONS: Battery monitor options
* BATTE_ESC_INDEX: ESC Telemetry Index to write to
* BATTE_VOLT_PIN: Battery Voltage sensing pin
* BATTE_CURR_PIN: Battery Current sensing pin
* BATTE_VOLT_MULT: Voltage Multiplier
* BATTE_AMP_PERVLT: Amps per volt
* BATTE_AMP_OFFSET: AMP offset
* BATTE_VLT_OFFSET: Voltage offset
* BATTE_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATTE_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATTE_SUM_MASK: Battery Sum mask
* BATTE_CURR_MULT: Scales reported power monitor current
* BATTE_FL_VLT_MIN: Empty fuel level voltage
* BATTE_FL_V_MULT: Fuel level voltage multiplier
* BATTE_FL_FLTR: Fuel level filter frequency
* BATTE_FL_PIN: Fuel level analog pin number
* BATTE_FL_FF: First order term
* BATTE_FL_FS: Second order term
* BATTE_FL_FT: Third order term
* BATTE_FL_OFF: Offset term
* BATTE_MAX_VOLT: Maximum Battery Voltage
* BATTE_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATTE_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATTE_MAX_AMPS: Battery monitor max current
* BATTE_SHUNT: Battery monitor shunt resistor
* BATTE_ESC_MASK: ESC mask
* BATTF_ Parameters
* BATTF_MONITOR: Battery monitoring
* BATTF_CAPACITY: Battery capacity
* BATTF_WATT_MAX: Maximum allowed power (Watts)
* BATTF_SERIAL_NUM: Battery serial number
* BATTF_LOW_TIMER: Low voltage timeout
* BATTF_FS_VOLTSRC: Failsafe voltage source
* BATTF_LOW_VOLT: Low battery voltage
* BATTF_LOW_MAH: Low battery capacity
* BATTF_CRT_VOLT: Critical battery voltage
* BATTF_CRT_MAH: Battery critical capacity
* BATTF_FS_LOW_ACT: Low battery failsafe action
* BATTF_FS_CRT_ACT: Critical battery failsafe action
* BATTF_ARM_VOLT: Required arming voltage
* BATTF_ARM_MAH: Required arming remaining capacity
* BATTF_OPTIONS: Battery monitor options
* BATTF_ESC_INDEX: ESC Telemetry Index to write to
* BATTF_VOLT_PIN: Battery Voltage sensing pin
* BATTF_CURR_PIN: Battery Current sensing pin
* BATTF_VOLT_MULT: Voltage Multiplier
* BATTF_AMP_PERVLT: Amps per volt
* BATTF_AMP_OFFSET: AMP offset
* BATTF_VLT_OFFSET: Voltage offset
* BATTF_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATTF_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATTF_SUM_MASK: Battery Sum mask
* BATTF_CURR_MULT: Scales reported power monitor current
* BATTF_FL_VLT_MIN: Empty fuel level voltage
* BATTF_FL_V_MULT: Fuel level voltage multiplier
* BATTF_FL_FLTR: Fuel level filter frequency
* BATTF_FL_PIN: Fuel level analog pin number
* BATTF_FL_FF: First order term
* BATTF_FL_FS: Second order term
* BATTF_FL_FT: Third order term
* BATTF_FL_OFF: Offset term
* BATTF_MAX_VOLT: Maximum Battery Voltage
* BATTF_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATTF_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATTF_MAX_AMPS: Battery monitor max current
* BATTF_SHUNT: Battery monitor shunt resistor
* BATTF_ESC_MASK: ESC mask
* BATTG_ Parameters
* BATTG_MONITOR: Battery monitoring
* BATTG_CAPACITY: Battery capacity
* BATTG_WATT_MAX: Maximum allowed power (Watts)
* BATTG_SERIAL_NUM: Battery serial number
* BATTG_LOW_TIMER: Low voltage timeout
* BATTG_FS_VOLTSRC: Failsafe voltage source
* BATTG_LOW_VOLT: Low battery voltage
* BATTG_LOW_MAH: Low battery capacity
* BATTG_CRT_VOLT: Critical battery voltage
* BATTG_CRT_MAH: Battery critical capacity
* BATTG_FS_LOW_ACT: Low battery failsafe action
* BATTG_FS_CRT_ACT: Critical battery failsafe action
* BATTG_ARM_VOLT: Required arming voltage
* BATTG_ARM_MAH: Required arming remaining capacity
* BATTG_OPTIONS: Battery monitor options
* BATTG_ESC_INDEX: ESC Telemetry Index to write to
* BATTG_VOLT_PIN: Battery Voltage sensing pin
* BATTG_CURR_PIN: Battery Current sensing pin
* BATTG_VOLT_MULT: Voltage Multiplier
* BATTG_AMP_PERVLT: Amps per volt
* BATTG_AMP_OFFSET: AMP offset
* BATTG_VLT_OFFSET: Voltage offset
* BATTG_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATTG_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATTG_SUM_MASK: Battery Sum mask
* BATTG_CURR_MULT: Scales reported power monitor current
* BATTG_FL_VLT_MIN: Empty fuel level voltage
* BATTG_FL_V_MULT: Fuel level voltage multiplier
* BATTG_FL_FLTR: Fuel level filter frequency
* BATTG_FL_PIN: Fuel level analog pin number
* BATTG_FL_FF: First order term
* BATTG_FL_FS: Second order term
* BATTG_FL_FT: Third order term
* BATTG_FL_OFF: Offset term
* BATTG_MAX_VOLT: Maximum Battery Voltage
* BATTG_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATTG_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATTG_MAX_AMPS: Battery monitor max current
* BATTG_SHUNT: Battery monitor shunt resistor
* BATTG_ESC_MASK: ESC mask
* BATT_ Parameters
* BATT_MONITOR: Battery monitoring
* BATT_CAPACITY: Battery capacity
* BATT_WATT_MAX: Maximum allowed power (Watts)
* BATT_SERIAL_NUM: Battery serial number
* BATT_LOW_TIMER: Low voltage timeout
* BATT_FS_VOLTSRC: Failsafe voltage source
* BATT_LOW_VOLT: Low battery voltage
* BATT_LOW_MAH: Low battery capacity
* BATT_CRT_VOLT: Critical battery voltage
* BATT_CRT_MAH: Battery critical capacity
* BATT_FS_LOW_ACT: Low battery failsafe action
* BATT_FS_CRT_ACT: Critical battery failsafe action
* BATT_ARM_VOLT: Required arming voltage
* BATT_ARM_MAH: Required arming remaining capacity
* BATT_OPTIONS: Battery monitor options
* BATT_ESC_INDEX: ESC Telemetry Index to write to
* BATT_VOLT_PIN: Battery Voltage sensing pin
* BATT_CURR_PIN: Battery Current sensing pin
* BATT_VOLT_MULT: Voltage Multiplier
* BATT_AMP_PERVLT: Amps per volt
* BATT_AMP_OFFSET: AMP offset
* BATT_VLT_OFFSET: Voltage offset
* BATT_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number
* BATT_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address
* BATT_SUM_MASK: Battery Sum mask
* BATT_CURR_MULT: Scales reported power monitor current
* BATT_FL_VLT_MIN: Empty fuel level voltage
* BATT_FL_V_MULT: Fuel level voltage multiplier
* BATT_FL_FLTR: Fuel level filter frequency
* BATT_FL_PIN: Fuel level analog pin number
* BATT_FL_FF: First order term
* BATT_FL_FS: Second order term
* BATT_FL_FT: Third order term
* BATT_FL_OFF: Offset term
* BATT_MAX_VOLT: Maximum Battery Voltage
* BATT_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number
* BATT_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address
* BATT_MAX_AMPS: Battery monitor max current
* BATT_SHUNT: Battery monitor shunt resistor
* BATT_ESC_MASK: ESC mask
* BRD_ Parameters
* BRD_SER1_RTSCTS: Serial 1 flow control
* BRD_SER2_RTSCTS: Serial 2 flow control
* BRD_SER3_RTSCTS: Serial 3 flow control
* BRD_SER4_RTSCTS: Serial 4 flow control
* BRD_SER5_RTSCTS: Serial 5 flow control
* BRD_SAFETY_DEFLT: Sets default state of the safety switch
* BRD_SBUS_OUT: SBUS output rate
* BRD_SERIAL_NUM: User-defined serial number
* BRD_SAFETY_MASK: Outputs which ignore the safety switch state
* BRD_HEAT_TARG: Board heater temperature target
* BRD_TYPE: Board type
* BRD_IO_ENABLE: Enable IO co-processor
* BRD_SAFETYOPTION: Options for safety button behavior
* BRD_VBUS_MIN: Autopilot board voltage requirement
* BRD_VSERVO_MIN: Servo voltage requirement
* BRD_SD_SLOWDOWN: microSD slowdown
* BRD_PWM_VOLT_SEL: Set PWM Out Voltage
* BRD_OPTIONS: Board options
* BRD_BOOT_DELAY: Boot delay
* BRD_HEAT_P: Board Heater P gain
* BRD_HEAT_I: Board Heater I gain
* BRD_HEAT_IMAX: Board Heater IMAX
* BRD_ALT_CONFIG: Alternative HW config
* BRD_HEAT_LOWMGN: Board heater temp lower margin
* BRD_SD_MISSION: SDCard Mission size
* BRD_SD_FENCE: SDCard Fence size
* BRD_IO_DSHOT: Load DShot FW on IO
* BRD_RADIO Parameters
* BRD_RADIO_TYPE: Set type of direct attached radio
* BRD_RADIO_PROT: protocol
* BRD_RADIO_DEBUG: debug level
* BRD_RADIO_DISCRC: disable receive CRC
* BRD_RADIO_SIGCH: RSSI signal strength
* BRD_RADIO_PPSCH: Packet rate channel
* BRD_RADIO_TELEM: Enable telemetry
* BRD_RADIO_TXPOW: Telemetry Transmit power
* BRD_RADIO_FCCTST: Put radio into FCC test mode
* BRD_RADIO_STKMD: Stick input mode
* BRD_RADIO_TESTCH: Set radio to factory test channel
* BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter
* BRD_RADIO_TPPSCH: Telemetry PPS channel
* BRD_RADIO_TXMAX: Transmitter transmit power
* BRD_RADIO_BZOFS: Transmitter buzzer adjustment
* BRD_RADIO_ABTIME: Auto-bind time
* BRD_RADIO_ABLVL: Auto-bind level
* BRD_RTC Parameters
* BRD_RTC_TYPES: Allowed sources of RTC time
* BRD_RTC_TZ_MIN: Timezone offset from UTC
* BTN_ Parameters
* BTN_ENABLE: Enable button reporting
* BTN_PIN1: First button Pin
* BTN_PIN2: Second button Pin
* BTN_PIN3: Third button Pin
* BTN_PIN4: Fourth button Pin
* BTN_REPORT_SEND: Report send time
* BTN_OPTIONS1: Button Pin 1 Options
* BTN_OPTIONS2: Button Pin 2 Options
* BTN_OPTIONS3: Button Pin 3 Options
* BTN_OPTIONS4: Button Pin 4 Options
* BTN_FUNC1: Button Pin 1 RC Channel function
* BTN_FUNC2: Button Pin 2 RC Channel function
* BTN_FUNC3: Button Pin 3 RC Channel function
* BTN_FUNC4: Button Pin 4 RC Channel function
* CAM Parameters
* CAM_MAX_ROLL: Maximum photo roll angle.
* CAM_AUTO_ONLY: Distance-trigging in AUTO mode only
* CAM1 Parameters
* CAM1_TYPE: Camera shutter (trigger) type
* CAM1_DURATION: Camera shutter duration held open
* CAM1_SERVO_ON: Camera servo ON PWM value
* CAM1_SERVO_OFF: Camera servo OFF PWM value
* CAM1_TRIGG_DIST: Camera trigger distance
* CAM1_RELAY_ON: Camera relay ON value
* CAM1_INTRVAL_MIN: Camera minimum time interval between photos
* CAM1_FEEDBAK_PIN: Camera feedback pin
* CAM1_FEEDBAK_POL: Camera feedback pin polarity
* CAM1_OPTIONS: Camera options
* CAM1_MNT_INST: Camera Mount instance
* CAM1_HFOV: Camera horizontal field of view
* CAM1_VFOV: Camera vertical field of view
* CAM2 Parameters
* CAM2_TYPE: Camera shutter (trigger) type
* CAM2_DURATION: Camera shutter duration held open
* CAM2_SERVO_ON: Camera servo ON PWM value
* CAM2_SERVO_OFF: Camera servo OFF PWM value
* CAM2_TRIGG_DIST: Camera trigger distance
* CAM2_RELAY_ON: Camera relay ON value
* CAM2_INTRVAL_MIN: Camera minimum time interval between photos
* CAM2_FEEDBAK_PIN: Camera feedback pin
* CAM2_FEEDBAK_POL: Camera feedback pin polarity
* CAM2_OPTIONS: Camera options
* CAM2_MNT_INST: Camera Mount instance
* CAM2_HFOV: Camera horizontal field of view
* CAM2_VFOV: Camera vertical field of view
* CAM_RC_ Parameters
* CAM_RC_TYPE: RunCam device type
* CAM_RC_FEATURES: RunCam features available
* CAM_RC_BT_DELAY: RunCam boot delay before allowing updates
* CAM_RC_BTN_DELAY: RunCam button delay before allowing further button
presses
* CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button
presses
* CAM_RC_CONTROL: RunCam control option
* CAN_ Parameters
* CAN_LOGLEVEL: Loglevel
* CAN_D1_ Parameters
* CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver
* CAN_D1_PROTOCOL2: Secondary protocol with 11 bit CAN addressing
* CAN_D1_PC_ Parameters
* CAN_D1_PC_ESC_BM: ESC channels
* CAN_D1_PC_ESC_RT: ESC output rate
* CAN_D1_PC_SRV_BM: Servo channels
* CAN_D1_PC_SRV_RT: Servo command output rate
* CAN_D1_PC_ECU_ID: ECU Node ID
* CAN_D1_PC_ECU_RT: ECU command output rate
* CAN_D1_UC_ Parameters
* CAN_D1_UC_NODE: DroneCAN node that is used for this network
* CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over
DroneCAN
* CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over
DroneCAN
* CAN_D1_UC_SRV_RT: Servo output rate
* CAN_D1_UC_OPTION: DroneCAN options
* CAN_D1_UC_NTF_RT: Notify State rate
* CAN_D1_UC_ESC_OF: ESC Output channels offset
* CAN_D1_UC_POOL: CAN pool size
* CAN_D1_UC_ESC_RV: Bitmask for output channels for reversible ESCs over
DroneCAN.
* CAN_D1_UC_RLY_RT: DroneCAN relay output rate
* CAN_D1_UC_SER_EN: DroneCAN Serial enable
* CAN_D1_UC_S1_NOD: Serial CAN remote node number
* CAN_D1_UC_S1_IDX: DroneCAN Serial1 index
* CAN_D1_UC_S1_BD: DroneCAN Serial default baud rate
* CAN_D1_UC_S1_PRO: Serial protocol of DroneCAN serial port
* CAN_D1_UC_S2_NOD: Serial CAN remote node number
* CAN_D1_UC_S2_IDX: Serial port number on remote CAN node
* CAN_D1_UC_S2_BD: DroneCAN Serial default baud rate
* CAN_D1_UC_S2_PRO: Serial protocol of DroneCAN serial port
* CAN_D1_UC_S3_NOD: Serial CAN remote node number
* CAN_D1_UC_S3_IDX: Serial port number on remote CAN node
* CAN_D1_UC_S3_BD: Serial baud rate on remote CAN node
* CAN_D1_UC_S3_PRO: Serial protocol of DroneCAN serial port
* CAN_D2_ Parameters
* CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver
* CAN_D2_PROTOCOL2: Secondary protocol with 11 bit CAN addressing
* CAN_D2_PC_ Parameters
* CAN_D2_PC_ESC_BM: ESC channels
* CAN_D2_PC_ESC_RT: ESC output rate
* CAN_D2_PC_SRV_BM: Servo channels
* CAN_D2_PC_SRV_RT: Servo command output rate
* CAN_D2_PC_ECU_ID: ECU Node ID
* CAN_D2_PC_ECU_RT: ECU command output rate
* CAN_D2_UC_ Parameters
* CAN_D2_UC_NODE: DroneCAN node that is used for this network
* CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over
DroneCAN
* CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over
DroneCAN
* CAN_D2_UC_SRV_RT: Servo output rate
* CAN_D2_UC_OPTION: DroneCAN options
* CAN_D2_UC_NTF_RT: Notify State rate
* CAN_D2_UC_ESC_OF: ESC Output channels offset
* CAN_D2_UC_POOL: CAN pool size
* CAN_D2_UC_ESC_RV: Bitmask for output channels for reversible ESCs over
DroneCAN.
* CAN_D2_UC_RLY_RT: DroneCAN relay output rate
* CAN_D2_UC_SER_EN: DroneCAN Serial enable
* CAN_D2_UC_S1_NOD: Serial CAN remote node number
* CAN_D2_UC_S1_IDX: DroneCAN Serial1 index
* CAN_D2_UC_S1_BD: DroneCAN Serial default baud rate
* CAN_D2_UC_S1_PRO: Serial protocol of DroneCAN serial port
* CAN_D2_UC_S2_NOD: Serial CAN remote node number
* CAN_D2_UC_S2_IDX: Serial port number on remote CAN node
* CAN_D2_UC_S2_BD: DroneCAN Serial default baud rate
* CAN_D2_UC_S2_PRO: Serial protocol of DroneCAN serial port
* CAN_D2_UC_S3_NOD: Serial CAN remote node number
* CAN_D2_UC_S3_IDX: Serial port number on remote CAN node
* CAN_D2_UC_S3_BD: Serial baud rate on remote CAN node
* CAN_D2_UC_S3_PRO: Serial protocol of DroneCAN serial port
* CAN_D3_ Parameters
* CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver
* CAN_D3_PROTOCOL2: Secondary protocol with 11 bit CAN addressing
* CAN_D3_PC_ Parameters
* CAN_D3_PC_ESC_BM: ESC channels
* CAN_D3_PC_ESC_RT: ESC output rate
* CAN_D3_PC_SRV_BM: Servo channels
* CAN_D3_PC_SRV_RT: Servo command output rate
* CAN_D3_PC_ECU_ID: ECU Node ID
* CAN_D3_PC_ECU_RT: ECU command output rate
* CAN_D3_UC_ Parameters
* CAN_D3_UC_NODE: DroneCAN node that is used for this network
* CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over
DroneCAN
* CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over
DroneCAN
* CAN_D3_UC_SRV_RT: Servo output rate
* CAN_D3_UC_OPTION: DroneCAN options
* CAN_D3_UC_NTF_RT: Notify State rate
* CAN_D3_UC_ESC_OF: ESC Output channels offset
* CAN_D3_UC_POOL: CAN pool size
* CAN_D3_UC_ESC_RV: Bitmask for output channels for reversible ESCs over
DroneCAN.
* CAN_D3_UC_RLY_RT: DroneCAN relay output rate
* CAN_D3_UC_SER_EN: DroneCAN Serial enable
* CAN_D3_UC_S1_NOD: Serial CAN remote node number
* CAN_D3_UC_S1_IDX: DroneCAN Serial1 index
* CAN_D3_UC_S1_BD: DroneCAN Serial default baud rate
* CAN_D3_UC_S1_PRO: Serial protocol of DroneCAN serial port
* CAN_D3_UC_S2_NOD: Serial CAN remote node number
* CAN_D3_UC_S2_IDX: Serial port number on remote CAN node
* CAN_D3_UC_S2_BD: DroneCAN Serial default baud rate
* CAN_D3_UC_S2_PRO: Serial protocol of DroneCAN serial port
* CAN_D3_UC_S3_NOD: Serial CAN remote node number
* CAN_D3_UC_S3_IDX: Serial port number on remote CAN node
* CAN_D3_UC_S3_BD: Serial baud rate on remote CAN node
* CAN_D3_UC_S3_PRO: Serial protocol of DroneCAN serial port
* CAN_P1_ Parameters
* CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN
interface
* CAN_P1_BITRATE: Bitrate of CAN interface
* CAN_P1_FDBITRATE: Bitrate of CANFD interface
* CAN_P2_ Parameters
* CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN
interface
* CAN_P2_BITRATE: Bitrate of CAN interface
* CAN_P2_FDBITRATE: Bitrate of CANFD interface
* CAN_P3_ Parameters
* CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN
interface
* CAN_P3_BITRATE: Bitrate of CAN interface
* CAN_P3_FDBITRATE: Bitrate of CANFD interface
* CAN_SLCAN_ Parameters
* CAN_SLCAN_CPORT: SLCAN Route
* CAN_SLCAN_SERNUM: SLCAN Serial Port
* CAN_SLCAN_TIMOUT: SLCAN Timeout
* CAN_SLCAN_SDELAY: SLCAN Start Delay
* CHUTE_ Parameters
* CHUTE_ENABLED: Parachute release enabled or disabled
* CHUTE_TYPE: Parachute release mechanism type (relay or servo)
* CHUTE_SERVO_ON: Parachute Servo ON PWM value
* CHUTE_SERVO_OFF: Servo OFF PWM value
* CHUTE_ALT_MIN: Parachute min altitude in meters above home
* CHUTE_DELAY_MS: Parachute release delay
* CHUTE_CRT_SINK: Critical sink speed rate in m/s to trigger emergency
parachute
* CHUTE_OPTIONS: Parachute options
* COMPASS_ Parameters
* COMPASS_OFS_X: Compass offsets in milligauss on the X axis
* COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis
* COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis
* COMPASS_DEC: Compass declination
* COMPASS_LEARN: Learn compass offsets automatically
* COMPASS_USE: Use compass for yaw
* COMPASS_AUTODEC: Auto Declination
* COMPASS_MOTCT: Motor interference compensation type
* COMPASS_MOT_X: Motor interference compensation for body frame X axis
* COMPASS_MOT_Y: Motor interference compensation for body frame Y axis
* COMPASS_MOT_Z: Motor interference compensation for body frame Z axis
* COMPASS_ORIENT: Compass orientation
* COMPASS_EXTERNAL: Compass is attached via an external cable
* COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis
* COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis
* COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis
* COMPASS_MOT2_X: Motor interference compensation to compass2 for body
frame X axis
* COMPASS_MOT2_Y: Motor interference compensation to compass2 for body
frame Y axis
* COMPASS_MOT2_Z: Motor interference compensation to compass2 for body
frame Z axis
* COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis
* COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis
* COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis
* COMPASS_MOT3_X: Motor interference compensation to compass3 for body
frame X axis
* COMPASS_MOT3_Y: Motor interference compensation to compass3 for body
frame Y axis
* COMPASS_MOT3_Z: Motor interference compensation to compass3 for body
frame Z axis
* COMPASS_DEV_ID: Compass device id
* COMPASS_DEV_ID2: Compass2 device id
* COMPASS_DEV_ID3: Compass3 device id
* COMPASS_USE2: Compass2 used for yaw
* COMPASS_ORIENT2: Compass2 orientation
* COMPASS_EXTERN2: Compass2 is attached via an external cable
* COMPASS_USE3: Compass3 used for yaw
* COMPASS_ORIENT3: Compass3 orientation
* COMPASS_EXTERN3: Compass3 is attached via an external cable
* COMPASS_DIA_X: Compass soft-iron diagonal X component
* COMPASS_DIA_Y: Compass soft-iron diagonal Y component
* COMPASS_DIA_Z: Compass soft-iron diagonal Z component
* COMPASS_ODI_X: Compass soft-iron off-diagonal X component
* COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component
* COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component
* COMPASS_DIA2_X: Compass2 soft-iron diagonal X component
* COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component
* COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component
* COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component
* COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component
* COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component
* COMPASS_DIA3_X: Compass3 soft-iron diagonal X component
* COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component
* COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component
* COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component
* COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component
* COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component
* COMPASS_CAL_FIT: Compass calibration fitness
* COMPASS_OFFS_MAX: Compass maximum offset
* COMPASS_DISBLMSK: Compass disable driver type mask
* COMPASS_FLTR_RNG: Range in which sample is accepted
* COMPASS_AUTO_ROT: Automatically check orientation
* COMPASS_PRIO1_ID: Compass device id with 1st order priority
* COMPASS_PRIO2_ID: Compass device id with 2nd order priority
* COMPASS_PRIO3_ID: Compass device id with 3rd order priority
* COMPASS_ENABLE: Enable Compass
* COMPASS_SCALE: Compass1 scale factor
* COMPASS_SCALE2: Compass2 scale factor
* COMPASS_SCALE3: Compass3 scale factor
* COMPASS_OPTIONS: Compass options
* COMPASS_DEV_ID4: Compass4 device id
* COMPASS_DEV_ID5: Compass5 device id
* COMPASS_DEV_ID6: Compass6 device id
* COMPASS_DEV_ID7: Compass7 device id
* COMPASS_DEV_ID8: Compass8 device id
* COMPASS_CUS_ROLL: Custom orientation roll offset
* COMPASS_CUS_PIT: Custom orientation pitch offset
* COMPASS_CUS_YAW: Custom orientation yaw offset
* COMPASS_PMOT Parameters
* COMPASS_PMOT_EN: per-motor compass correction enable
* COMPASS_PMOT_EXP: per-motor exponential correction
* COMPASS_PMOT1_X: Compass per-motor1 X
* COMPASS_PMOT1_Y: Compass per-motor1 Y
* COMPASS_PMOT1_Z: Compass per-motor1 Z
* COMPASS_PMOT2_X: Compass per-motor2 X
* COMPASS_PMOT2_Y: Compass per-motor2 Y
* COMPASS_PMOT2_Z: Compass per-motor2 Z
* COMPASS_PMOT3_X: Compass per-motor3 X
* COMPASS_PMOT3_Y: Compass per-motor3 Y
* COMPASS_PMOT3_Z: Compass per-motor3 Z
* COMPASS_PMOT4_X: Compass per-motor4 X
* COMPASS_PMOT4_Y: Compass per-motor4 Y
* COMPASS_PMOT4_Z: Compass per-motor4 Z
* CUST_ROT Parameters
* CUST_ROT_ENABLE: Enable Custom rotations
* CUST_ROT1_ Parameters
* CUST_ROT1_ROLL: Custom roll
* CUST_ROT1_PITCH: Custom pitch
* CUST_ROT1_YAW: Custom yaw
* CUST_ROT2_ Parameters
* CUST_ROT2_ROLL: Custom roll
* CUST_ROT2_PITCH: Custom pitch
* CUST_ROT2_YAW: Custom yaw
* DDS Parameters
* DDS_ENABLE: DDS enable
* DDS_UDP_PORT: DDS UDP port
* DDS_IP Parameters
* DDS_IP0: IPv4 Address 1st byte
* DDS_IP1: IPv4 Address 2nd byte
* DDS_IP2: IPv4 Address 3rd byte
* DDS_IP3: IPv4 Address 4th byte
* DID_ Parameters
* DID_ENABLE: Enable ODID subsystem
* DID_MAVPORT: MAVLink serial port
* DID_CANDRIVER: DroneCAN driver number
* DID_OPTIONS: OpenDroneID options
* DID_BARO_ACC: Barometer vertical accuraacy
* EAHRS Parameters
* EAHRS_TYPE: AHRS type
* EAHRS_RATE: AHRS data rate
* EAHRS_OPTIONS: External AHRS options
* EAHRS_SENSORS: External AHRS sensors
* EAHRS_LOG_RATE: AHRS logging rate
* EFI Parameters
* EFI_TYPE: EFI communication type
* EFI_COEF1: EFI Calibration Coefficient 1
* EFI_COEF2: EFI Calibration Coefficient 2
* EFI_FUEL_DENS: ECU Fuel Density
* EFI_THRLIN Parameters
* EFI_THRLIN_EN: Enable throttle linearisation
* EFI_THRLIN_COEF1: Throttle linearisation - First Order
* EFI_THRLIN_COEF2: Throttle linearisation - Second Order
* EFI_THRLIN_COEF3: Throttle linearisation - Third Order
* EFI_THRLIN_OFS: throttle linearization offset
* EK2_ Parameters
* EK2_ENABLE: Enable EKF2
* EK2_GPS_TYPE: GPS mode control
* EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
* EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
* EK2_VEL_I_GATE: GPS velocity innovation gate size
* EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)
* EK2_POS_I_GATE: GPS position measurement gate size
* EK2_GLITCH_RAD: GPS glitch radius gate size (m)
* EK2_ALT_SOURCE: Primary altitude sensor source
* EK2_ALT_M_NSE: Altitude measurement noise (m)
* EK2_HGT_I_GATE: Height measurement gate size
* EK2_HGT_DELAY: Height measurement delay (msec)
* EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)
* EK2_MAG_CAL: Magnetometer default fusion mode
* EK2_MAG_I_GATE: Magnetometer measurement gate size
* EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
* EK2_EAS_I_GATE: Airspeed measurement gate size
* EK2_RNG_M_NSE: Range finder measurement noise (m)
* EK2_RNG_I_GATE: Range finder measurement gate size
* EK2_MAX_FLOW: Maximum valid optical flow rate
* EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)
* EK2_FLOW_I_GATE: Optical Flow measurement gate size
* EK2_FLOW_DELAY: Optical Flow measurement delay (msec)
* EK2_GYRO_P_NSE: Rate gyro noise (rad/s)
* EK2_ACC_P_NSE: Accelerometer noise (m/s^2)
* EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
* EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)
* EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
* EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)
* EK2_WIND_PSCALE: Height rate to wind process noise scaler
* EK2_GPS_CHECK: GPS preflight check
* EK2_IMU_MASK: Bitmask of active IMUs
* EK2_CHECK_SCALE: GPS accuracy check scaler (%)
* EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
* EK2_YAW_M_NSE: Yaw measurement noise (rad)
* EK2_YAW_I_GATE: Yaw measurement gate size
* EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
* EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
* EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
* EK2_RNG_USE_HGT: Range finder switch height percentage
* EK2_TERR_GRAD: Maximum terrain gradient
* EK2_BCN_M_NSE: Range beacon measurement noise (m)
* EK2_BCN_I_GTE: Range beacon measurement gate size
* EK2_BCN_DELAY: Range beacon measurement delay (msec)
* EK2_RNG_USE_SPD: Range finder max ground speed
* EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading
fusion
* EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction
* EK2_FLOW_USE: Optical flow use bitmask
* EK2_MAG_EF_LIM: EarthField error limit
* EK2_HRT_FILT: Height rate filter crossover frequency
* EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run
* EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used
* EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate
allowed
* EK3_ Parameters
* EK3_ENABLE: Enable EKF3
* EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
* EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
* EK3_VEL_I_GATE: GPS velocity innovation gate size
* EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)
* EK3_POS_I_GATE: GPS position measurement gate size
* EK3_GLITCH_RAD: GPS glitch radius gate size (m)
* EK3_ALT_M_NSE: Altitude measurement noise (m)
* EK3_HGT_I_GATE: Height measurement gate size
* EK3_HGT_DELAY: Height measurement delay (msec)
* EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)
* EK3_MAG_CAL: Magnetometer default fusion mode
* EK3_MAG_I_GATE: Magnetometer measurement gate size
* EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
* EK3_EAS_I_GATE: Airspeed measurement gate size
* EK3_RNG_M_NSE: Range finder measurement noise (m)
* EK3_RNG_I_GATE: Range finder measurement gate size
* EK3_MAX_FLOW: Maximum valid optical flow rate
* EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)
* EK3_FLOW_I_GATE: Optical Flow measurement gate size
* EK3_FLOW_DELAY: Optical Flow measurement delay (msec)
* EK3_GYRO_P_NSE: Rate gyro noise (rad/s)
* EK3_ACC_P_NSE: Accelerometer noise (m/s^2)
* EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
* EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
* EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)
* EK3_WIND_PSCALE: Height rate to wind process noise scaler
* EK3_GPS_CHECK: GPS preflight check
* EK3_IMU_MASK: Bitmask of active IMUs
* EK3_CHECK_SCALE: GPS accuracy check scaler (%)
* EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
* EK3_BETA_MASK: Bitmask controlling sidelip angle fusion
* EK3_YAW_M_NSE: Yaw measurement noise (rad)
* EK3_YAW_I_GATE: Yaw measurement gate size
* EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
* EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
* EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
* EK3_RNG_USE_HGT: Range finder switch height percentage
* EK3_TERR_GRAD: Maximum terrain gradient
* EK3_BCN_M_NSE: Range beacon measurement noise (m)
* EK3_BCN_I_GTE: Range beacon measurement gate size
* EK3_BCN_DELAY: Range beacon measurement delay (msec)
* EK3_RNG_USE_SPD: Range finder max ground speed
* EK3_ACC_BIAS_LIM: Accelerometer bias limit
* EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading
fusion
* EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction
* EK3_VIS_VERR_MIN: Visual odometry minimum velocity error
* EK3_VIS_VERR_MAX: Visual odometry maximum velocity error
* EK3_WENC_VERR: Wheel odometry velocity error
* EK3_FLOW_USE: Optical flow use bitmask
* EK3_HRT_FILT: Height rate filter crossover frequency
* EK3_MAG_EF_LIM: EarthField error limit
* EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run
* EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used
* EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate
allowed
* EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold
* EK3_AFFINITY: EKF3 Sensor Affinity Options
* EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag
* EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag
* EK3_DRAG_M_NSE: Observation noise for drag acceleration
* EK3_DRAG_MCOEF: Momentum coefficient for propeller drag
* EK3_OGNM_TEST_SF: On ground not moving test scale factor
* EK3_GND_EFF_DZ: Baro height ground effect dead zone
* EK3_PRIMARY: Primary core number
* EK3_LOG_LEVEL: Logging Level
* EK3_GPS_VACC_MAX: GPS vertical accuracy threshold
* EK3_OPTIONS: Optional EKF behaviour
* EK3_SRC Parameters
* EK3_SRC1_POSXY: Position Horizontal Source (Primary)
* EK3_SRC1_VELXY: Velocity Horizontal Source
* EK3_SRC1_POSZ: Position Vertical Source
* EK3_SRC1_VELZ: Velocity Vertical Source
* EK3_SRC1_YAW: Yaw Source
* EK3_SRC2_POSXY: Position Horizontal Source (Secondary)
* EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)
* EK3_SRC2_POSZ: Position Vertical Source (Secondary)
* EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)
* EK3_SRC2_YAW: Yaw Source (Secondary)
* EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)
* EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)
* EK3_SRC3_POSZ: Position Vertical Source (Tertiary)
* EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)
* EK3_SRC3_YAW: Yaw Source (Tertiary)
* EK3_SRC_OPTIONS: EKF Source Options
* ESC_TLM Parameters
* ESC_TLM_MAV_OFS: ESC Telemetry mavlink offset
* FENCE_ Parameters
* FENCE_ENABLE: Fence enable/disable
* FENCE_TYPE: Fence Type
* FENCE_ACTION: Fence Action
* FENCE_ALT_MAX: Fence Maximum Altitude
* FENCE_RADIUS: Circular Fence Radius
* FENCE_MARGIN: Fence Margin
* FENCE_TOTAL: Fence polygon point total
* FENCE_ALT_MIN: Fence Minimum Altitude
* FENCE_RET_RALLY: Fence Return to Rally
* FENCE_RET_ALT: Fence Return Altitude
* FENCE_AUTOENABLE: Fence Auto-Enable
* FENCE_OPTIONS: Fence options
* FFT_ Parameters
* FFT_ENABLE: Enable
* FFT_MINHZ: Minimum Frequency
* FFT_MAXHZ: Maximum Frequency
* FFT_SAMPLE_MODE: Sample Mode
* FFT_WINDOW_SIZE: FFT window size
* FFT_WINDOW_OLAP: FFT window overlap
* FFT_FREQ_HOVER: FFT learned hover frequency
* FFT_THR_REF: FFT learned thrust reference
* FFT_SNR_REF: FFT SNR reference threshold
* FFT_ATT_REF: FFT attenuation for bandwidth calculation
* FFT_BW_HOVER: FFT learned bandwidth at hover
* FFT_HMNC_FIT: FFT harmonic fit frequency threshold
* FFT_HMNC_PEAK: FFT harmonic peak target
* FFT_NUM_FRAMES: FFT output frames to retain and average
* FFT_OPTIONS: FFT options
* FILT1_ Parameters
* FILT1_TYPE: Filter Type
* FILT1_NOTCH_FREQ: Notch Filter center frequency
* FILT1_NOTCH_Q: Notch Filter quality factor
* FILT1_NOTCH_ATT: Notch Filter attenuation
* FILT2_ Parameters
* FILT2_TYPE: Filter Type
* FILT2_NOTCH_FREQ: Notch Filter center frequency
* FILT2_NOTCH_Q: Notch Filter quality factor
* FILT2_NOTCH_ATT: Notch Filter attenuation
* FILT3_ Parameters
* FILT3_TYPE: Filter Type
* FILT3_NOTCH_FREQ: Notch Filter center frequency
* FILT3_NOTCH_Q: Notch Filter quality factor
* FILT3_NOTCH_ATT: Notch Filter attenuation
* FILT4_ Parameters
* FILT4_TYPE: Filter Type
* FILT4_NOTCH_FREQ: Notch Filter center frequency
* FILT4_NOTCH_Q: Notch Filter quality factor
* FILT4_NOTCH_ATT: Notch Filter attenuation
* FILT5_ Parameters
* FILT5_TYPE: Filter Type
* FILT5_NOTCH_FREQ: Notch Filter center frequency
* FILT5_NOTCH_Q: Notch Filter quality factor
* FILT5_NOTCH_ATT: Notch Filter attenuation
* FILT6_ Parameters
* FILT6_TYPE: Filter Type
* FILT6_NOTCH_FREQ: Notch Filter center frequency
* FILT6_NOTCH_Q: Notch Filter quality factor
* FILT6_NOTCH_ATT: Notch Filter attenuation
* FILT7_ Parameters
* FILT7_TYPE: Filter Type
* FILT7_NOTCH_FREQ: Notch Filter center frequency
* FILT7_NOTCH_Q: Notch Filter quality factor
* FILT7_NOTCH_ATT: Notch Filter attenuation
* FILT8_ Parameters
* FILT8_TYPE: Filter Type
* FILT8_NOTCH_FREQ: Notch Filter center frequency
* FILT8_NOTCH_Q: Notch Filter quality factor
* FILT8_NOTCH_ATT: Notch Filter attenuation
* FLOW Parameters
* FLOW_TYPE: Optical flow sensor type
* FLOW_FXSCALER: X axis optical flow scale factor correction
* FLOW_FYSCALER: Y axis optical flow scale factor correction
* FLOW_ORIENT_YAW: Flow sensor yaw alignment
* FLOW_POS_X: X position offset
* FLOW_POS_Y: Y position offset
* FLOW_POS_Z: Z position offset
* FLOW_ADDR: Address on the bus
* FLOW_HGT_OVR: Height override of sensor above ground
* FOLL Parameters
* FOLL_ENABLE: Follow enable/disable
* FOLL_SYSID: Follow target's mavlink system id
* FOLL_DIST_MAX: Follow distance maximum
* FOLL_OFS_TYPE: Follow offset type
* FOLL_OFS_X: Follow offsets in meters north/forward
* FOLL_OFS_Y: Follow offsets in meters east/right
* FOLL_OFS_Z: Follow offsets in meters down
* FOLL_YAW_BEHAVE: Follow yaw behaviour
* FOLL_POS_P: Follow position error P gain
* FOLL_ALT_TYPE: Follow altitude type
* FOLL_OPTIONS: Follow options
* FRSKY_ Parameters
* FRSKY_UPLINK_ID: Uplink sensor id
* FRSKY_DNLINK1_ID: First downlink sensor id
* FRSKY_DNLINK2_ID: Second downlink sensor id
* FRSKY_DNLINK_ID: Default downlink sensor id
* FRSKY_OPTIONS: FRSky Telemetry Options
* GEN_ Parameters
* GEN_TYPE: Generator type
* GEN_OPTIONS: Generator Options
* GPS Parameters
* GPS_NAVFILTER: Navigation filter setting
* GPS_AUTO_SWITCH: Automatic Switchover Setting
* GPS_SBAS_MODE: SBAS Mode
* GPS_MIN_ELEV: Minimum elevation
* GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets
* GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask
* GPS_RAW_DATA: Raw data logging
* GPS_SAVE_CFG: Save GPS configuration
* GPS_AUTO_CONFIG: Automatic GPS configuration
* GPS_BLEND_MASK: Multi GPS Blending Mask
* GPS_DRV_OPTIONS: driver options
* GPS_PRIMARY: Primary GPS
* GPS_TYPE: 1st GPS type
* GPS_TYPE2: 2nd GPS type
* GPS_GNSS_MODE: GNSS system configuration
* GPS_GNSS_MODE2: GNSS system configuration
* GPS_RATE_MS: GPS update rate in milliseconds
* GPS_RATE_MS2: GPS 2 update rate in milliseconds
* GPS_POS1_X: Antenna X position offset
* GPS_POS1_Y: Antenna Y position offset
* GPS_POS1_Z: Antenna Z position offset
* GPS_POS2_X: Antenna X position offset
* GPS_POS2_Y: Antenna Y position offset
* GPS_POS2_Z: Antenna Z position offset
* GPS_DELAY_MS: GPS delay in milliseconds
* GPS_DELAY_MS2: GPS 2 delay in milliseconds
* GPS_COM_PORT: GPS physical COM port
* GPS_COM_PORT2: GPS physical COM port
* GPS_CAN_NODEID1: GPS Node ID 1
* GPS_CAN_NODEID2: GPS Node ID 2
* GPS1_ Parameters
* GPS1_TYPE: GPS type
* GPS1_GNSS_MODE: GNSS system configuration
* GPS1_RATE_MS: GPS update rate in milliseconds
* GPS1_POS_X: Antenna X position offset
* GPS1_POS_Y: Antenna Y position offset
* GPS1_POS_Z: Antenna Z position offset
* GPS1_DELAY_MS: GPS delay in milliseconds
* GPS1_COM_PORT: GPS physical COM port
* GPS1_CAN_NODEID: Detected CAN Node ID for GPS
* GPS1_CAN_OVRIDE: DroneCAN GPS NODE ID
* GPS1_MB_ Parameters
* GPS1_MB_TYPE: Moving base type
* GPS1_MB_OFS_X: Base antenna X position offset
* GPS1_MB_OFS_Y: Base antenna Y position offset
* GPS1_MB_OFS_Z: Base antenna Z position offset
* GPS2_ Parameters
* GPS2_TYPE: GPS type
* GPS2_GNSS_MODE: GNSS system configuration
* GPS2_RATE_MS: GPS update rate in milliseconds
* GPS2_POS_X: Antenna X position offset
* GPS2_POS_Y: Antenna Y position offset
* GPS2_POS_Z: Antenna Z position offset
* GPS2_DELAY_MS: GPS delay in milliseconds
* GPS2_COM_PORT: GPS physical COM port
* GPS2_CAN_NODEID: Detected CAN Node ID for GPS
* GPS2_CAN_OVRIDE: DroneCAN GPS NODE ID
* GPS2_MB_ Parameters
* GPS2_MB_TYPE: Moving base type
* GPS2_MB_OFS_X: Base antenna X position offset
* GPS2_MB_OFS_Y: Base antenna Y position offset
* GPS2_MB_OFS_Z: Base antenna Z position offset
* GPS_MB1_ Parameters
* GPS_MB1_TYPE: Moving base type
* GPS_MB1_OFS_X: Base antenna X position offset
* GPS_MB1_OFS_Y: Base antenna Y position offset
* GPS_MB1_OFS_Z: Base antenna Z position offset
* GPS_MB2_ Parameters
* GPS_MB2_TYPE: Moving base type
* GPS_MB2_OFS_X: Base antenna X position offset
* GPS_MB2_OFS_Y: Base antenna Y position offset
* GPS_MB2_OFS_Z: Base antenna Z position offset
* GRIP_ Parameters
* GRIP_ENABLE: Gripper Enable/Disable
* GRIP_TYPE: Gripper Type
* GRIP_GRAB: Gripper Grab PWM
* GRIP_RELEASE: Gripper Release PWM
* GRIP_NEUTRAL: Neutral PWM
* GRIP_REGRAB: EPM Gripper Regrab interval
* GRIP_CAN_ID: EPM UAVCAN Hardpoint ID
* GRIP_AUTOCLOSE: Gripper Autoclose time
* GUIDED_ Parameters
* GUIDED_P: PID Proportional Gain
* GUIDED_I: PID Integral Gain
* GUIDED_D: PID Derivative Gain
* GUIDED_FF: FF FeedForward Gain
* GUIDED_IMAX: PID Integral Maximum
* GUIDED_FLTT: PID Target filter frequency in Hz
* GUIDED_FLTE: PID Error filter frequency in Hz
* GUIDED_FLTD: PID Derivative term filter frequency in Hz
* GUIDED_SMAX: Slew rate limit
* GUIDED_PDMX: PD sum maximum
* GUIDED_D_FF: PID Derivative FeedForward Gain
* GUIDED_NTF: PID Target notch filter index
* GUIDED_NEF: PID Error notch filter index
* ICE_ Parameters
* ICE_ENABLE: Enable ICEngine control
* ICE_START_CHAN: Input channel for engine start
* ICE_STARTER_TIME: Time to run starter
* ICE_START_DELAY: Time to wait between starts
* ICE_RPM_THRESH: RPM threshold
* ICE_PWM_IGN_ON: PWM value for ignition on
* ICE_PWM_IGN_OFF: PWM value for ignition off
* ICE_PWM_STRT_ON: PWM value for starter on
* ICE_PWM_STRT_OFF: PWM value for starter off
* ICE_RPM_CHAN: RPM instance channel to use
* ICE_START_PCT: Throttle percentage for engine start
* ICE_IDLE_PCT: Throttle percentage for engine idle
* ICE_IDLE_RPM: RPM Setpoint for Idle Governor
* ICE_IDLE_DB: Deadband for Idle Governor
* ICE_IDLE_SLEW: Slew Rate for idle control
* ICE_OPTIONS: ICE options
* ICE_STARTCHN_MIN: Input channel for engine start minimum PWM
* ICE_REDLINE_RPM: RPM of the redline limit for the engine
* INS Parameters
* INS_GYROFFS_X: Gyro offsets of X axis
* INS_GYROFFS_Y: Gyro offsets of Y axis
* INS_GYROFFS_Z: Gyro offsets of Z axis
* INS_GYR2OFFS_X: Gyro2 offsets of X axis
* INS_GYR2OFFS_Y: Gyro2 offsets of Y axis
* INS_GYR2OFFS_Z: Gyro2 offsets of Z axis
* INS_GYR3OFFS_X: Gyro3 offsets of X axis
* INS_GYR3OFFS_Y: Gyro3 offsets of Y axis
* INS_GYR3OFFS_Z: Gyro3 offsets of Z axis
* INS_ACCSCAL_X: Accelerometer scaling of X axis
* INS_ACCSCAL_Y: Accelerometer scaling of Y axis
* INS_ACCSCAL_Z: Accelerometer scaling of Z axis
* INS_ACCOFFS_X: Accelerometer offsets of X axis
* INS_ACCOFFS_Y: Accelerometer offsets of Y axis
* INS_ACCOFFS_Z: Accelerometer offsets of Z axis
* INS_ACC2SCAL_X: Accelerometer2 scaling of X axis
* INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis
* INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis
* INS_ACC2OFFS_X: Accelerometer2 offsets of X axis
* INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis
* INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis
* INS_ACC3SCAL_X: Accelerometer3 scaling of X axis
* INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis
* INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis
* INS_ACC3OFFS_X: Accelerometer3 offsets of X axis
* INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis
* INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis
* INS_GYRO_FILTER: Gyro filter cutoff frequency
* INS_ACCEL_FILTER: Accel filter cutoff frequency
* INS_USE: Use first IMU for attitude, velocity and position estimates
* INS_USE2: Use second IMU for attitude, velocity and position estimates
* INS_USE3: Use third IMU for attitude, velocity and position estimates
* INS_STILL_THRESH: Stillness threshold for detecting if we are moving
* INS_GYR_CAL: Gyro Calibration scheme
* INS_TRIM_OPTION: Accel cal trim option
* INS_ACC_BODYFIX: Body-fixed accelerometer
* INS_POS1_X: IMU accelerometer X position
* INS_POS1_Y: IMU accelerometer Y position
* INS_POS1_Z: IMU accelerometer Z position
* INS_POS2_X: IMU accelerometer X position
* INS_POS2_Y: IMU accelerometer Y position
* INS_POS2_Z: IMU accelerometer Z position
* INS_POS3_X: IMU accelerometer X position
* INS_POS3_Y: IMU accelerometer Y position
* INS_POS3_Z: IMU accelerometer Z position
* INS_GYR_ID: Gyro ID
* INS_GYR2_ID: Gyro2 ID
* INS_GYR3_ID: Gyro3 ID
* INS_ACC_ID: Accelerometer ID
* INS_ACC2_ID: Accelerometer2 ID
* INS_ACC3_ID: Accelerometer3 ID
* INS_FAST_SAMPLE: Fast sampling mask
* INS_ENABLE_MASK: IMU enable mask
* INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled
* INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer
* INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope
* INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer
* INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope
* INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer
* INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope
* INS_TCAL_OPTIONS: Options for temperature calibration
* INS_RAW_LOG_OPT: Raw logging options
* INS4_ Parameters
* INS4_USE: Use first IMU for attitude, velocity and position estimates
* INS4_ACC_ID: Accelerometer ID
* INS4_ACCSCAL_X: Accelerometer scaling of X axis
* INS4_ACCSCAL_Y: Accelerometer scaling of Y axis
* INS4_ACCSCAL_Z: Accelerometer scaling of Z axis
* INS4_ACCOFFS_X: Accelerometer offsets of X axis
* INS4_ACCOFFS_Y: Accelerometer offsets of Y axis
* INS4_ACCOFFS_Z: Accelerometer offsets of Z axis
* INS4_POS_X: IMU accelerometer X position
* INS4_POS_Y: IMU accelerometer Y position
* INS4_POS_Z: IMU accelerometer Z position
* INS4_ACC_CALTEMP: Calibration temperature for accelerometer
* INS4_GYR_ID: Gyro ID
* INS4_GYROFFS_X: Gyro offsets of X axis
* INS4_GYROFFS_Y: Gyro offsets of Y axis
* INS4_GYROFFS_Z: Gyro offsets of Z axis
* INS4_GYR_CALTEMP: Calibration temperature for gyroscope
* INS4_TCAL_ Parameters
* INS4_TCAL_ENABLE: Enable temperature calibration
* INS4_TCAL_TMIN: Temperature calibration min
* INS4_TCAL_TMAX: Temperature calibration max
* INS4_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X
axis
* INS4_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y
axis
* INS4_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z
axis
* INS4_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X
axis
* INS4_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y
axis
* INS4_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z
axis
* INS4_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X
axis
* INS4_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y
axis
* INS4_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z
axis
* INS4_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis
* INS4_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
* INS4_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
* INS4_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
* INS4_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
* INS4_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
* INS4_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
* INS4_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
* INS4_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
* INS5_ Parameters
* INS5_USE: Use first IMU for attitude, velocity and position estimates
* INS5_ACC_ID: Accelerometer ID
* INS5_ACCSCAL_X: Accelerometer scaling of X axis
* INS5_ACCSCAL_Y: Accelerometer scaling of Y axis
* INS5_ACCSCAL_Z: Accelerometer scaling of Z axis
* INS5_ACCOFFS_X: Accelerometer offsets of X axis
* INS5_ACCOFFS_Y: Accelerometer offsets of Y axis
* INS5_ACCOFFS_Z: Accelerometer offsets of Z axis
* INS5_POS_X: IMU accelerometer X position
* INS5_POS_Y: IMU accelerometer Y position
* INS5_POS_Z: IMU accelerometer Z position
* INS5_ACC_CALTEMP: Calibration temperature for accelerometer
* INS5_GYR_ID: Gyro ID
* INS5_GYROFFS_X: Gyro offsets of X axis
* INS5_GYROFFS_Y: Gyro offsets of Y axis
* INS5_GYROFFS_Z: Gyro offsets of Z axis
* INS5_GYR_CALTEMP: Calibration temperature for gyroscope
* INS5_TCAL_ Parameters
* INS5_TCAL_ENABLE: Enable temperature calibration
* INS5_TCAL_TMIN: Temperature calibration min
* INS5_TCAL_TMAX: Temperature calibration max
* INS5_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X
axis
* INS5_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y
axis
* INS5_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z
axis
* INS5_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X
axis
* INS5_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y
axis
* INS5_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z
axis
* INS5_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X
axis
* INS5_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y
axis
* INS5_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z
axis
* INS5_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis
* INS5_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
* INS5_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
* INS5_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
* INS5_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
* INS5_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
* INS5_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
* INS5_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
* INS5_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
* INS_HNTC2_ Parameters
* INS_HNTC2_ENABLE: Harmonic Notch Filter enable
* INS_HNTC2_FREQ: Harmonic Notch Filter base frequency
* INS_HNTC2_BW: Harmonic Notch Filter bandwidth
* INS_HNTC2_ATT: Harmonic Notch Filter attenuation
* INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics
* INS_HNTC2_REF: Harmonic Notch Filter reference value
* INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode
* INS_HNTC2_OPTS: Harmonic Notch Filter options
* INS_HNTC2_FM_RAT: Throttle notch min freqency ratio
* INS_HNTCH_ Parameters
* INS_HNTCH_ENABLE: Harmonic Notch Filter enable
* INS_HNTCH_FREQ: Harmonic Notch Filter base frequency
* INS_HNTCH_BW: Harmonic Notch Filter bandwidth
* INS_HNTCH_ATT: Harmonic Notch Filter attenuation
* INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics
* INS_HNTCH_REF: Harmonic Notch Filter reference value
* INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode
* INS_HNTCH_OPTS: Harmonic Notch Filter options
* INS_HNTCH_FM_RAT: Throttle notch min freqency ratio
* INS_LOG_ Parameters
* INS_LOG_BAT_CNT: sample count per batch
* INS_LOG_BAT_MASK: Sensor Bitmask
* INS_LOG_BAT_OPT: Batch Logging Options Mask
* INS_LOG_BAT_LGIN: logging interval
* INS_LOG_BAT_LGCT: logging count
* INS_TCAL1_ Parameters
* INS_TCAL1_ENABLE: Enable temperature calibration
* INS_TCAL1_TMIN: Temperature calibration min
* INS_TCAL1_TMAX: Temperature calibration max
* INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X
axis
* INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y
axis
* INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z
axis
* INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X
axis
* INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y
axis
* INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z
axis
* INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X
axis
* INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y
axis
* INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z
axis
* INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis
* INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
* INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
* INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
* INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
* INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
* INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
* INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
* INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
* INS_TCAL2_ Parameters
* INS_TCAL2_ENABLE: Enable temperature calibration
* INS_TCAL2_TMIN: Temperature calibration min
* INS_TCAL2_TMAX: Temperature calibration max
* INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X
axis
* INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y
axis
* INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z
axis
* INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X
axis
* INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y
axis
* INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z
axis
* INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X
axis
* INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y
axis
* INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z
axis
* INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis
* INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
* INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
* INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
* INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
* INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
* INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
* INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
* INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
* INS_TCAL3_ Parameters
* INS_TCAL3_ENABLE: Enable temperature calibration
* INS_TCAL3_TMIN: Temperature calibration min
* INS_TCAL3_TMAX: Temperature calibration max
* INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X
axis
* INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y
axis
* INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z
axis
* INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X
axis
* INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y
axis
* INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z
axis
* INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X
axis
* INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y
axis
* INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z
axis
* INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis
* INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
* INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
* INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
* INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
* INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
* INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
* INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
* INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
* KDE_ Parameters
* KDE_NPOLE: Number of motor poles
* LAND_ Parameters
* LAND_SLOPE_RCALC: Landing slope re-calc threshold
* LAND_ABORT_DEG: Landing auto-abort slope threshold
* LAND_PITCH_DEG: Landing Pitch
* LAND_FLARE_ALT: Landing flare altitude
* LAND_FLARE_SEC: Landing flare time
* LAND_PF_ALT: Landing pre-flare altitude
* LAND_PF_SEC: Landing pre-flare time
* LAND_PF_ARSPD: Landing pre-flare airspeed
* LAND_THR_SLEW: Landing throttle slew rate
* LAND_DISARMDELAY: Landing disarm delay
* LAND_THEN_NEUTRL: Set servos to neutral after landing
* LAND_ABORT_THR: Landing abort using throttle
* LAND_FLAP_PERCNT: Landing flap percentage
* LAND_OPTIONS: Landing options bitmask
* LAND_FLARE_AIM: Flare aim point adjustment percentage.
* LAND_WIND_COMP: Headwind Compensation when Landing
* LAND_TYPE: Auto-landing type
* LAND_DS_ Parameters
* LAND_DS_V_FWD: Deepstall forward velocity
* LAND_DS_SLOPE_A: Deepstall slope a
* LAND_DS_SLOPE_B: Deepstall slope b
* LAND_DS_APP_EXT: Deepstall approach extension
* LAND_DS_V_DWN: Deepstall velocity down
* LAND_DS_SLEW_SPD: Deepstall slew speed
* LAND_DS_ELEV_PWM: Deepstall elevator PWM
* LAND_DS_ARSP_MAX: Deepstall enabled airspeed
* LAND_DS_ARSP_MIN: Deepstall minimum derating airspeed
* LAND_DS_L1: Deepstall L1 period
* LAND_DS_L1_I: Deepstall L1 I gain
* LAND_DS_YAW_LIM: Deepstall yaw rate limit
* LAND_DS_L1_TCON: Deepstall L1 time constant
* LAND_DS_P: P gain
* LAND_DS_I: I gain
* LAND_DS_D: D gain
* LAND_DS_IMAX: IMax
* LAND_DS_ABORTALT: Deepstall minimum abort altitude
* LAND_DS_AIL_SCL: Aileron landing gain scalaing
* LGR_ Parameters
* LGR_ENABLE: Enable landing gear
* LGR_STARTUP: Landing Gear Startup position
* LGR_DEPLOY_PIN: Chassis deployment feedback pin
* LGR_DEPLOY_POL: Chassis deployment feedback pin polarity
* LGR_WOW_PIN: Weight on wheels feedback pin
* LGR_WOW_POL: Weight on wheels feedback pin polarity
* LGR_DEPLOY_ALT: Landing gear deployment altitude
* LGR_RETRACT_ALT: Landing gear retract altitude
* LGR_OPTIONS: Landing gear auto retract/deploy options
* LOG Parameters
* LOG_BACKEND_TYPE: AP_Logger Backend Storage type
* LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size
(in kilobytes)
* LOG_DISARMED: Enable logging while disarmed
* LOG_REPLAY: Enable logging of information needed for Replay
* LOG_FILE_DSRMROT: Stop logging to current file on disarm
* LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size
* LOG_FILE_TIMEOUT: Timeout before giving up on file writes
* LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain
this amount of free space
* LOG_FILE_RATEMAX: Maximum logging rate for file backend
* LOG_MAV_RATEMAX: Maximum logging rate for mavlink backend
* LOG_BLK_RATEMAX: Maximum logging rate for block backend
* LOG_DARM_RATEMAX: Maximum logging rate when disarmed
* LOG_MAX_FILES: Maximum number of log files
* MIS_ Parameters
* MIS_TOTAL: Total mission commands
* MIS_RESTART: Mission Restart when entering Auto mode
* MIS_OPTIONS: Mission options bitmask
* MNT1 Parameters
* MNT1_TYPE: Mount Type
* MNT1_DEFLT_MODE: Mount default operating mode
* MNT1_RC_RATE: Mount RC Rate
* MNT1_ROLL_MIN: Mount Roll angle minimum
* MNT1_ROLL_MAX: Mount Roll angle maximum
* MNT1_PITCH_MIN: Mount Pitch angle minimum
* MNT1_PITCH_MAX: Mount Pitch angle maximum
* MNT1_YAW_MIN: Mount Yaw angle minimum
* MNT1_YAW_MAX: Mount Yaw angle maximum
* MNT1_RETRACT_X: Mount roll angle when in retracted position
* MNT1_RETRACT_Y: Mount pitch angle when in retracted position
* MNT1_RETRACT_Z: Mount yaw angle when in retracted position
* MNT1_NEUTRAL_X: Mount roll angle when in neutral position
* MNT1_NEUTRAL_Y: Mount pitch angle when in neutral position
* MNT1_NEUTRAL_Z: Mount yaw angle when in neutral position
* MNT1_LEAD_RLL: Mount Roll stabilization lead time
* MNT1_LEAD_PTCH: Mount Pitch stabilization lead time
* MNT1_SYSID_DFLT: Mount Target sysID
* MNT1_DEVID: Mount Device ID
* MNT1_OPTIONS: Mount options
* MNT2 Parameters
* MNT2_TYPE: Mount Type
* MNT2_DEFLT_MODE: Mount default operating mode
* MNT2_RC_RATE: Mount RC Rate
* MNT2_ROLL_MIN: Mount Roll angle minimum
* MNT2_ROLL_MAX: Mount Roll angle maximum
* MNT2_PITCH_MIN: Mount Pitch angle minimum
* MNT2_PITCH_MAX: Mount Pitch angle maximum
* MNT2_YAW_MIN: Mount Yaw angle minimum
* MNT2_YAW_MAX: Mount Yaw angle maximum
* MNT2_RETRACT_X: Mount roll angle when in retracted position
* MNT2_RETRACT_Y: Mount pitch angle when in retracted position
* MNT2_RETRACT_Z: Mount yaw angle when in retracted position
* MNT2_NEUTRAL_X: Mount roll angle when in neutral position
* MNT2_NEUTRAL_Y: Mount pitch angle when in neutral position
* MNT2_NEUTRAL_Z: Mount yaw angle when in neutral position
* MNT2_LEAD_RLL: Mount Roll stabilization lead time
* MNT2_LEAD_PTCH: Mount Pitch stabilization lead time
* MNT2_SYSID_DFLT: Mount Target sysID
* MNT2_DEVID: Mount Device ID
* MNT2_OPTIONS: Mount options
* MSP Parameters
* MSP_OSD_NCELLS: Cell count override
* MSP_OPTIONS: MSP OSD Options
* NAVL1_ Parameters
* NAVL1_PERIOD: L1 control period
* NAVL1_DAMPING: L1 control damping ratio
* NAVL1_XTRACK_I: L1 control crosstrack integrator gain
* NAVL1_LIM_BANK: Loiter Radius Bank Angle Limit
* NET_ Parameters
* NET_ENABLE: Networking Enable
* NET_NETMASK: IP Subnet mask
* NET_DHCP: DHCP client
* NET_TESTS: Test enable flags
* NET_OPTIONS: Networking options
* NET_GWADDR Parameters
* NET_GWADDR0: IPv4 Address 1st byte
* NET_GWADDR1: IPv4 Address 2nd byte
* NET_GWADDR2: IPv4 Address 3rd byte
* NET_GWADDR3: IPv4 Address 4th byte
* NET_IPADDR Parameters
* NET_IPADDR0: IPv4 Address 1st byte
* NET_IPADDR1: IPv4 Address 2nd byte
* NET_IPADDR2: IPv4 Address 3rd byte
* NET_IPADDR3: IPv4 Address 4th byte
* NET_MACADDR Parameters
* NET_MACADDR0: MAC Address 1st byte
* NET_MACADDR1: MAC Address 2nd byte
* NET_MACADDR2: MAC Address 3rd byte
* NET_MACADDR3: MAC Address 4th byte
* NET_MACADDR4: MAC Address 5th byte
* NET_MACADDR5: MAC Address 6th byte
* NET_P1_ Parameters
* NET_P1_TYPE: Port type
* NET_P1_PROTOCOL: Protocol
* NET_P1_PORT: Port number
* NET_P1_IP Parameters
* NET_P1_IP0: IPv4 Address 1st byte
* NET_P1_IP1: IPv4 Address 2nd byte
* NET_P1_IP2: IPv4 Address 3rd byte
* NET_P1_IP3: IPv4 Address 4th byte
* NET_P2_ Parameters
* NET_P2_TYPE: Port type
* NET_P2_PROTOCOL: Protocol
* NET_P2_PORT: Port number
* NET_P2_IP Parameters
* NET_P2_IP0: IPv4 Address 1st byte
* NET_P2_IP1: IPv4 Address 2nd byte
* NET_P2_IP2: IPv4 Address 3rd byte
* NET_P2_IP3: IPv4 Address 4th byte
* NET_P3_ Parameters
* NET_P3_TYPE: Port type
* NET_P3_PROTOCOL: Protocol
* NET_P3_PORT: Port number
* NET_P3_IP Parameters
* NET_P3_IP0: IPv4 Address 1st byte
* NET_P3_IP1: IPv4 Address 2nd byte
* NET_P3_IP2: IPv4 Address 3rd byte
* NET_P3_IP3: IPv4 Address 4th byte
* NET_P4_ Parameters
* NET_P4_TYPE: Port type
* NET_P4_PROTOCOL: Protocol
* NET_P4_PORT: Port number
* NET_P4_IP Parameters
* NET_P4_IP0: IPv4 Address 1st byte
* NET_P4_IP1: IPv4 Address 2nd byte
* NET_P4_IP2: IPv4 Address 3rd byte
* NET_P4_IP3: IPv4 Address 4th byte
* NET_REMPPP_IP Parameters
* NET_REMPPP_IP0: IPv4 Address 1st byte
* NET_REMPPP_IP1: IPv4 Address 2nd byte
* NET_REMPPP_IP2: IPv4 Address 3rd byte
* NET_REMPPP_IP3: IPv4 Address 4th byte
* NET_TEST_IP Parameters
* NET_TEST_IP0: IPv4 Address 1st byte
* NET_TEST_IP1: IPv4 Address 2nd byte
* NET_TEST_IP2: IPv4 Address 3rd byte
* NET_TEST_IP3: IPv4 Address 4th byte
* NMEA_ Parameters
* NMEA_RATE_MS: NMEA Output rate
* NMEA_MSG_EN: Messages Enable bitmask
* NTF_ Parameters
* NTF_LED_BRIGHT: LED Brightness
* NTF_BUZZ_TYPES: Buzzer Driver Types
* NTF_LED_OVERRIDE: Specifies colour source for the RGBLed
* NTF_DISPLAY_TYPE: Type of on-board I2C display
* NTF_OREO_THEME: OreoLED Theme
* NTF_BUZZ_PIN: Buzzer pin
* NTF_LED_TYPES: LED Driver Types
* NTF_BUZZ_ON_LVL: Buzzer-on pin logic level
* NTF_BUZZ_VOLUME: Buzzer volume
* NTF_LED_LEN: Serial LED String Length
* OSD Parameters
* OSD_TYPE: OSD type
* OSD_CHAN: Screen switch transmitter channel
* OSD_SW_METHOD: Screen switch method
* OSD_OPTIONS: OSD Options
* OSD_FONT: OSD Font
* OSD_V_OFFSET: OSD vertical offset
* OSD_H_OFFSET: OSD horizontal offset
* OSD_W_RSSI: RSSI warn level (in %)
* OSD_W_NSAT: NSAT warn level
* OSD_W_BATVOLT: BAT_VOLT warn level
* OSD_UNITS: Display Units
* OSD_MSG_TIME: Message display duration in seconds
* OSD_ARM_SCR: Arm screen
* OSD_DSARM_SCR: Disarm screen
* OSD_FS_SCR: Failsafe screen
* OSD_BTN_DELAY: Button delay
* OSD_W_TERR: Terrain warn level
* OSD_W_AVGCELLV: AVGCELLV warn level
* OSD_CELL_COUNT: Battery cell count
* OSD_W_RESTVOLT: RESTVOLT warn level
* OSD_W_ACRVOLT: Avg Cell Resting Volt warn level
* OSD_W_LQ: RC link quality warn level (in %)
* OSD_W_SNR: RC link SNR warn level (in %)
* OSD_SB_H_OFS: Sidebar horizontal offset
* OSD_SB_V_EXT: Sidebar vertical extension
* OSD_TYPE2: OSD type 2
* OSD1_ Parameters
* OSD1_ENABLE: Enable screen
* OSD1_CHAN_MIN: Transmitter switch screen minimum pwm
* OSD1_CHAN_MAX: Transmitter switch screen maximum pwm
* OSD1_ALTITUDE_EN: ALTITUDE_EN
* OSD1_ALTITUDE_X: ALTITUDE_X
* OSD1_ALTITUDE_Y: ALTITUDE_Y
* OSD1_BAT_VOLT_EN: BATVOLT_EN
* OSD1_BAT_VOLT_X: BATVOLT_X
* OSD1_BAT_VOLT_Y: BATVOLT_Y
* OSD1_RSSI_EN: RSSI_EN
* OSD1_RSSI_X: RSSI_X
* OSD1_RSSI_Y: RSSI_Y
* OSD1_CURRENT_EN: CURRENT_EN
* OSD1_CURRENT_X: CURRENT_X
* OSD1_CURRENT_Y: CURRENT_Y
* OSD1_BATUSED_EN: BATUSED_EN
* OSD1_BATUSED_X: BATUSED_X
* OSD1_BATUSED_Y: BATUSED_Y
* OSD1_SATS_EN: SATS_EN
* OSD1_SATS_X: SATS_X
* OSD1_SATS_Y: SATS_Y
* OSD1_FLTMODE_EN: FLTMODE_EN
* OSD1_FLTMODE_X: FLTMODE_X
* OSD1_FLTMODE_Y: FLTMODE_Y
* OSD1_MESSAGE_EN: MESSAGE_EN
* OSD1_MESSAGE_X: MESSAGE_X
* OSD1_MESSAGE_Y: MESSAGE_Y
* OSD1_GSPEED_EN: GSPEED_EN
* OSD1_GSPEED_X: GSPEED_X
* OSD1_GSPEED_Y: GSPEED_Y
* OSD1_HORIZON_EN: HORIZON_EN
* OSD1_HORIZON_X: HORIZON_X
* OSD1_HORIZON_Y: HORIZON_Y
* OSD1_HOME_EN: HOME_EN
* OSD1_HOME_X: HOME_X
* OSD1_HOME_Y: HOME_Y
* OSD1_HEADING_EN: HEADING_EN
* OSD1_HEADING_X: HEADING_X
* OSD1_HEADING_Y: HEADING_Y
* OSD1_THROTTLE_EN: THROTTLE_EN
* OSD1_THROTTLE_X: THROTTLE_X
* OSD1_THROTTLE_Y: THROTTLE_Y
* OSD1_COMPASS_EN: COMPASS_EN
* OSD1_COMPASS_X: COMPASS_X
* OSD1_COMPASS_Y: COMPASS_Y
* OSD1_WIND_EN: WIND_EN
* OSD1_WIND_X: WIND_X
* OSD1_WIND_Y: WIND_Y
* OSD1_ASPEED_EN: ASPEED_EN
* OSD1_ASPEED_X: ASPEED_X
* OSD1_ASPEED_Y: ASPEED_Y
* OSD1_VSPEED_EN: VSPEED_EN
* OSD1_VSPEED_X: VSPEED_X
* OSD1_VSPEED_Y: VSPEED_Y
* OSD1_ESCTEMP_EN: ESCTEMP_EN
* OSD1_ESCTEMP_X: ESCTEMP_X
* OSD1_ESCTEMP_Y: ESCTEMP_Y
* OSD1_ESCRPM_EN: ESCRPM_EN
* OSD1_ESCRPM_X: ESCRPM_X
* OSD1_ESCRPM_Y: ESCRPM_Y
* OSD1_ESCAMPS_EN: ESCAMPS_EN
* OSD1_ESCAMPS_X: ESCAMPS_X
* OSD1_ESCAMPS_Y: ESCAMPS_Y
* OSD1_GPSLAT_EN: GPSLAT_EN
* OSD1_GPSLAT_X: GPSLAT_X
* OSD1_GPSLAT_Y: GPSLAT_Y
* OSD1_GPSLONG_EN: GPSLONG_EN
* OSD1_GPSLONG_X: GPSLONG_X
* OSD1_GPSLONG_Y: GPSLONG_Y
* OSD1_ROLL_EN: ROLL_EN
* OSD1_ROLL_X: ROLL_X
* OSD1_ROLL_Y: ROLL_Y
* OSD1_PITCH_EN: PITCH_EN
* OSD1_PITCH_X: PITCH_X
* OSD1_PITCH_Y: PITCH_Y
* OSD1_TEMP_EN: TEMP_EN
* OSD1_TEMP_X: TEMP_X
* OSD1_TEMP_Y: TEMP_Y
* OSD1_HDOP_EN: HDOP_EN
* OSD1_HDOP_X: HDOP_X
* OSD1_HDOP_Y: HDOP_Y
* OSD1_WAYPOINT_EN: WAYPOINT_EN
* OSD1_WAYPOINT_X: WAYPOINT_X
* OSD1_WAYPOINT_Y: WAYPOINT_Y
* OSD1_XTRACK_EN: XTRACK_EN
* OSD1_XTRACK_X: XTRACK_X
* OSD1_XTRACK_Y: XTRACK_Y
* OSD1_DIST_EN: DIST_EN
* OSD1_DIST_X: DIST_X
* OSD1_DIST_Y: DIST_Y
* OSD1_STATS_EN: STATS_EN
* OSD1_STATS_X: STATS_X
* OSD1_STATS_Y: STATS_Y
* OSD1_FLTIME_EN: FLTIME_EN
* OSD1_FLTIME_X: FLTIME_X
* OSD1_FLTIME_Y: FLTIME_Y
* OSD1_CLIMBEFF_EN: CLIMBEFF_EN
* OSD1_CLIMBEFF_X: CLIMBEFF_X
* OSD1_CLIMBEFF_Y: CLIMBEFF_Y
* OSD1_EFF_EN: EFF_EN
* OSD1_EFF_X: EFF_X
* OSD1_EFF_Y: EFF_Y
* OSD1_BTEMP_EN: BTEMP_EN
* OSD1_BTEMP_X: BTEMP_X
* OSD1_BTEMP_Y: BTEMP_Y
* OSD1_ATEMP_EN: ATEMP_EN
* OSD1_ATEMP_X: ATEMP_X
* OSD1_ATEMP_Y: ATEMP_Y
* OSD1_BAT2_VLT_EN: BAT2VLT_EN
* OSD1_BAT2_VLT_X: BAT2VLT_X
* OSD1_BAT2_VLT_Y: BAT2VLT_Y
* OSD1_BAT2USED_EN: BAT2USED_EN
* OSD1_BAT2USED_X: BAT2USED_X
* OSD1_BAT2USED_Y: BAT2USED_Y
* OSD1_ASPD2_EN: ASPD2_EN
* OSD1_ASPD2_X: ASPD2_X
* OSD1_ASPD2_Y: ASPD2_Y
* OSD1_ASPD1_EN: ASPD1_EN
* OSD1_ASPD1_X: ASPD1_X
* OSD1_ASPD1_Y: ASPD1_Y
* OSD1_CLK_EN: CLK_EN
* OSD1_CLK_X: CLK_X
* OSD1_CLK_Y: CLK_Y
* OSD1_SIDEBARS_EN: SIDEBARS_EN
* OSD1_SIDEBARS_X: SIDEBARS_X
* OSD1_SIDEBARS_Y: SIDEBARS_Y
* OSD1_CRSSHAIR_EN: CRSSHAIR_EN
* OSD1_CRSSHAIR_X: CRSSHAIR_X
* OSD1_CRSSHAIR_Y: CRSSHAIR_Y
* OSD1_HOMEDIST_EN: HOMEDIST_EN
* OSD1_HOMEDIST_X: HOMEDIST_X
* OSD1_HOMEDIST_Y: HOMEDIST_Y
* OSD1_HOMEDIR_EN: HOMEDIR_EN
* OSD1_HOMEDIR_X: HOMEDIR_X
* OSD1_HOMEDIR_Y: HOMEDIR_Y
* OSD1_POWER_EN: POWER_EN
* OSD1_POWER_X: POWER_X
* OSD1_POWER_Y: POWER_Y
* OSD1_CELLVOLT_EN: CELL_VOLT_EN
* OSD1_CELLVOLT_X: CELL_VOLT_X
* OSD1_CELLVOLT_Y: CELL_VOLT_Y
* OSD1_BATTBAR_EN: BATT_BAR_EN
* OSD1_BATTBAR_X: BATT_BAR_X
* OSD1_BATTBAR_Y: BATT_BAR_Y
* OSD1_ARMING_EN: ARMING_EN
* OSD1_ARMING_X: ARMING_X
* OSD1_ARMING_Y: ARMING_Y
* OSD1_PLUSCODE_EN: PLUSCODE_EN
* OSD1_PLUSCODE_X: PLUSCODE_X
* OSD1_PLUSCODE_Y: PLUSCODE_Y
* OSD1_CALLSIGN_EN: CALLSIGN_EN
* OSD1_CALLSIGN_X: CALLSIGN_X
* OSD1_CALLSIGN_Y: CALLSIGN_Y
* OSD1_CURRENT2_EN: CURRENT2_EN
* OSD1_CURRENT2_X: CURRENT2_X
* OSD1_CURRENT2_Y: CURRENT2_Y
* OSD1_VTX_PWR_EN: VTX_PWR_EN
* OSD1_VTX_PWR_X: VTX_PWR_X
* OSD1_VTX_PWR_Y: VTX_PWR_Y
* OSD1_TER_HGT_EN: TER_HGT_EN
* OSD1_TER_HGT_X: TER_HGT_X
* OSD1_TER_HGT_Y: TER_HGT_Y
* OSD1_AVGCELLV_EN: AVGCELLV_EN
* OSD1_AVGCELLV_X: AVGCELLV_X
* OSD1_AVGCELLV_Y: AVGCELLV_Y
* OSD1_RESTVOLT_EN: RESTVOLT_EN
* OSD1_RESTVOLT_X: RESTVOLT_X
* OSD1_RESTVOLT_Y: RESTVOLT_Y
* OSD1_FENCE_EN: FENCE_EN
* OSD1_FENCE_X: FENCE_X
* OSD1_FENCE_Y: FENCE_Y
* OSD1_RNGF_EN: RNGF_EN
* OSD1_RNGF_X: RNGF_X
* OSD1_RNGF_Y: RNGF_Y
* OSD1_ACRVOLT_EN: ACRVOLT_EN
* OSD1_ACRVOLT_X: ACRVOLT_X
* OSD1_ACRVOLT_Y: ACRVOLT_Y
* OSD1_RPM_EN: RPM_EN
* OSD1_RPM_X: RPM_X
* OSD1_RPM_Y: RPM_Y
* OSD1_LINK_Q_EN: LINK_Q_EN
* OSD1_LINK_Q_X: LINK_Q_X
* OSD1_LINK_Q_Y: LINK_Q_Y
* OSD1_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)
* OSD1_FONT: Sets the font index for this screen (MSP DisplayPort only)
* OSD1_RC_PWR_EN: RC_PWR_EN
* OSD1_RC_PWR_X: RC_PWR_X
* OSD1_RC_PWR_Y: RC_PWR_Y
* OSD1_RSSIDBM_EN: RSSIDBM_EN
* OSD1_RSSIDBM_X: RSSIDBM_X
* OSD1_RSSIDBM_Y: RSSIDBM_Y
* OSD1_RC_SNR_EN: RC_SNR_EN
* OSD1_RC_SNR_X: RC_SNR_X
* OSD1_RC_SNR_Y: RC_SNR_Y
* OSD1_RC_ANT_EN: RC_ANT_EN
* OSD1_RC_ANT_X: RC_ANT_X
* OSD1_RC_ANT_Y: RC_ANT_Y
* OSD1_RC_LQ_EN: RC_LQ_EN
* OSD1_RC_LQ_X: RC_LQ_X
* OSD1_RC_LQ_Y: RC_LQ_Y
* OSD2_ Parameters
* OSD2_ENABLE: Enable screen
* OSD2_CHAN_MIN: Transmitter switch screen minimum pwm
* OSD2_CHAN_MAX: Transmitter switch screen maximum pwm
* OSD2_ALTITUDE_EN: ALTITUDE_EN
* OSD2_ALTITUDE_X: ALTITUDE_X
* OSD2_ALTITUDE_Y: ALTITUDE_Y
* OSD2_BAT_VOLT_EN: BATVOLT_EN
* OSD2_BAT_VOLT_X: BATVOLT_X
* OSD2_BAT_VOLT_Y: BATVOLT_Y
* OSD2_RSSI_EN: RSSI_EN
* OSD2_RSSI_X: RSSI_X
* OSD2_RSSI_Y: RSSI_Y
* OSD2_CURRENT_EN: CURRENT_EN
* OSD2_CURRENT_X: CURRENT_X
* OSD2_CURRENT_Y: CURRENT_Y
* OSD2_BATUSED_EN: BATUSED_EN
* OSD2_BATUSED_X: BATUSED_X
* OSD2_BATUSED_Y: BATUSED_Y
* OSD2_SATS_EN: SATS_EN
* OSD2_SATS_X: SATS_X
* OSD2_SATS_Y: SATS_Y
* OSD2_FLTMODE_EN: FLTMODE_EN
* OSD2_FLTMODE_X: FLTMODE_X
* OSD2_FLTMODE_Y: FLTMODE_Y
* OSD2_MESSAGE_EN: MESSAGE_EN
* OSD2_MESSAGE_X: MESSAGE_X
* OSD2_MESSAGE_Y: MESSAGE_Y
* OSD2_GSPEED_EN: GSPEED_EN
* OSD2_GSPEED_X: GSPEED_X
* OSD2_GSPEED_Y: GSPEED_Y
* OSD2_HORIZON_EN: HORIZON_EN
* OSD2_HORIZON_X: HORIZON_X
* OSD2_HORIZON_Y: HORIZON_Y
* OSD2_HOME_EN: HOME_EN
* OSD2_HOME_X: HOME_X
* OSD2_HOME_Y: HOME_Y
* OSD2_HEADING_EN: HEADING_EN
* OSD2_HEADING_X: HEADING_X
* OSD2_HEADING_Y: HEADING_Y
* OSD2_THROTTLE_EN: THROTTLE_EN
* OSD2_THROTTLE_X: THROTTLE_X
* OSD2_THROTTLE_Y: THROTTLE_Y
* OSD2_COMPASS_EN: COMPASS_EN
* OSD2_COMPASS_X: COMPASS_X
* OSD2_COMPASS_Y: COMPASS_Y
* OSD2_WIND_EN: WIND_EN
* OSD2_WIND_X: WIND_X
* OSD2_WIND_Y: WIND_Y
* OSD2_ASPEED_EN: ASPEED_EN
* OSD2_ASPEED_X: ASPEED_X
* OSD2_ASPEED_Y: ASPEED_Y
* OSD2_VSPEED_EN: VSPEED_EN
* OSD2_VSPEED_X: VSPEED_X
* OSD2_VSPEED_Y: VSPEED_Y
* OSD2_ESCTEMP_EN: ESCTEMP_EN
* OSD2_ESCTEMP_X: ESCTEMP_X
* OSD2_ESCTEMP_Y: ESCTEMP_Y
* OSD2_ESCRPM_EN: ESCRPM_EN
* OSD2_ESCRPM_X: ESCRPM_X
* OSD2_ESCRPM_Y: ESCRPM_Y
* OSD2_ESCAMPS_EN: ESCAMPS_EN
* OSD2_ESCAMPS_X: ESCAMPS_X
* OSD2_ESCAMPS_Y: ESCAMPS_Y
* OSD2_GPSLAT_EN: GPSLAT_EN
* OSD2_GPSLAT_X: GPSLAT_X
* OSD2_GPSLAT_Y: GPSLAT_Y
* OSD2_GPSLONG_EN: GPSLONG_EN
* OSD2_GPSLONG_X: GPSLONG_X
* OSD2_GPSLONG_Y: GPSLONG_Y
* OSD2_ROLL_EN: ROLL_EN
* OSD2_ROLL_X: ROLL_X
* OSD2_ROLL_Y: ROLL_Y
* OSD2_PITCH_EN: PITCH_EN
* OSD2_PITCH_X: PITCH_X
* OSD2_PITCH_Y: PITCH_Y
* OSD2_TEMP_EN: TEMP_EN
* OSD2_TEMP_X: TEMP_X
* OSD2_TEMP_Y: TEMP_Y
* OSD2_HDOP_EN: HDOP_EN
* OSD2_HDOP_X: HDOP_X
* OSD2_HDOP_Y: HDOP_Y
* OSD2_WAYPOINT_EN: WAYPOINT_EN
* OSD2_WAYPOINT_X: WAYPOINT_X
* OSD2_WAYPOINT_Y: WAYPOINT_Y
* OSD2_XTRACK_EN: XTRACK_EN
* OSD2_XTRACK_X: XTRACK_X
* OSD2_XTRACK_Y: XTRACK_Y
* OSD2_DIST_EN: DIST_EN
* OSD2_DIST_X: DIST_X
* OSD2_DIST_Y: DIST_Y
* OSD2_STATS_EN: STATS_EN
* OSD2_STATS_X: STATS_X
* OSD2_STATS_Y: STATS_Y
* OSD2_FLTIME_EN: FLTIME_EN
* OSD2_FLTIME_X: FLTIME_X
* OSD2_FLTIME_Y: FLTIME_Y
* OSD2_CLIMBEFF_EN: CLIMBEFF_EN
* OSD2_CLIMBEFF_X: CLIMBEFF_X
* OSD2_CLIMBEFF_Y: CLIMBEFF_Y
* OSD2_EFF_EN: EFF_EN
* OSD2_EFF_X: EFF_X
* OSD2_EFF_Y: EFF_Y
* OSD2_BTEMP_EN: BTEMP_EN
* OSD2_BTEMP_X: BTEMP_X
* OSD2_BTEMP_Y: BTEMP_Y
* OSD2_ATEMP_EN: ATEMP_EN
* OSD2_ATEMP_X: ATEMP_X
* OSD2_ATEMP_Y: ATEMP_Y
* OSD2_BAT2_VLT_EN: BAT2VLT_EN
* OSD2_BAT2_VLT_X: BAT2VLT_X
* OSD2_BAT2_VLT_Y: BAT2VLT_Y
* OSD2_BAT2USED_EN: BAT2USED_EN
* OSD2_BAT2USED_X: BAT2USED_X
* OSD2_BAT2USED_Y: BAT2USED_Y
* OSD2_ASPD2_EN: ASPD2_EN
* OSD2_ASPD2_X: ASPD2_X
* OSD2_ASPD2_Y: ASPD2_Y
* OSD2_ASPD1_EN: ASPD1_EN
* OSD2_ASPD1_X: ASPD1_X
* OSD2_ASPD1_Y: ASPD1_Y
* OSD2_CLK_EN: CLK_EN
* OSD2_CLK_X: CLK_X
* OSD2_CLK_Y: CLK_Y
* OSD2_SIDEBARS_EN: SIDEBARS_EN
* OSD2_SIDEBARS_X: SIDEBARS_X
* OSD2_SIDEBARS_Y: SIDEBARS_Y
* OSD2_CRSSHAIR_EN: CRSSHAIR_EN
* OSD2_CRSSHAIR_X: CRSSHAIR_X
* OSD2_CRSSHAIR_Y: CRSSHAIR_Y
* OSD2_HOMEDIST_EN: HOMEDIST_EN
* OSD2_HOMEDIST_X: HOMEDIST_X
* OSD2_HOMEDIST_Y: HOMEDIST_Y
* OSD2_HOMEDIR_EN: HOMEDIR_EN
* OSD2_HOMEDIR_X: HOMEDIR_X
* OSD2_HOMEDIR_Y: HOMEDIR_Y
* OSD2_POWER_EN: POWER_EN
* OSD2_POWER_X: POWER_X
* OSD2_POWER_Y: POWER_Y
* OSD2_CELLVOLT_EN: CELL_VOLT_EN
* OSD2_CELLVOLT_X: CELL_VOLT_X
* OSD2_CELLVOLT_Y: CELL_VOLT_Y
* OSD2_BATTBAR_EN: BATT_BAR_EN
* OSD2_BATTBAR_X: BATT_BAR_X
* OSD2_BATTBAR_Y: BATT_BAR_Y
* OSD2_ARMING_EN: ARMING_EN
* OSD2_ARMING_X: ARMING_X
* OSD2_ARMING_Y: ARMING_Y
* OSD2_PLUSCODE_EN: PLUSCODE_EN
* OSD2_PLUSCODE_X: PLUSCODE_X
* OSD2_PLUSCODE_Y: PLUSCODE_Y
* OSD2_CALLSIGN_EN: CALLSIGN_EN
* OSD2_CALLSIGN_X: CALLSIGN_X
* OSD2_CALLSIGN_Y: CALLSIGN_Y
* OSD2_CURRENT2_EN: CURRENT2_EN
* OSD2_CURRENT2_X: CURRENT2_X
* OSD2_CURRENT2_Y: CURRENT2_Y
* OSD2_VTX_PWR_EN: VTX_PWR_EN
* OSD2_VTX_PWR_X: VTX_PWR_X
* OSD2_VTX_PWR_Y: VTX_PWR_Y
* OSD2_TER_HGT_EN: TER_HGT_EN
* OSD2_TER_HGT_X: TER_HGT_X
* OSD2_TER_HGT_Y: TER_HGT_Y
* OSD2_AVGCELLV_EN: AVGCELLV_EN
* OSD2_AVGCELLV_X: AVGCELLV_X
* OSD2_AVGCELLV_Y: AVGCELLV_Y
* OSD2_RESTVOLT_EN: RESTVOLT_EN
* OSD2_RESTVOLT_X: RESTVOLT_X
* OSD2_RESTVOLT_Y: RESTVOLT_Y
* OSD2_FENCE_EN: FENCE_EN
* OSD2_FENCE_X: FENCE_X
* OSD2_FENCE_Y: FENCE_Y
* OSD2_RNGF_EN: RNGF_EN
* OSD2_RNGF_X: RNGF_X
* OSD2_RNGF_Y: RNGF_Y
* OSD2_ACRVOLT_EN: ACRVOLT_EN
* OSD2_ACRVOLT_X: ACRVOLT_X
* OSD2_ACRVOLT_Y: ACRVOLT_Y
* OSD2_RPM_EN: RPM_EN
* OSD2_RPM_X: RPM_X
* OSD2_RPM_Y: RPM_Y
* OSD2_LINK_Q_EN: LINK_Q_EN
* OSD2_LINK_Q_X: LINK_Q_X
* OSD2_LINK_Q_Y: LINK_Q_Y
* OSD2_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)
* OSD2_FONT: Sets the font index for this screen (MSP DisplayPort only)
* OSD2_RC_PWR_EN: RC_PWR_EN
* OSD2_RC_PWR_X: RC_PWR_X
* OSD2_RC_PWR_Y: RC_PWR_Y
* OSD2_RSSIDBM_EN: RSSIDBM_EN
* OSD2_RSSIDBM_X: RSSIDBM_X
* OSD2_RSSIDBM_Y: RSSIDBM_Y
* OSD2_RC_SNR_EN: RC_SNR_EN
* OSD2_RC_SNR_X: RC_SNR_X
* OSD2_RC_SNR_Y: RC_SNR_Y
* OSD2_RC_ANT_EN: RC_ANT_EN
* OSD2_RC_ANT_X: RC_ANT_X
* OSD2_RC_ANT_Y: RC_ANT_Y
* OSD2_RC_LQ_EN: RC_LQ_EN
* OSD2_RC_LQ_X: RC_LQ_X
* OSD2_RC_LQ_Y: RC_LQ_Y
* OSD3_ Parameters
* OSD3_ENABLE: Enable screen
* OSD3_CHAN_MIN: Transmitter switch screen minimum pwm
* OSD3_CHAN_MAX: Transmitter switch screen maximum pwm
* OSD3_ALTITUDE_EN: ALTITUDE_EN
* OSD3_ALTITUDE_X: ALTITUDE_X
* OSD3_ALTITUDE_Y: ALTITUDE_Y
* OSD3_BAT_VOLT_EN: BATVOLT_EN
* OSD3_BAT_VOLT_X: BATVOLT_X
* OSD3_BAT_VOLT_Y: BATVOLT_Y
* OSD3_RSSI_EN: RSSI_EN
* OSD3_RSSI_X: RSSI_X
* OSD3_RSSI_Y: RSSI_Y
* OSD3_CURRENT_EN: CURRENT_EN
* OSD3_CURRENT_X: CURRENT_X
* OSD3_CURRENT_Y: CURRENT_Y
* OSD3_BATUSED_EN: BATUSED_EN
* OSD3_BATUSED_X: BATUSED_X
* OSD3_BATUSED_Y: BATUSED_Y
* OSD3_SATS_EN: SATS_EN
* OSD3_SATS_X: SATS_X
* OSD3_SATS_Y: SATS_Y
* OSD3_FLTMODE_EN: FLTMODE_EN
* OSD3_FLTMODE_X: FLTMODE_X
* OSD3_FLTMODE_Y: FLTMODE_Y
* OSD3_MESSAGE_EN: MESSAGE_EN
* OSD3_MESSAGE_X: MESSAGE_X
* OSD3_MESSAGE_Y: MESSAGE_Y
* OSD3_GSPEED_EN: GSPEED_EN
* OSD3_GSPEED_X: GSPEED_X
* OSD3_GSPEED_Y: GSPEED_Y
* OSD3_HORIZON_EN: HORIZON_EN
* OSD3_HORIZON_X: HORIZON_X
* OSD3_HORIZON_Y: HORIZON_Y
* OSD3_HOME_EN: HOME_EN
* OSD3_HOME_X: HOME_X
* OSD3_HOME_Y: HOME_Y
* OSD3_HEADING_EN: HEADING_EN
* OSD3_HEADING_X: HEADING_X
* OSD3_HEADING_Y: HEADING_Y
* OSD3_THROTTLE_EN: THROTTLE_EN
* OSD3_THROTTLE_X: THROTTLE_X
* OSD3_THROTTLE_Y: THROTTLE_Y
* OSD3_COMPASS_EN: COMPASS_EN
* OSD3_COMPASS_X: COMPASS_X
* OSD3_COMPASS_Y: COMPASS_Y
* OSD3_WIND_EN: WIND_EN
* OSD3_WIND_X: WIND_X
* OSD3_WIND_Y: WIND_Y
* OSD3_ASPEED_EN: ASPEED_EN
* OSD3_ASPEED_X: ASPEED_X
* OSD3_ASPEED_Y: ASPEED_Y
* OSD3_VSPEED_EN: VSPEED_EN
* OSD3_VSPEED_X: VSPEED_X
* OSD3_VSPEED_Y: VSPEED_Y
* OSD3_ESCTEMP_EN: ESCTEMP_EN
* OSD3_ESCTEMP_X: ESCTEMP_X
* OSD3_ESCTEMP_Y: ESCTEMP_Y
* OSD3_ESCRPM_EN: ESCRPM_EN
* OSD3_ESCRPM_X: ESCRPM_X
* OSD3_ESCRPM_Y: ESCRPM_Y
* OSD3_ESCAMPS_EN: ESCAMPS_EN
* OSD3_ESCAMPS_X: ESCAMPS_X
* OSD3_ESCAMPS_Y: ESCAMPS_Y
* OSD3_GPSLAT_EN: GPSLAT_EN
* OSD3_GPSLAT_X: GPSLAT_X
* OSD3_GPSLAT_Y: GPSLAT_Y
* OSD3_GPSLONG_EN: GPSLONG_EN
* OSD3_GPSLONG_X: GPSLONG_X
* OSD3_GPSLONG_Y: GPSLONG_Y
* OSD3_ROLL_EN: ROLL_EN
* OSD3_ROLL_X: ROLL_X
* OSD3_ROLL_Y: ROLL_Y
* OSD3_PITCH_EN: PITCH_EN
* OSD3_PITCH_X: PITCH_X
* OSD3_PITCH_Y: PITCH_Y
* OSD3_TEMP_EN: TEMP_EN
* OSD3_TEMP_X: TEMP_X
* OSD3_TEMP_Y: TEMP_Y
* OSD3_HDOP_EN: HDOP_EN
* OSD3_HDOP_X: HDOP_X
* OSD3_HDOP_Y: HDOP_Y
* OSD3_WAYPOINT_EN: WAYPOINT_EN
* OSD3_WAYPOINT_X: WAYPOINT_X
* OSD3_WAYPOINT_Y: WAYPOINT_Y
* OSD3_XTRACK_EN: XTRACK_EN
* OSD3_XTRACK_X: XTRACK_X
* OSD3_XTRACK_Y: XTRACK_Y
* OSD3_DIST_EN: DIST_EN
* OSD3_DIST_X: DIST_X
* OSD3_DIST_Y: DIST_Y
* OSD3_STATS_EN: STATS_EN
* OSD3_STATS_X: STATS_X
* OSD3_STATS_Y: STATS_Y
* OSD3_FLTIME_EN: FLTIME_EN
* OSD3_FLTIME_X: FLTIME_X
* OSD3_FLTIME_Y: FLTIME_Y
* OSD3_CLIMBEFF_EN: CLIMBEFF_EN
* OSD3_CLIMBEFF_X: CLIMBEFF_X
* OSD3_CLIMBEFF_Y: CLIMBEFF_Y
* OSD3_EFF_EN: EFF_EN
* OSD3_EFF_X: EFF_X
* OSD3_EFF_Y: EFF_Y
* OSD3_BTEMP_EN: BTEMP_EN
* OSD3_BTEMP_X: BTEMP_X
* OSD3_BTEMP_Y: BTEMP_Y
* OSD3_ATEMP_EN: ATEMP_EN
* OSD3_ATEMP_X: ATEMP_X
* OSD3_ATEMP_Y: ATEMP_Y
* OSD3_BAT2_VLT_EN: BAT2VLT_EN
* OSD3_BAT2_VLT_X: BAT2VLT_X
* OSD3_BAT2_VLT_Y: BAT2VLT_Y
* OSD3_BAT2USED_EN: BAT2USED_EN
* OSD3_BAT2USED_X: BAT2USED_X
* OSD3_BAT2USED_Y: BAT2USED_Y
* OSD3_ASPD2_EN: ASPD2_EN
* OSD3_ASPD2_X: ASPD2_X
* OSD3_ASPD2_Y: ASPD2_Y
* OSD3_ASPD1_EN: ASPD1_EN
* OSD3_ASPD1_X: ASPD1_X
* OSD3_ASPD1_Y: ASPD1_Y
* OSD3_CLK_EN: CLK_EN
* OSD3_CLK_X: CLK_X
* OSD3_CLK_Y: CLK_Y
* OSD3_SIDEBARS_EN: SIDEBARS_EN
* OSD3_SIDEBARS_X: SIDEBARS_X
* OSD3_SIDEBARS_Y: SIDEBARS_Y
* OSD3_CRSSHAIR_EN: CRSSHAIR_EN
* OSD3_CRSSHAIR_X: CRSSHAIR_X
* OSD3_CRSSHAIR_Y: CRSSHAIR_Y
* OSD3_HOMEDIST_EN: HOMEDIST_EN
* OSD3_HOMEDIST_X: HOMEDIST_X
* OSD3_HOMEDIST_Y: HOMEDIST_Y
* OSD3_HOMEDIR_EN: HOMEDIR_EN
* OSD3_HOMEDIR_X: HOMEDIR_X
* OSD3_HOMEDIR_Y: HOMEDIR_Y
* OSD3_POWER_EN: POWER_EN
* OSD3_POWER_X: POWER_X
* OSD3_POWER_Y: POWER_Y
* OSD3_CELLVOLT_EN: CELL_VOLT_EN
* OSD3_CELLVOLT_X: CELL_VOLT_X
* OSD3_CELLVOLT_Y: CELL_VOLT_Y
* OSD3_BATTBAR_EN: BATT_BAR_EN
* OSD3_BATTBAR_X: BATT_BAR_X
* OSD3_BATTBAR_Y: BATT_BAR_Y
* OSD3_ARMING_EN: ARMING_EN
* OSD3_ARMING_X: ARMING_X
* OSD3_ARMING_Y: ARMING_Y
* OSD3_PLUSCODE_EN: PLUSCODE_EN
* OSD3_PLUSCODE_X: PLUSCODE_X
* OSD3_PLUSCODE_Y: PLUSCODE_Y
* OSD3_CALLSIGN_EN: CALLSIGN_EN
* OSD3_CALLSIGN_X: CALLSIGN_X
* OSD3_CALLSIGN_Y: CALLSIGN_Y
* OSD3_CURRENT2_EN: CURRENT2_EN
* OSD3_CURRENT2_X: CURRENT2_X
* OSD3_CURRENT2_Y: CURRENT2_Y
* OSD3_VTX_PWR_EN: VTX_PWR_EN
* OSD3_VTX_PWR_X: VTX_PWR_X
* OSD3_VTX_PWR_Y: VTX_PWR_Y
* OSD3_TER_HGT_EN: TER_HGT_EN
* OSD3_TER_HGT_X: TER_HGT_X
* OSD3_TER_HGT_Y: TER_HGT_Y
* OSD3_AVGCELLV_EN: AVGCELLV_EN
* OSD3_AVGCELLV_X: AVGCELLV_X
* OSD3_AVGCELLV_Y: AVGCELLV_Y
* OSD3_RESTVOLT_EN: RESTVOLT_EN
* OSD3_RESTVOLT_X: RESTVOLT_X
* OSD3_RESTVOLT_Y: RESTVOLT_Y
* OSD3_FENCE_EN: FENCE_EN
* OSD3_FENCE_X: FENCE_X
* OSD3_FENCE_Y: FENCE_Y
* OSD3_RNGF_EN: RNGF_EN
* OSD3_RNGF_X: RNGF_X
* OSD3_RNGF_Y: RNGF_Y
* OSD3_ACRVOLT_EN: ACRVOLT_EN
* OSD3_ACRVOLT_X: ACRVOLT_X
* OSD3_ACRVOLT_Y: ACRVOLT_Y
* OSD3_RPM_EN: RPM_EN
* OSD3_RPM_X: RPM_X
* OSD3_RPM_Y: RPM_Y
* OSD3_LINK_Q_EN: LINK_Q_EN
* OSD3_LINK_Q_X: LINK_Q_X
* OSD3_LINK_Q_Y: LINK_Q_Y
* OSD3_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)
* OSD3_FONT: Sets the font index for this screen (MSP DisplayPort only)
* OSD3_RC_PWR_EN: RC_PWR_EN
* OSD3_RC_PWR_X: RC_PWR_X
* OSD3_RC_PWR_Y: RC_PWR_Y
* OSD3_RSSIDBM_EN: RSSIDBM_EN
* OSD3_RSSIDBM_X: RSSIDBM_X
* OSD3_RSSIDBM_Y: RSSIDBM_Y
* OSD3_RC_SNR_EN: RC_SNR_EN
* OSD3_RC_SNR_X: RC_SNR_X
* OSD3_RC_SNR_Y: RC_SNR_Y
* OSD3_RC_ANT_EN: RC_ANT_EN
* OSD3_RC_ANT_X: RC_ANT_X
* OSD3_RC_ANT_Y: RC_ANT_Y
* OSD3_RC_LQ_EN: RC_LQ_EN
* OSD3_RC_LQ_X: RC_LQ_X
* OSD3_RC_LQ_Y: RC_LQ_Y
* OSD4_ Parameters
* OSD4_ENABLE: Enable screen
* OSD4_CHAN_MIN: Transmitter switch screen minimum pwm
* OSD4_CHAN_MAX: Transmitter switch screen maximum pwm
* OSD4_ALTITUDE_EN: ALTITUDE_EN
* OSD4_ALTITUDE_X: ALTITUDE_X
* OSD4_ALTITUDE_Y: ALTITUDE_Y
* OSD4_BAT_VOLT_EN: BATVOLT_EN
* OSD4_BAT_VOLT_X: BATVOLT_X
* OSD4_BAT_VOLT_Y: BATVOLT_Y
* OSD4_RSSI_EN: RSSI_EN
* OSD4_RSSI_X: RSSI_X
* OSD4_RSSI_Y: RSSI_Y
* OSD4_CURRENT_EN: CURRENT_EN
* OSD4_CURRENT_X: CURRENT_X
* OSD4_CURRENT_Y: CURRENT_Y
* OSD4_BATUSED_EN: BATUSED_EN
* OSD4_BATUSED_X: BATUSED_X
* OSD4_BATUSED_Y: BATUSED_Y
* OSD4_SATS_EN: SATS_EN
* OSD4_SATS_X: SATS_X
* OSD4_SATS_Y: SATS_Y
* OSD4_FLTMODE_EN: FLTMODE_EN
* OSD4_FLTMODE_X: FLTMODE_X
* OSD4_FLTMODE_Y: FLTMODE_Y
* OSD4_MESSAGE_EN: MESSAGE_EN
* OSD4_MESSAGE_X: MESSAGE_X
* OSD4_MESSAGE_Y: MESSAGE_Y
* OSD4_GSPEED_EN: GSPEED_EN
* OSD4_GSPEED_X: GSPEED_X
* OSD4_GSPEED_Y: GSPEED_Y
* OSD4_HORIZON_EN: HORIZON_EN
* OSD4_HORIZON_X: HORIZON_X
* OSD4_HORIZON_Y: HORIZON_Y
* OSD4_HOME_EN: HOME_EN
* OSD4_HOME_X: HOME_X
* OSD4_HOME_Y: HOME_Y
* OSD4_HEADING_EN: HEADING_EN
* OSD4_HEADING_X: HEADING_X
* OSD4_HEADING_Y: HEADING_Y
* OSD4_THROTTLE_EN: THROTTLE_EN
* OSD4_THROTTLE_X: THROTTLE_X
* OSD4_THROTTLE_Y: THROTTLE_Y
* OSD4_COMPASS_EN: COMPASS_EN
* OSD4_COMPASS_X: COMPASS_X
* OSD4_COMPASS_Y: COMPASS_Y
* OSD4_WIND_EN: WIND_EN
* OSD4_WIND_X: WIND_X
* OSD4_WIND_Y: WIND_Y
* OSD4_ASPEED_EN: ASPEED_EN
* OSD4_ASPEED_X: ASPEED_X
* OSD4_ASPEED_Y: ASPEED_Y
* OSD4_VSPEED_EN: VSPEED_EN
* OSD4_VSPEED_X: VSPEED_X
* OSD4_VSPEED_Y: VSPEED_Y
* OSD4_ESCTEMP_EN: ESCTEMP_EN
* OSD4_ESCTEMP_X: ESCTEMP_X
* OSD4_ESCTEMP_Y: ESCTEMP_Y
* OSD4_ESCRPM_EN: ESCRPM_EN
* OSD4_ESCRPM_X: ESCRPM_X
* OSD4_ESCRPM_Y: ESCRPM_Y
* OSD4_ESCAMPS_EN: ESCAMPS_EN
* OSD4_ESCAMPS_X: ESCAMPS_X
* OSD4_ESCAMPS_Y: ESCAMPS_Y
* OSD4_GPSLAT_EN: GPSLAT_EN
* OSD4_GPSLAT_X: GPSLAT_X
* OSD4_GPSLAT_Y: GPSLAT_Y
* OSD4_GPSLONG_EN: GPSLONG_EN
* OSD4_GPSLONG_X: GPSLONG_X
* OSD4_GPSLONG_Y: GPSLONG_Y
* OSD4_ROLL_EN: ROLL_EN
* OSD4_ROLL_X: ROLL_X
* OSD4_ROLL_Y: ROLL_Y
* OSD4_PITCH_EN: PITCH_EN
* OSD4_PITCH_X: PITCH_X
* OSD4_PITCH_Y: PITCH_Y
* OSD4_TEMP_EN: TEMP_EN
* OSD4_TEMP_X: TEMP_X
* OSD4_TEMP_Y: TEMP_Y
* OSD4_HDOP_EN: HDOP_EN
* OSD4_HDOP_X: HDOP_X
* OSD4_HDOP_Y: HDOP_Y
* OSD4_WAYPOINT_EN: WAYPOINT_EN
* OSD4_WAYPOINT_X: WAYPOINT_X
* OSD4_WAYPOINT_Y: WAYPOINT_Y
* OSD4_XTRACK_EN: XTRACK_EN
* OSD4_XTRACK_X: XTRACK_X
* OSD4_XTRACK_Y: XTRACK_Y
* OSD4_DIST_EN: DIST_EN
* OSD4_DIST_X: DIST_X
* OSD4_DIST_Y: DIST_Y
* OSD4_STATS_EN: STATS_EN
* OSD4_STATS_X: STATS_X
* OSD4_STATS_Y: STATS_Y
* OSD4_FLTIME_EN: FLTIME_EN
* OSD4_FLTIME_X: FLTIME_X
* OSD4_FLTIME_Y: FLTIME_Y
* OSD4_CLIMBEFF_EN: CLIMBEFF_EN
* OSD4_CLIMBEFF_X: CLIMBEFF_X
* OSD4_CLIMBEFF_Y: CLIMBEFF_Y
* OSD4_EFF_EN: EFF_EN
* OSD4_EFF_X: EFF_X
* OSD4_EFF_Y: EFF_Y
* OSD4_BTEMP_EN: BTEMP_EN
* OSD4_BTEMP_X: BTEMP_X
* OSD4_BTEMP_Y: BTEMP_Y
* OSD4_ATEMP_EN: ATEMP_EN
* OSD4_ATEMP_X: ATEMP_X
* OSD4_ATEMP_Y: ATEMP_Y
* OSD4_BAT2_VLT_EN: BAT2VLT_EN
* OSD4_BAT2_VLT_X: BAT2VLT_X
* OSD4_BAT2_VLT_Y: BAT2VLT_Y
* OSD4_BAT2USED_EN: BAT2USED_EN
* OSD4_BAT2USED_X: BAT2USED_X
* OSD4_BAT2USED_Y: BAT2USED_Y
* OSD4_ASPD2_EN: ASPD2_EN
* OSD4_ASPD2_X: ASPD2_X
* OSD4_ASPD2_Y: ASPD2_Y
* OSD4_ASPD1_EN: ASPD1_EN
* OSD4_ASPD1_X: ASPD1_X
* OSD4_ASPD1_Y: ASPD1_Y
* OSD4_CLK_EN: CLK_EN
* OSD4_CLK_X: CLK_X
* OSD4_CLK_Y: CLK_Y
* OSD4_SIDEBARS_EN: SIDEBARS_EN
* OSD4_SIDEBARS_X: SIDEBARS_X
* OSD4_SIDEBARS_Y: SIDEBARS_Y
* OSD4_CRSSHAIR_EN: CRSSHAIR_EN
* OSD4_CRSSHAIR_X: CRSSHAIR_X
* OSD4_CRSSHAIR_Y: CRSSHAIR_Y
* OSD4_HOMEDIST_EN: HOMEDIST_EN
* OSD4_HOMEDIST_X: HOMEDIST_X
* OSD4_HOMEDIST_Y: HOMEDIST_Y
* OSD4_HOMEDIR_EN: HOMEDIR_EN
* OSD4_HOMEDIR_X: HOMEDIR_X
* OSD4_HOMEDIR_Y: HOMEDIR_Y
* OSD4_POWER_EN: POWER_EN
* OSD4_POWER_X: POWER_X
* OSD4_POWER_Y: POWER_Y
* OSD4_CELLVOLT_EN: CELL_VOLT_EN
* OSD4_CELLVOLT_X: CELL_VOLT_X
* OSD4_CELLVOLT_Y: CELL_VOLT_Y
* OSD4_BATTBAR_EN: BATT_BAR_EN
* OSD4_BATTBAR_X: BATT_BAR_X
* OSD4_BATTBAR_Y: BATT_BAR_Y
* OSD4_ARMING_EN: ARMING_EN
* OSD4_ARMING_X: ARMING_X
* OSD4_ARMING_Y: ARMING_Y
* OSD4_PLUSCODE_EN: PLUSCODE_EN
* OSD4_PLUSCODE_X: PLUSCODE_X
* OSD4_PLUSCODE_Y: PLUSCODE_Y
* OSD4_CALLSIGN_EN: CALLSIGN_EN
* OSD4_CALLSIGN_X: CALLSIGN_X
* OSD4_CALLSIGN_Y: CALLSIGN_Y
* OSD4_CURRENT2_EN: CURRENT2_EN
* OSD4_CURRENT2_X: CURRENT2_X
* OSD4_CURRENT2_Y: CURRENT2_Y
* OSD4_VTX_PWR_EN: VTX_PWR_EN
* OSD4_VTX_PWR_X: VTX_PWR_X
* OSD4_VTX_PWR_Y: VTX_PWR_Y
* OSD4_TER_HGT_EN: TER_HGT_EN
* OSD4_TER_HGT_X: TER_HGT_X
* OSD4_TER_HGT_Y: TER_HGT_Y
* OSD4_AVGCELLV_EN: AVGCELLV_EN
* OSD4_AVGCELLV_X: AVGCELLV_X
* OSD4_AVGCELLV_Y: AVGCELLV_Y
* OSD4_RESTVOLT_EN: RESTVOLT_EN
* OSD4_RESTVOLT_X: RESTVOLT_X
* OSD4_RESTVOLT_Y: RESTVOLT_Y
* OSD4_FENCE_EN: FENCE_EN
* OSD4_FENCE_X: FENCE_X
* OSD4_FENCE_Y: FENCE_Y
* OSD4_RNGF_EN: RNGF_EN
* OSD4_RNGF_X: RNGF_X
* OSD4_RNGF_Y: RNGF_Y
* OSD4_ACRVOLT_EN: ACRVOLT_EN
* OSD4_ACRVOLT_X: ACRVOLT_X
* OSD4_ACRVOLT_Y: ACRVOLT_Y
* OSD4_RPM_EN: RPM_EN
* OSD4_RPM_X: RPM_X
* OSD4_RPM_Y: RPM_Y
* OSD4_LINK_Q_EN: LINK_Q_EN
* OSD4_LINK_Q_X: LINK_Q_X
* OSD4_LINK_Q_Y: LINK_Q_Y
* OSD4_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)
* OSD4_FONT: Sets the font index for this screen (MSP DisplayPort only)
* OSD4_RC_PWR_EN: RC_PWR_EN
* OSD4_RC_PWR_X: RC_PWR_X
* OSD4_RC_PWR_Y: RC_PWR_Y
* OSD4_RSSIDBM_EN: RSSIDBM_EN
* OSD4_RSSIDBM_X: RSSIDBM_X
* OSD4_RSSIDBM_Y: RSSIDBM_Y
* OSD4_RC_SNR_EN: RC_SNR_EN
* OSD4_RC_SNR_X: RC_SNR_X
* OSD4_RC_SNR_Y: RC_SNR_Y
* OSD4_RC_ANT_EN: RC_ANT_EN
* OSD4_RC_ANT_X: RC_ANT_X
* OSD4_RC_ANT_Y: RC_ANT_Y
* OSD4_RC_LQ_EN: RC_LQ_EN
* OSD4_RC_LQ_X: RC_LQ_X
* OSD4_RC_LQ_Y: RC_LQ_Y
* OSD5_ Parameters
* OSD5_ENABLE: Enable screen
* OSD5_CHAN_MIN: Transmitter switch screen minimum pwm
* OSD5_CHAN_MAX: Transmitter switch screen maximum pwm
* OSD5_SAVE_X: SAVE_X
* OSD5_SAVE_Y: SAVE_Y
* OSD5_PARAM1 Parameters
* OSD5_PARAM1_EN: Enable
* OSD5_PARAM1_X: X position
* OSD5_PARAM1_Y: Y position
* OSD5_PARAM1_KEY: Parameter key
* OSD5_PARAM1_IDX: Parameter index
* OSD5_PARAM1_GRP: Parameter group
* OSD5_PARAM1_MIN: Parameter minimum
* OSD5_PARAM1_MAX: Parameter maximum
* OSD5_PARAM1_INCR: Parameter increment
* OSD5_PARAM1_TYPE: Parameter type
* OSD5_PARAM2 Parameters
* OSD5_PARAM2_EN: Enable
* OSD5_PARAM2_X: X position
* OSD5_PARAM2_Y: Y position
* OSD5_PARAM2_KEY: Parameter key
* OSD5_PARAM2_IDX: Parameter index
* OSD5_PARAM2_GRP: Parameter group
* OSD5_PARAM2_MIN: Parameter minimum
* OSD5_PARAM2_MAX: Parameter maximum
* OSD5_PARAM2_INCR: Parameter increment
* OSD5_PARAM2_TYPE: Parameter type
* OSD5_PARAM3 Parameters
* OSD5_PARAM3_EN: Enable
* OSD5_PARAM3_X: X position
* OSD5_PARAM3_Y: Y position
* OSD5_PARAM3_KEY: Parameter key
* OSD5_PARAM3_IDX: Parameter index
* OSD5_PARAM3_GRP: Parameter group
* OSD5_PARAM3_MIN: Parameter minimum
* OSD5_PARAM3_MAX: Parameter maximum
* OSD5_PARAM3_INCR: Parameter increment
* OSD5_PARAM3_TYPE: Parameter type
* OSD5_PARAM4 Parameters
* OSD5_PARAM4_EN: Enable
* OSD5_PARAM4_X: X position
* OSD5_PARAM4_Y: Y position
* OSD5_PARAM4_KEY: Parameter key
* OSD5_PARAM4_IDX: Parameter index
* OSD5_PARAM4_GRP: Parameter group
* OSD5_PARAM4_MIN: Parameter minimum
* OSD5_PARAM4_MAX: Parameter maximum
* OSD5_PARAM4_INCR: Parameter increment
* OSD5_PARAM4_TYPE: Parameter type
* OSD5_PARAM5 Parameters
* OSD5_PARAM5_EN: Enable
* OSD5_PARAM5_X: X position
* OSD5_PARAM5_Y: Y position
* OSD5_PARAM5_KEY: Parameter key
* OSD5_PARAM5_IDX: Parameter index
* OSD5_PARAM5_GRP: Parameter group
* OSD5_PARAM5_MIN: Parameter minimum
* OSD5_PARAM5_MAX: Parameter maximum
* OSD5_PARAM5_INCR: Parameter increment
* OSD5_PARAM5_TYPE: Parameter type
* OSD5_PARAM6 Parameters
* OSD5_PARAM6_EN: Enable
* OSD5_PARAM6_X: X position
* OSD5_PARAM6_Y: Y position
* OSD5_PARAM6_KEY: Parameter key
* OSD5_PARAM6_IDX: Parameter index
* OSD5_PARAM6_GRP: Parameter group
* OSD5_PARAM6_MIN: Parameter minimum
* OSD5_PARAM6_MAX: Parameter maximum
* OSD5_PARAM6_INCR: Parameter increment
* OSD5_PARAM6_TYPE: Parameter type
* OSD5_PARAM7 Parameters
* OSD5_PARAM7_EN: Enable
* OSD5_PARAM7_X: X position
* OSD5_PARAM7_Y: Y position
* OSD5_PARAM7_KEY: Parameter key
* OSD5_PARAM7_IDX: Parameter index
* OSD5_PARAM7_GRP: Parameter group
* OSD5_PARAM7_MIN: Parameter minimum
* OSD5_PARAM7_MAX: Parameter maximum
* OSD5_PARAM7_INCR: Parameter increment
* OSD5_PARAM7_TYPE: Parameter type
* OSD5_PARAM8 Parameters
* OSD5_PARAM8_EN: Enable
* OSD5_PARAM8_X: X position
* OSD5_PARAM8_Y: Y position
* OSD5_PARAM8_KEY: Parameter key
* OSD5_PARAM8_IDX: Parameter index
* OSD5_PARAM8_GRP: Parameter group
* OSD5_PARAM8_MIN: Parameter minimum
* OSD5_PARAM8_MAX: Parameter maximum
* OSD5_PARAM8_INCR: Parameter increment
* OSD5_PARAM8_TYPE: Parameter type
* OSD5_PARAM9 Parameters
* OSD5_PARAM9_EN: Enable
* OSD5_PARAM9_X: X position
* OSD5_PARAM9_Y: Y position
* OSD5_PARAM9_KEY: Parameter key
* OSD5_PARAM9_IDX: Parameter index
* OSD5_PARAM9_GRP: Parameter group
* OSD5_PARAM9_MIN: Parameter minimum
* OSD5_PARAM9_MAX: Parameter maximum
* OSD5_PARAM9_INCR: Parameter increment
* OSD5_PARAM9_TYPE: Parameter type
* OSD6_ Parameters
* OSD6_ENABLE: Enable screen
* OSD6_CHAN_MIN: Transmitter switch screen minimum pwm
* OSD6_CHAN_MAX: Transmitter switch screen maximum pwm
* OSD6_SAVE_X: SAVE_X
* OSD6_SAVE_Y: SAVE_Y
* OSD6_PARAM1 Parameters
* OSD6_PARAM1_EN: Enable
* OSD6_PARAM1_X: X position
* OSD6_PARAM1_Y: Y position
* OSD6_PARAM1_KEY: Parameter key
* OSD6_PARAM1_IDX: Parameter index
* OSD6_PARAM1_GRP: Parameter group
* OSD6_PARAM1_MIN: Parameter minimum
* OSD6_PARAM1_MAX: Parameter maximum
* OSD6_PARAM1_INCR: Parameter increment
* OSD6_PARAM1_TYPE: Parameter type
* OSD6_PARAM2 Parameters
* OSD6_PARAM2_EN: Enable
* OSD6_PARAM2_X: X position
* OSD6_PARAM2_Y: Y position
* OSD6_PARAM2_KEY: Parameter key
* OSD6_PARAM2_IDX: Parameter index
* OSD6_PARAM2_GRP: Parameter group
* OSD6_PARAM2_MIN: Parameter minimum
* OSD6_PARAM2_MAX: Parameter maximum
* OSD6_PARAM2_INCR: Parameter increment
* OSD6_PARAM2_TYPE: Parameter type
* OSD6_PARAM3 Parameters
* OSD6_PARAM3_EN: Enable
* OSD6_PARAM3_X: X position
* OSD6_PARAM3_Y: Y position
* OSD6_PARAM3_KEY: Parameter key
* OSD6_PARAM3_IDX: Parameter index
* OSD6_PARAM3_GRP: Parameter group
* OSD6_PARAM3_MIN: Parameter minimum
* OSD6_PARAM3_MAX: Parameter maximum
* OSD6_PARAM3_INCR: Parameter increment
* OSD6_PARAM3_TYPE: Parameter type
* OSD6_PARAM4 Parameters
* OSD6_PARAM4_EN: Enable
* OSD6_PARAM4_X: X position
* OSD6_PARAM4_Y: Y position
* OSD6_PARAM4_KEY: Parameter key
* OSD6_PARAM4_IDX: Parameter index
* OSD6_PARAM4_GRP: Parameter group
* OSD6_PARAM4_MIN: Parameter minimum
* OSD6_PARAM4_MAX: Parameter maximum
* OSD6_PARAM4_INCR: Parameter increment
* OSD6_PARAM4_TYPE: Parameter type
* OSD6_PARAM5 Parameters
* OSD6_PARAM5_EN: Enable
* OSD6_PARAM5_X: X position
* OSD6_PARAM5_Y: Y position
* OSD6_PARAM5_KEY: Parameter key
* OSD6_PARAM5_IDX: Parameter index
* OSD6_PARAM5_GRP: Parameter group
* OSD6_PARAM5_MIN: Parameter minimum
* OSD6_PARAM5_MAX: Parameter maximum
* OSD6_PARAM5_INCR: Parameter increment
* OSD6_PARAM5_TYPE: Parameter type
* OSD6_PARAM6 Parameters
* OSD6_PARAM6_EN: Enable
* OSD6_PARAM6_X: X position
* OSD6_PARAM6_Y: Y position
* OSD6_PARAM6_KEY: Parameter key
* OSD6_PARAM6_IDX: Parameter index
* OSD6_PARAM6_GRP: Parameter group
* OSD6_PARAM6_MIN: Parameter minimum
* OSD6_PARAM6_MAX: Parameter maximum
* OSD6_PARAM6_INCR: Parameter increment
* OSD6_PARAM6_TYPE: Parameter type
* OSD6_PARAM7 Parameters
* OSD6_PARAM7_EN: Enable
* OSD6_PARAM7_X: X position
* OSD6_PARAM7_Y: Y position
* OSD6_PARAM7_KEY: Parameter key
* OSD6_PARAM7_IDX: Parameter index
* OSD6_PARAM7_GRP: Parameter group
* OSD6_PARAM7_MIN: Parameter minimum
* OSD6_PARAM7_MAX: Parameter maximum
* OSD6_PARAM7_INCR: Parameter increment
* OSD6_PARAM7_TYPE: Parameter type
* OSD6_PARAM8 Parameters
* OSD6_PARAM8_EN: Enable
* OSD6_PARAM8_X: X position
* OSD6_PARAM8_Y: Y position
* OSD6_PARAM8_KEY: Parameter key
* OSD6_PARAM8_IDX: Parameter index
* OSD6_PARAM8_GRP: Parameter group
* OSD6_PARAM8_MIN: Parameter minimum
* OSD6_PARAM8_MAX: Parameter maximum
* OSD6_PARAM8_INCR: Parameter increment
* OSD6_PARAM8_TYPE: Parameter type
* OSD6_PARAM9 Parameters
* OSD6_PARAM9_EN: Enable
* OSD6_PARAM9_X: X position
* OSD6_PARAM9_Y: Y position
* OSD6_PARAM9_KEY: Parameter key
* OSD6_PARAM9_IDX: Parameter index
* OSD6_PARAM9_GRP: Parameter group
* OSD6_PARAM9_MIN: Parameter minimum
* OSD6_PARAM9_MAX: Parameter maximum
* OSD6_PARAM9_INCR: Parameter increment
* OSD6_PARAM9_TYPE: Parameter type
* PLND_ Parameters
* PLND_ENABLED: Precision Land enabled/disabled
* PLND_TYPE: Precision Land Type
* PLND_YAW_ALIGN: Sensor yaw alignment
* PLND_LAND_OFS_X: Land offset forward
* PLND_LAND_OFS_Y: Land offset right
* PLND_EST_TYPE: Precision Land Estimator Type
* PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise
* PLND_CAM_POS_X: Camera X position offset
* PLND_CAM_POS_Y: Camera Y position offset
* PLND_CAM_POS_Z: Camera Z position offset
* PLND_BUS: Sensor Bus
* PLND_LAG: Precision Landing sensor lag
* PLND_XY_DIST_MAX: Precision Landing maximum distance to target before
descending
* PLND_STRICT: PrecLand strictness
* PLND_RET_MAX: PrecLand Maximum number of retires for a failed landing
* PLND_TIMEOUT: PrecLand retry timeout
* PLND_RET_BEHAVE: PrecLand retry behaviour
* PLND_ALT_MIN: PrecLand minimum alt for retry
* PLND_ALT_MAX: PrecLand maximum alt for retry
* PLND_OPTIONS: Precision Landing Extra Options
* PLND_ORIENT: Camera Orientation
* PTCH Parameters
* PTCH2SRV_TCONST: Pitch Time Constant
* PTCH2SRV_RMAX_UP: Pitch up max rate
* PTCH2SRV_RMAX_DN: Pitch down max rate
* PTCH2SRV_RLL: Roll compensation
* PTCH_RATE_P: Pitch axis rate controller P gain
* PTCH_RATE_I: Pitch axis rate controller I gain
* PTCH_RATE_IMAX: Pitch axis rate controller I gain maximum
* PTCH_RATE_D: Pitch axis rate controller D gain
* PTCH_RATE_FF: Pitch axis rate controller feed forward
* PTCH_RATE_FLTT: Pitch axis rate controller target frequency in Hz
* PTCH_RATE_FLTE: Pitch axis rate controller error frequency in Hz
* PTCH_RATE_FLTD: Pitch axis rate controller derivative frequency in Hz
* PTCH_RATE_SMAX: Pitch slew rate limit
* PTCH_RATE_PDMX: Pitch axis rate controller PD sum maximum
* PTCH_RATE_D_FF: Pitch Derivative FeedForward Gain
* PTCH_RATE_NTF: Pitch Target notch filter index
* PTCH_RATE_NEF: Pitch Error notch filter index
* Q_ Parameters
* Q_ENABLE: Enable QuadPlane
* Q_ANGLE_MAX: Angle Max
* Q_TRANSITION_MS: Transition time
* Q_PILOT_SPD_UP: Pilot maximum vertical speed up
* Q_PILOT_SPD_DN: Pilot maximum vertical speed down
* Q_PILOT_ACCEL_Z: Pilot vertical acceleration
* Q_RC_SPEED: RC output speed in Hz
* Q_ASSIST_SPEED: Quadplane assistance speed
* Q_YAW_RATE_MAX: Maximum yaw rate
* Q_LAND_FINAL_SPD: Land final speed
* Q_LAND_FINAL_ALT: Land final altitude
* Q_TRAN_PIT_MAX: Transition max pitch
* Q_FRAME_CLASS: Frame Class
* Q_FRAME_TYPE: Frame Type (+, X or V)
* Q_VFWD_GAIN: Forward velocity hold gain
* Q_RTL_ALT: QRTL return altitude
* Q_RTL_MODE: VTOL RTL mode
* Q_GUIDED_MODE: Enable VTOL in GUIDED mode
* Q_ESC_CAL: ESC Calibration
* Q_VFWD_ALT: Forward velocity alt cutoff
* Q_LAND_ICE_CUT: Cut IC engine on landing
* Q_ASSIST_ANGLE: Quadplane assistance angle
* Q_MAV_TYPE: MAVLink type identifier
* Q_OPTIONS: quadplane options
* Q_TRANS_DECEL: Transition deceleration
* Q_TRIM_PITCH: Quadplane AHRS trim pitch
* Q_FW_LND_APR_RAD: Quadplane fixed wing landing approach radius
* Q_TRANS_FAIL: Quadplane transition failure time
* Q_THROTTLE_EXPO: Throttle expo strength
* Q_ACRO_RLL_RATE: QACRO mode roll rate
* Q_ACRO_PIT_RATE: QACRO mode pitch rate
* Q_ACRO_YAW_RATE: QACRO mode yaw rate
* Q_TKOFF_FAIL_SCL: Takeoff time failure scalar
* Q_TKOFF_ARSP_LIM: Takeoff airspeed limit
* Q_ASSIST_ALT: Quadplane assistance altitude
* Q_ASSIST_DELAY: Quadplane assistance delay
* Q_FWD_MANTHR_MAX: VTOL manual forward throttle max percent
* Q_BACKTRANS_MS: SLT and Tiltrotor back transition pitch limit duration
* Q_TRANS_FAIL_ACT: Quadplane transition failure action
* Q_LAND_ALTCHG: Land detection altitude change threshold
* Q_NAVALT_MIN: Minimum navigation altitude
* Q_PLT_Y_RATE: Pilot controlled yaw rate
* Q_PLT_Y_EXPO: Pilot controlled yaw expo
* Q_PLT_Y_RATE_TC: Pilot yaw rate control input time constant
* Q_RTL_ALT_MIN: QRTL minimum altitude
* Q_FWD_THR_GAIN: Q mode fwd throttle gain
* Q_FWD_PIT_LIM: Q mode forward pitch limit
* Q_FWD_THR_USE: Q mode forward throttle use
* Q_BCK_PIT_LIM: Q mode rearward pitch limit
* Q_AUTOTUNE_ Parameters
* Q_AUTOTUNE_AXES: Autotune axis bitmask
* Q_AUTOTUNE_AGGR: Autotune aggressiveness
* Q_AUTOTUNE_MIN_D: AutoTune minimum D
* Q_A_ Parameters
* Q_A_SLEW_YAW: Yaw target slew rate
* Q_A_ACCEL_Y_MAX: Acceleration Max for Yaw
* Q_A_RATE_FF_ENAB: Rate Feedforward Enable
* Q_A_ACCEL_R_MAX: Acceleration Max for Roll
* Q_A_ACCEL_P_MAX: Acceleration Max for Pitch
* Q_A_ANGLE_BOOST: Angle Boost
* Q_A_ANG_RLL_P: Roll axis angle controller P gain
* Q_A_ANG_PIT_P: Pitch axis angle controller P gain
* Q_A_ANG_YAW_P: Yaw axis angle controller P gain
* Q_A_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant
* Q_A_RATE_R_MAX: Angular Velocity Max for Roll
* Q_A_RATE_P_MAX: Angular Velocity Max for Pitch
* Q_A_RATE_Y_MAX: Angular Velocity Max for Yaw
* Q_A_INPUT_TC: Attitude control input time constant
* Q_A_RAT_RLL_P: Roll axis rate controller P gain
* Q_A_RAT_RLL_I: Roll axis rate controller I gain
* Q_A_RAT_RLL_IMAX: Roll axis rate controller I gain maximum
* Q_A_RAT_RLL_D: Roll axis rate controller D gain
* Q_A_RAT_RLL_FF: Roll axis rate controller feed forward
* Q_A_RAT_RLL_FLTT: Roll axis rate controller target frequency in Hz
* Q_A_RAT_RLL_FLTE: Roll axis rate controller error frequency in Hz
* Q_A_RAT_RLL_FLTD: Roll axis rate controller derivative frequency in Hz
* Q_A_RAT_RLL_SMAX: Roll slew rate limit
* Q_A_RAT_RLL_PDMX: Roll axis rate controller PD sum maximum
* Q_A_RAT_RLL_D_FF: Roll Derivative FeedForward Gain
* Q_A_RAT_RLL_NTF: Roll Target notch filter index
* Q_A_RAT_RLL_NEF: Roll Error notch filter index
* Q_A_RAT_PIT_P: Pitch axis rate controller P gain
* Q_A_RAT_PIT_I: Pitch axis rate controller I gain
* Q_A_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum
* Q_A_RAT_PIT_D: Pitch axis rate controller D gain
* Q_A_RAT_PIT_FF: Pitch axis rate controller feed forward
* Q_A_RAT_PIT_FLTT: Pitch axis rate controller target frequency in Hz
* Q_A_RAT_PIT_FLTE: Pitch axis rate controller error frequency in Hz
* Q_A_RAT_PIT_FLTD: Pitch axis rate controller derivative frequency in Hz
* Q_A_RAT_PIT_SMAX: Pitch slew rate limit
* Q_A_RAT_PIT_PDMX: Pitch axis rate controller PD sum maximum
* Q_A_RAT_PIT_D_FF: Pitch Derivative FeedForward Gain
* Q_A_RAT_PIT_NTF: Pitch Target notch filter index
* Q_A_RAT_PIT_NEF: Pitch Error notch filter index
* Q_A_RAT_YAW_P: Yaw axis rate controller P gain
* Q_A_RAT_YAW_I: Yaw axis rate controller I gain
* Q_A_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum
* Q_A_RAT_YAW_D: Yaw axis rate controller D gain
* Q_A_RAT_YAW_FF: Yaw axis rate controller feed forward
* Q_A_RAT_YAW_FLTT: Yaw axis rate controller target frequency in Hz
* Q_A_RAT_YAW_FLTE: Yaw axis rate controller error frequency in Hz
* Q_A_RAT_YAW_FLTD: Yaw axis rate controller derivative frequency in Hz
* Q_A_RAT_YAW_SMAX: Yaw slew rate limit
* Q_A_RAT_YAW_PDMX: Yaw axis rate controller PD sum maximum
* Q_A_RAT_YAW_D_FF: Yaw Derivative FeedForward Gain
* Q_A_RAT_YAW_NTF: Yaw Target notch filter index
* Q_A_RAT_YAW_NEF: Yaw Error notch filter index
* Q_A_THR_MIX_MIN: Throttle Mix Minimum
* Q_A_THR_MIX_MAX: Throttle Mix Maximum
* Q_A_THR_MIX_MAN: Throttle Mix Manual
* Q_A_THR_G_BOOST: Throttle-gain boost
* Q_LOIT_ Parameters
* Q_LOIT_ANG_MAX: Loiter pilot angle max
* Q_LOIT_SPEED: Loiter Horizontal Maximum Speed
* Q_LOIT_ACC_MAX: Loiter maximum correction acceleration
* Q_LOIT_BRK_ACCEL: Loiter braking acceleration
* Q_LOIT_BRK_JERK: Loiter braking jerk
* Q_LOIT_BRK_DELAY: Loiter brake start delay (in seconds)
* Q_M_ Parameters
* Q_M_YAW_HEADROOM: Matrix Yaw Min
* Q_M_THST_EXPO: Thrust Curve Expo
* Q_M_SPIN_MAX: Motor Spin maximum
* Q_M_BAT_VOLT_MAX: Battery voltage compensation maximum voltage
* Q_M_BAT_VOLT_MIN: Battery voltage compensation minimum voltage
* Q_M_BAT_CURR_MAX: Motor Current Max
* Q_M_PWM_TYPE: Output PWM type
* Q_M_PWM_MIN: PWM output minimum
* Q_M_PWM_MAX: PWM output maximum
* Q_M_SPIN_MIN: Motor Spin minimum
* Q_M_SPIN_ARM: Motor Spin armed
* Q_M_BAT_CURR_TC: Motor Current Max Time Constant
* Q_M_THST_HOVER: Thrust Hover Value
* Q_M_HOVER_LEARN: Hover Value Learning
* Q_M_SAFE_DISARM: Motor PWM output disabled when disarmed
* Q_M_YAW_SV_ANGLE: Yaw Servo Max Lean Angle
* Q_M_SPOOL_TIME: Spool up time
* Q_M_BOOST_SCALE: Motor boost scale
* Q_M_BAT_IDX: Battery compensation index
* Q_M_SLEW_UP_TIME: Output slew time for increasing throttle
* Q_M_SLEW_DN_TIME: Output slew time for decreasing throttle
* Q_M_SAFE_TIME: Time taken to disable and enable the motor PWM output
when disarmed and armed.
* Q_M_OPTIONS: Motor options
* Q_M_SPOOL_TIM_DN: Spool down time
* Q_P Parameters
* Q_P_ACC_XY_FILT: XY Acceleration filter cutoff frequency
* Q_P_POSZ_P: Position (vertical) controller P gain
* Q_P_VELZ_P: Velocity (vertical) controller P gain
* Q_P_VELZ_I: Velocity (vertical) controller I gain
* Q_P_VELZ_IMAX: Velocity (vertical) controller I gain maximum
* Q_P_VELZ_D: Velocity (vertical) controller D gain
* Q_P_VELZ_FF: Velocity (vertical) controller Feed Forward gain
* Q_P_VELZ_FLTE: Velocity (vertical) error filter
* Q_P_VELZ_FLTD: Velocity (vertical) input filter for D term
* Q_P_ACCZ_P: Acceleration (vertical) controller P gain
* Q_P_ACCZ_I: Acceleration (vertical) controller I gain
* Q_P_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum
* Q_P_ACCZ_D: Acceleration (vertical) controller D gain
* Q_P_ACCZ_FF: Acceleration (vertical) controller feed forward
* Q_P_ACCZ_FLTT: Acceleration (vertical) controller target frequency in
Hz
* Q_P_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz
* Q_P_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency
in Hz
* Q_P_ACCZ_SMAX: Accel (vertical) slew rate limit
* Q_P_ACCZ_PDMX: Acceleration (vertical) controller PD sum maximum
* Q_P_ACCZ_D_FF: Accel (vertical) Derivative FeedForward Gain
* Q_P_ACCZ_NTF: Accel (vertical) Target notch filter index
* Q_P_ACCZ_NEF: Accel (vertical) Error notch filter index
* Q_P_POSXY_P: Position (horizontal) controller P gain
* Q_P_VELXY_P: Velocity (horizontal) P gain
* Q_P_VELXY_I: Velocity (horizontal) I gain
* Q_P_VELXY_D: Velocity (horizontal) D gain
* Q_P_VELXY_IMAX: Velocity (horizontal) integrator maximum
* Q_P_VELXY_FLTE: Velocity (horizontal) input filter
* Q_P_VELXY_FLTD: Velocity (horizontal) input filter
* Q_P_VELXY_FF: Velocity (horizontal) feed forward gain
* Q_P_ANGLE_MAX: Position Control Angle Max
* Q_P_JERK_XY: Jerk limit for the horizontal kinematic input shaping
* Q_P_JERK_Z: Jerk limit for the vertical kinematic input shaping
* Q_TAILSIT_ Parameters
* Q_TAILSIT_ENABLE: Enable Tailsitter
* Q_TAILSIT_ANGLE: Tailsitter fixed wing transition angle
* Q_TAILSIT_ANG_VT: Tailsitter VTOL transition angle
* Q_TAILSIT_INPUT: Tailsitter input type bitmask
* Q_TAILSIT_VFGAIN: Tailsitter vector thrust gain in forward flight
* Q_TAILSIT_VHGAIN: Tailsitter vector thrust gain in hover
* Q_TAILSIT_VHPOW: Tailsitter vector thrust gain power
* Q_TAILSIT_GSCMAX: Maximum tailsitter gain scaling
* Q_TAILSIT_RLL_MX: Maximum Roll angle
* Q_TAILSIT_MOTMX: Tailsitter motor mask
* Q_TAILSIT_GSCMSK: Tailsitter gain scaling mask
* Q_TAILSIT_GSCMIN: Minimum tailsitter gain scaling
* Q_TAILSIT_DSKLD: Tailsitter disk loading
* Q_TAILSIT_RAT_FW: Tailsitter VTOL to forward flight transition rate
* Q_TAILSIT_RAT_VT: Tailsitter forward flight to VTOL transition rate
* Q_TAILSIT_THR_VT: Tailsitter forward flight to VTOL transition throttle
* Q_TAILSIT_VT_R_P: Tailsitter VTOL control surface roll gain
* Q_TAILSIT_VT_P_P: Tailsitter VTOL control surface pitch gain
* Q_TAILSIT_VT_Y_P: Tailsitter VTOL control surface yaw gain
* Q_TAILSIT_MIN_VO: Tailsitter Disk loading minimum outflow speed
* Q_TILT_ Parameters
* Q_TILT_ENABLE: Enable Tiltrotor functionality
* Q_TILT_MASK: Tiltrotor mask
* Q_TILT_RATE_UP: Tiltrotor upwards tilt rate
* Q_TILT_MAX: Tiltrotor maximum VTOL angle
* Q_TILT_TYPE: Tiltrotor type
* Q_TILT_RATE_DN: Tiltrotor downwards tilt rate
* Q_TILT_YAW_ANGLE: Tilt minimum angle for vectored yaw
* Q_TILT_FIX_ANGLE: Fixed wing tiltrotor angle
* Q_TILT_FIX_GAIN: Fixed wing tiltrotor gain
* Q_TILT_WING_FLAP: Tiltrotor tilt angle that will be used as flap
* Q_WP_ Parameters
* Q_WP_SPEED: Waypoint Horizontal Speed Target
* Q_WP_RADIUS: Waypoint Radius
* Q_WP_SPEED_UP: Waypoint Climb Speed Target
* Q_WP_SPEED_DN: Waypoint Descent Speed Target
* Q_WP_ACCEL: Waypoint Acceleration
* Q_WP_ACCEL_Z: Waypoint Vertical Acceleration
* Q_WP_RFND_USE: Waypoint missions use rangefinder for terrain following
* Q_WP_JERK: Waypoint Jerk
* Q_WP_TER_MARGIN: Waypoint Terrain following altitude margin
* Q_WP_ACCEL_C: Waypoint Cornering Acceleration
* Q_WVANE_ Parameters
* Q_WVANE_ENABLE: Enable
* Q_WVANE_GAIN: Weathervaning gain
* Q_WVANE_ANG_MIN: Weathervaning min angle
* Q_WVANE_HGT_MIN: Weathervaning min height
* Q_WVANE_SPD_MAX: Weathervaning max ground speed
* Q_WVANE_VELZ_MAX: Weathervaning max vertical speed
* Q_WVANE_TAKEOFF: Takeoff override
* Q_WVANE_LAND: Landing override
* Q_WVANE_OPTIONS: Weathervaning options
* RALLY_ Parameters
* RALLY_TOTAL: Rally Total
* RALLY_LIMIT_KM: Rally Limit
* RALLY_INCL_HOME: Rally Include Home
* RC Parameters
* RC_OVERRIDE_TIME: RC override timeout
* RC_OPTIONS: RC options
* RC_PROTOCOLS: RC protocols enabled
* RC_FS_TIMEOUT: RC Failsafe timeout
* RC10_ Parameters
* RC10_MIN: RC min PWM
* RC10_TRIM: RC trim PWM
* RC10_MAX: RC max PWM
* RC10_REVERSED: RC reversed
* RC10_DZ: RC dead-zone
* RC10_OPTION: RC input option
* RC11_ Parameters
* RC11_MIN: RC min PWM
* RC11_TRIM: RC trim PWM
* RC11_MAX: RC max PWM
* RC11_REVERSED: RC reversed
* RC11_DZ: RC dead-zone
* RC11_OPTION: RC input option
* RC12_ Parameters
* RC12_MIN: RC min PWM
* RC12_TRIM: RC trim PWM
* RC12_MAX: RC max PWM
* RC12_REVERSED: RC reversed
* RC12_DZ: RC dead-zone
* RC12_OPTION: RC input option
* RC13_ Parameters
* RC13_MIN: RC min PWM
* RC13_TRIM: RC trim PWM
* RC13_MAX: RC max PWM
* RC13_REVERSED: RC reversed
* RC13_DZ: RC dead-zone
* RC13_OPTION: RC input option
* RC14_ Parameters
* RC14_MIN: RC min PWM
* RC14_TRIM: RC trim PWM
* RC14_MAX: RC max PWM
* RC14_REVERSED: RC reversed
* RC14_DZ: RC dead-zone
* RC14_OPTION: RC input option
* RC15_ Parameters
* RC15_MIN: RC min PWM
* RC15_TRIM: RC trim PWM
* RC15_MAX: RC max PWM
* RC15_REVERSED: RC reversed
* RC15_DZ: RC dead-zone
* RC15_OPTION: RC input option
* RC16_ Parameters
* RC16_MIN: RC min PWM
* RC16_TRIM: RC trim PWM
* RC16_MAX: RC max PWM
* RC16_REVERSED: RC reversed
* RC16_DZ: RC dead-zone
* RC16_OPTION: RC input option
* RC1_ Parameters
* RC1_MIN: RC min PWM
* RC1_TRIM: RC trim PWM
* RC1_MAX: RC max PWM
* RC1_REVERSED: RC reversed
* RC1_DZ: RC dead-zone
* RC1_OPTION: RC input option
* RC2_ Parameters
* RC2_MIN: RC min PWM
* RC2_TRIM: RC trim PWM
* RC2_MAX: RC max PWM
* RC2_REVERSED: RC reversed
* RC2_DZ: RC dead-zone
* RC2_OPTION: RC input option
* RC3_ Parameters
* RC3_MIN: RC min PWM
* RC3_TRIM: RC trim PWM
* RC3_MAX: RC max PWM
* RC3_REVERSED: RC reversed
* RC3_DZ: RC dead-zone
* RC3_OPTION: RC input option
* RC4_ Parameters
* RC4_MIN: RC min PWM
* RC4_TRIM: RC trim PWM
* RC4_MAX: RC max PWM
* RC4_REVERSED: RC reversed
* RC4_DZ: RC dead-zone
* RC4_OPTION: RC input option
* RC5_ Parameters
* RC5_MIN: RC min PWM
* RC5_TRIM: RC trim PWM
* RC5_MAX: RC max PWM
* RC5_REVERSED: RC reversed
* RC5_DZ: RC dead-zone
* RC5_OPTION: RC input option
* RC6_ Parameters
* RC6_MIN: RC min PWM
* RC6_TRIM: RC trim PWM
* RC6_MAX: RC max PWM
* RC6_REVERSED: RC reversed
* RC6_DZ: RC dead-zone
* RC6_OPTION: RC input option
* RC7_ Parameters
* RC7_MIN: RC min PWM
* RC7_TRIM: RC trim PWM
* RC7_MAX: RC max PWM
* RC7_REVERSED: RC reversed
* RC7_DZ: RC dead-zone
* RC7_OPTION: RC input option
* RC8_ Parameters
* RC8_MIN: RC min PWM
* RC8_TRIM: RC trim PWM
* RC8_MAX: RC max PWM
* RC8_REVERSED: RC reversed
* RC8_DZ: RC dead-zone
* RC8_OPTION: RC input option
* RC9_ Parameters
* RC9_MIN: RC min PWM
* RC9_TRIM: RC trim PWM
* RC9_MAX: RC max PWM
* RC9_REVERSED: RC reversed
* RC9_DZ: RC dead-zone
* RC9_OPTION: RC input option
* RCMAP_ Parameters
* RCMAP_ROLL: Roll channel
* RCMAP_PITCH: Pitch channel
* RCMAP_THROTTLE: Throttle channel
* RCMAP_YAW: Yaw channel
* RELAY10_ Parameters
* RELAY10_FUNCTION: Relay function
* RELAY10_PIN: Relay pin
* RELAY10_DEFAULT: Relay default state
* RELAY10_INVERTED: Relay invert output signal
* RELAY11_ Parameters
* RELAY11_FUNCTION: Relay function
* RELAY11_PIN: Relay pin
* RELAY11_DEFAULT: Relay default state
* RELAY11_INVERTED: Relay invert output signal
* RELAY12_ Parameters
* RELAY12_FUNCTION: Relay function
* RELAY12_PIN: Relay pin
* RELAY12_DEFAULT: Relay default state
* RELAY12_INVERTED: Relay invert output signal
* RELAY13_ Parameters
* RELAY13_FUNCTION: Relay function
* RELAY13_PIN: Relay pin
* RELAY13_DEFAULT: Relay default state
* RELAY13_INVERTED: Relay invert output signal
* RELAY14_ Parameters
* RELAY14_FUNCTION: Relay function
* RELAY14_PIN: Relay pin
* RELAY14_DEFAULT: Relay default state
* RELAY14_INVERTED: Relay invert output signal
* RELAY15_ Parameters
* RELAY15_FUNCTION: Relay function
* RELAY15_PIN: Relay pin
* RELAY15_DEFAULT: Relay default state
* RELAY15_INVERTED: Relay invert output signal
* RELAY16_ Parameters
* RELAY16_FUNCTION: Relay function
* RELAY16_PIN: Relay pin
* RELAY16_DEFAULT: Relay default state
* RELAY16_INVERTED: Relay invert output signal
* RELAY1_ Parameters
* RELAY1_FUNCTION: Relay function
* RELAY1_PIN: Relay pin
* RELAY1_DEFAULT: Relay default state
* RELAY1_INVERTED: Relay invert output signal
* RELAY2_ Parameters
* RELAY2_FUNCTION: Relay function
* RELAY2_PIN: Relay pin
* RELAY2_DEFAULT: Relay default state
* RELAY2_INVERTED: Relay invert output signal
* RELAY3_ Parameters
* RELAY3_FUNCTION: Relay function
* RELAY3_PIN: Relay pin
* RELAY3_DEFAULT: Relay default state
* RELAY3_INVERTED: Relay invert output signal
* RELAY4_ Parameters
* RELAY4_FUNCTION: Relay function
* RELAY4_PIN: Relay pin
* RELAY4_DEFAULT: Relay default state
* RELAY4_INVERTED: Relay invert output signal
* RELAY5_ Parameters
* RELAY5_FUNCTION: Relay function
* RELAY5_PIN: Relay pin
* RELAY5_DEFAULT: Relay default state
* RELAY5_INVERTED: Relay invert output signal
* RELAY6_ Parameters
* RELAY6_FUNCTION: Relay function
* RELAY6_PIN: Relay pin
* RELAY6_DEFAULT: Relay default state
* RELAY6_INVERTED: Relay invert output signal
* RELAY7_ Parameters
* RELAY7_FUNCTION: Relay function
* RELAY7_PIN: Relay pin
* RELAY7_DEFAULT: Relay default state
* RELAY7_INVERTED: Relay invert output signal
* RELAY8_ Parameters
* RELAY8_FUNCTION: Relay function
* RELAY8_PIN: Relay pin
* RELAY8_DEFAULT: Relay default state
* RELAY8_INVERTED: Relay invert output signal
* RELAY9_ Parameters
* RELAY9_FUNCTION: Relay function
* RELAY9_PIN: Relay pin
* RELAY9_DEFAULT: Relay default state
* RELAY9_INVERTED: Relay invert output signal
* RLL Parameters
* RLL2SRV_TCONST: Roll Time Constant
* RLL2SRV_RMAX: Maximum Roll Rate
* RLL_RATE_P: Roll axis rate controller P gain
* RLL_RATE_I: Roll axis rate controller I gain
* RLL_RATE_IMAX: Roll axis rate controller I gain maximum
* RLL_RATE_D: Roll axis rate controller D gain
* RLL_RATE_FF: Roll axis rate controller feed forward
* RLL_RATE_FLTT: Roll axis rate controller target frequency in Hz
* RLL_RATE_FLTE: Roll axis rate controller error frequency in Hz
* RLL_RATE_FLTD: Roll axis rate controller derivative frequency in Hz
* RLL_RATE_SMAX: Roll slew rate limit
* RLL_RATE_PDMX: Roll axis rate controller PD sum maximum
* RLL_RATE_D_FF: Roll Derivative FeedForward Gain
* RLL_RATE_NTF: Roll Target notch filter index
* RLL_RATE_NEF: Roll Error notch filter index
* RNGFND1_ Parameters
* RNGFND1_TYPE: Rangefinder type
* RNGFND1_PIN: Rangefinder pin
* RNGFND1_SCALING: Rangefinder scaling
* RNGFND1_OFFSET: rangefinder offset
* RNGFND1_FUNCTION: Rangefinder function
* RNGFND1_MIN_CM: Rangefinder minimum distance
* RNGFND1_MAX_CM: Rangefinder maximum distance
* RNGFND1_STOP_PIN: Rangefinder stop pin
* RNGFND1_RMETRIC: Ratiometric
* RNGFND1_PWRRNG: Powersave range
* RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground
* RNGFND1_ADDR: Bus address of sensor
* RNGFND1_POS_X: X position offset
* RNGFND1_POS_Y: Y position offset
* RNGFND1_POS_Z: Z position offset
* RNGFND1_ORIENT: Rangefinder orientation
* RNGFND1_WSP_MAVG: Moving Average Range
* RNGFND1_WSP_MEDF: Moving Median Filter
* RNGFND1_WSP_FRQ: Frequency
* RNGFND1_WSP_AVG: Multi-pulse averages
* RNGFND1_WSP_THR: Sensitivity threshold
* RNGFND1_WSP_BAUD: Baud rate
* RNGFND1_RECV_ID: RangeFinder CAN receive ID
* RNGFND1_SNR_MIN: RangeFinder Minimum signal strength
* RNGFND2_ Parameters
* RNGFND2_TYPE: Rangefinder type
* RNGFND2_PIN: Rangefinder pin
* RNGFND2_SCALING: Rangefinder scaling
* RNGFND2_OFFSET: rangefinder offset
* RNGFND2_FUNCTION: Rangefinder function
* RNGFND2_MIN_CM: Rangefinder minimum distance
* RNGFND2_MAX_CM: Rangefinder maximum distance
* RNGFND2_STOP_PIN: Rangefinder stop pin
* RNGFND2_RMETRIC: Ratiometric
* RNGFND2_PWRRNG: Powersave range
* RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground
* RNGFND2_ADDR: Bus address of sensor
* RNGFND2_POS_X: X position offset
* RNGFND2_POS_Y: Y position offset
* RNGFND2_POS_Z: Z position offset
* RNGFND2_ORIENT: Rangefinder orientation
* RNGFND2_WSP_MAVG: Moving Average Range
* RNGFND2_WSP_MEDF: Moving Median Filter
* RNGFND2_WSP_FRQ: Frequency
* RNGFND2_WSP_AVG: Multi-pulse averages
* RNGFND2_WSP_THR: Sensitivity threshold
* RNGFND2_WSP_BAUD: Baud rate
* RNGFND2_RECV_ID: RangeFinder CAN receive ID
* RNGFND2_SNR_MIN: RangeFinder Minimum signal strength
* RNGFND3_ Parameters
* RNGFND3_TYPE: Rangefinder type
* RNGFND3_PIN: Rangefinder pin
* RNGFND3_SCALING: Rangefinder scaling
* RNGFND3_OFFSET: rangefinder offset
* RNGFND3_FUNCTION: Rangefinder function
* RNGFND3_MIN_CM: Rangefinder minimum distance
* RNGFND3_MAX_CM: Rangefinder maximum distance
* RNGFND3_STOP_PIN: Rangefinder stop pin
* RNGFND3_RMETRIC: Ratiometric
* RNGFND3_PWRRNG: Powersave range
* RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground
* RNGFND3_ADDR: Bus address of sensor
* RNGFND3_POS_X: X position offset
* RNGFND3_POS_Y: Y position offset
* RNGFND3_POS_Z: Z position offset
* RNGFND3_ORIENT: Rangefinder orientation
* RNGFND3_WSP_MAVG: Moving Average Range
* RNGFND3_WSP_MEDF: Moving Median Filter
* RNGFND3_WSP_FRQ: Frequency
* RNGFND3_WSP_AVG: Multi-pulse averages
* RNGFND3_WSP_THR: Sensitivity threshold
* RNGFND3_WSP_BAUD: Baud rate
* RNGFND3_RECV_ID: RangeFinder CAN receive ID
* RNGFND3_SNR_MIN: RangeFinder Minimum signal strength
* RNGFND4_ Parameters
* RNGFND4_TYPE: Rangefinder type
* RNGFND4_PIN: Rangefinder pin
* RNGFND4_SCALING: Rangefinder scaling
* RNGFND4_OFFSET: rangefinder offset
* RNGFND4_FUNCTION: Rangefinder function
* RNGFND4_MIN_CM: Rangefinder minimum distance
* RNGFND4_MAX_CM: Rangefinder maximum distance
* RNGFND4_STOP_PIN: Rangefinder stop pin
* RNGFND4_RMETRIC: Ratiometric
* RNGFND4_PWRRNG: Powersave range
* RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground
* RNGFND4_ADDR: Bus address of sensor
* RNGFND4_POS_X: X position offset
* RNGFND4_POS_Y: Y position offset
* RNGFND4_POS_Z: Z position offset
* RNGFND4_ORIENT: Rangefinder orientation
* RNGFND4_WSP_MAVG: Moving Average Range
* RNGFND4_WSP_MEDF: Moving Median Filter
* RNGFND4_WSP_FRQ: Frequency
* RNGFND4_WSP_AVG: Multi-pulse averages
* RNGFND4_WSP_THR: Sensitivity threshold
* RNGFND4_WSP_BAUD: Baud rate
* RNGFND4_RECV_ID: RangeFinder CAN receive ID
* RNGFND4_SNR_MIN: RangeFinder Minimum signal strength
* RNGFND5_ Parameters
* RNGFND5_TYPE: Rangefinder type
* RNGFND5_PIN: Rangefinder pin
* RNGFND5_SCALING: Rangefinder scaling
* RNGFND5_OFFSET: rangefinder offset
* RNGFND5_FUNCTION: Rangefinder function
* RNGFND5_MIN_CM: Rangefinder minimum distance
* RNGFND5_MAX_CM: Rangefinder maximum distance
* RNGFND5_STOP_PIN: Rangefinder stop pin
* RNGFND5_RMETRIC: Ratiometric
* RNGFND5_PWRRNG: Powersave range
* RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground
* RNGFND5_ADDR: Bus address of sensor
* RNGFND5_POS_X: X position offset
* RNGFND5_POS_Y: Y position offset
* RNGFND5_POS_Z: Z position offset
* RNGFND5_ORIENT: Rangefinder orientation
* RNGFND5_WSP_MAVG: Moving Average Range
* RNGFND5_WSP_MEDF: Moving Median Filter
* RNGFND5_WSP_FRQ: Frequency
* RNGFND5_WSP_AVG: Multi-pulse averages
* RNGFND5_WSP_THR: Sensitivity threshold
* RNGFND5_WSP_BAUD: Baud rate
* RNGFND5_RECV_ID: RangeFinder CAN receive ID
* RNGFND5_SNR_MIN: RangeFinder Minimum signal strength
* RNGFND6_ Parameters
* RNGFND6_TYPE: Rangefinder type
* RNGFND6_PIN: Rangefinder pin
* RNGFND6_SCALING: Rangefinder scaling
* RNGFND6_OFFSET: rangefinder offset
* RNGFND6_FUNCTION: Rangefinder function
* RNGFND6_MIN_CM: Rangefinder minimum distance
* RNGFND6_MAX_CM: Rangefinder maximum distance
* RNGFND6_STOP_PIN: Rangefinder stop pin
* RNGFND6_RMETRIC: Ratiometric
* RNGFND6_PWRRNG: Powersave range
* RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground
* RNGFND6_ADDR: Bus address of sensor
* RNGFND6_POS_X: X position offset
* RNGFND6_POS_Y: Y position offset
* RNGFND6_POS_Z: Z position offset
* RNGFND6_ORIENT: Rangefinder orientation
* RNGFND6_WSP_MAVG: Moving Average Range
* RNGFND6_WSP_MEDF: Moving Median Filter
* RNGFND6_WSP_FRQ: Frequency
* RNGFND6_WSP_AVG: Multi-pulse averages
* RNGFND6_WSP_THR: Sensitivity threshold
* RNGFND6_WSP_BAUD: Baud rate
* RNGFND6_RECV_ID: RangeFinder CAN receive ID
* RNGFND6_SNR_MIN: RangeFinder Minimum signal strength
* RNGFND7_ Parameters
* RNGFND7_TYPE: Rangefinder type
* RNGFND7_PIN: Rangefinder pin
* RNGFND7_SCALING: Rangefinder scaling
* RNGFND7_OFFSET: rangefinder offset
* RNGFND7_FUNCTION: Rangefinder function
* RNGFND7_MIN_CM: Rangefinder minimum distance
* RNGFND7_MAX_CM: Rangefinder maximum distance
* RNGFND7_STOP_PIN: Rangefinder stop pin
* RNGFND7_RMETRIC: Ratiometric
* RNGFND7_PWRRNG: Powersave range
* RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground
* RNGFND7_ADDR: Bus address of sensor
* RNGFND7_POS_X: X position offset
* RNGFND7_POS_Y: Y position offset
* RNGFND7_POS_Z: Z position offset
* RNGFND7_ORIENT: Rangefinder orientation
* RNGFND7_WSP_MAVG: Moving Average Range
* RNGFND7_WSP_MEDF: Moving Median Filter
* RNGFND7_WSP_FRQ: Frequency
* RNGFND7_WSP_AVG: Multi-pulse averages
* RNGFND7_WSP_THR: Sensitivity threshold
* RNGFND7_WSP_BAUD: Baud rate
* RNGFND7_RECV_ID: RangeFinder CAN receive ID
* RNGFND7_SNR_MIN: RangeFinder Minimum signal strength
* RNGFND8_ Parameters
* RNGFND8_TYPE: Rangefinder type
* RNGFND8_PIN: Rangefinder pin
* RNGFND8_SCALING: Rangefinder scaling
* RNGFND8_OFFSET: rangefinder offset
* RNGFND8_FUNCTION: Rangefinder function
* RNGFND8_MIN_CM: Rangefinder minimum distance
* RNGFND8_MAX_CM: Rangefinder maximum distance
* RNGFND8_STOP_PIN: Rangefinder stop pin
* RNGFND8_RMETRIC: Ratiometric
* RNGFND8_PWRRNG: Powersave range
* RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground
* RNGFND8_ADDR: Bus address of sensor
* RNGFND8_POS_X: X position offset
* RNGFND8_POS_Y: Y position offset
* RNGFND8_POS_Z: Z position offset
* RNGFND8_ORIENT: Rangefinder orientation
* RNGFND8_WSP_MAVG: Moving Average Range
* RNGFND8_WSP_MEDF: Moving Median Filter
* RNGFND8_WSP_FRQ: Frequency
* RNGFND8_WSP_AVG: Multi-pulse averages
* RNGFND8_WSP_THR: Sensitivity threshold
* RNGFND8_WSP_BAUD: Baud rate
* RNGFND8_RECV_ID: RangeFinder CAN receive ID
* RNGFND8_SNR_MIN: RangeFinder Minimum signal strength
* RNGFND9_ Parameters
* RNGFND9_TYPE: Rangefinder type
* RNGFND9_PIN: Rangefinder pin
* RNGFND9_SCALING: Rangefinder scaling
* RNGFND9_OFFSET: rangefinder offset
* RNGFND9_FUNCTION: Rangefinder function
* RNGFND9_MIN_CM: Rangefinder minimum distance
* RNGFND9_MAX_CM: Rangefinder maximum distance
* RNGFND9_STOP_PIN: Rangefinder stop pin
* RNGFND9_RMETRIC: Ratiometric
* RNGFND9_PWRRNG: Powersave range
* RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground
* RNGFND9_ADDR: Bus address of sensor
* RNGFND9_POS_X: X position offset
* RNGFND9_POS_Y: Y position offset
* RNGFND9_POS_Z: Z position offset
* RNGFND9_ORIENT: Rangefinder orientation
* RNGFND9_WSP_MAVG: Moving Average Range
* RNGFND9_WSP_MEDF: Moving Median Filter
* RNGFND9_WSP_FRQ: Frequency
* RNGFND9_WSP_AVG: Multi-pulse averages
* RNGFND9_WSP_THR: Sensitivity threshold
* RNGFND9_WSP_BAUD: Baud rate
* RNGFND9_RECV_ID: RangeFinder CAN receive ID
* RNGFND9_SNR_MIN: RangeFinder Minimum signal strength
* RNGFNDA_ Parameters
* RNGFNDA_TYPE: Rangefinder type
* RNGFNDA_PIN: Rangefinder pin
* RNGFNDA_SCALING: Rangefinder scaling
* RNGFNDA_OFFSET: rangefinder offset
* RNGFNDA_FUNCTION: Rangefinder function
* RNGFNDA_MIN_CM: Rangefinder minimum distance
* RNGFNDA_MAX_CM: Rangefinder maximum distance
* RNGFNDA_STOP_PIN: Rangefinder stop pin
* RNGFNDA_RMETRIC: Ratiometric
* RNGFNDA_PWRRNG: Powersave range
* RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground
* RNGFNDA_ADDR: Bus address of sensor
* RNGFNDA_POS_X: X position offset
* RNGFNDA_POS_Y: Y position offset
* RNGFNDA_POS_Z: Z position offset
* RNGFNDA_ORIENT: Rangefinder orientation
* RNGFNDA_WSP_MAVG: Moving Average Range
* RNGFNDA_WSP_MEDF: Moving Median Filter
* RNGFNDA_WSP_FRQ: Frequency
* RNGFNDA_WSP_AVG: Multi-pulse averages
* RNGFNDA_WSP_THR: Sensitivity threshold
* RNGFNDA_WSP_BAUD: Baud rate
* RNGFNDA_RECV_ID: RangeFinder CAN receive ID
* RNGFNDA_SNR_MIN: RangeFinder Minimum signal strength
* RPM1_ Parameters
* RPM1_TYPE: RPM type
* RPM1_SCALING: RPM scaling
* RPM1_MAX: Maximum RPM
* RPM1_MIN: Minimum RPM
* RPM1_MIN_QUAL: Minimum Quality
* RPM1_PIN: Input pin number
* RPM1_ESC_MASK: Bitmask of ESC telemetry channels to average
* RPM1_ESC_INDEX: ESC Telemetry Index to write RPM to
* RPM1_DC_ID: DroneCAN Sensor ID
* RPM2_ Parameters
* RPM2_TYPE: RPM type
* RPM2_SCALING: RPM scaling
* RPM2_MAX: Maximum RPM
* RPM2_MIN: Minimum RPM
* RPM2_MIN_QUAL: Minimum Quality
* RPM2_PIN: Input pin number
* RPM2_ESC_MASK: Bitmask of ESC telemetry channels to average
* RPM2_ESC_INDEX: ESC Telemetry Index to write RPM to
* RPM2_DC_ID: DroneCAN Sensor ID
* RSSI_ Parameters
* RSSI_TYPE: RSSI Type
* RSSI_ANA_PIN: Receiver RSSI sensing pin
* RSSI_PIN_LOW: RSSI pin's lowest voltage
* RSSI_PIN_HIGH: RSSI pin's highest voltage
* RSSI_CHANNEL: Receiver RSSI channel number
* RSSI_CHAN_LOW: RSSI PWM low value
* RSSI_CHAN_HIGH: Receiver RSSI PWM high value
* SCHED_ Parameters
* SCHED_DEBUG: Scheduler debug level
* SCHED_LOOP_RATE: Scheduling main loop rate
* SCHED_OPTIONS: Scheduling options
* SCR_ Parameters
* SCR_ENABLE: Enable Scripting
* SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count
* SCR_HEAP_SIZE: Scripting Heap Size
* SCR_DEBUG_OPTS: Scripting Debug Level
* SCR_USER1: Scripting User Parameter1
* SCR_USER2: Scripting User Parameter2
* SCR_USER3: Scripting User Parameter3
* SCR_USER4: Scripting User Parameter4
* SCR_USER5: Scripting User Parameter5
* SCR_USER6: Scripting User Parameter6
* SCR_DIR_DISABLE: Directory disable
* SCR_LD_CHECKSUM: Loaded script checksum
* SCR_RUN_CHECKSUM: Running script checksum
* SCR_THD_PRIORITY: Scripting thread priority
* SERIAL Parameters
* SERIAL0_BAUD: Serial0 baud rate
* SERIAL0_PROTOCOL: Console protocol selection
* SERIAL1_PROTOCOL: Telem1 protocol selection
* SERIAL1_BAUD: Telem1 Baud Rate
* SERIAL2_PROTOCOL: Telemetry 2 protocol selection
* SERIAL2_BAUD: Telemetry 2 Baud Rate
* SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection
* SERIAL3_BAUD: Serial 3 (GPS) Baud Rate
* SERIAL4_PROTOCOL: Serial4 protocol selection
* SERIAL4_BAUD: Serial 4 Baud Rate
* SERIAL5_PROTOCOL: Serial5 protocol selection
* SERIAL5_BAUD: Serial 5 Baud Rate
* SERIAL6_PROTOCOL: Serial6 protocol selection
* SERIAL6_BAUD: Serial 6 Baud Rate
* SERIAL1_OPTIONS: Telem1 options
* SERIAL2_OPTIONS: Telem2 options
* SERIAL3_OPTIONS: Serial3 options
* SERIAL4_OPTIONS: Serial4 options
* SERIAL5_OPTIONS: Serial5 options
* SERIAL6_OPTIONS: Serial6 options
* SERIAL_PASS1: Serial passthru first port
* SERIAL_PASS2: Serial passthru second port
* SERIAL_PASSTIMO: Serial passthru timeout
* SERIAL7_PROTOCOL: Serial7 protocol selection
* SERIAL7_BAUD: Serial 7 Baud Rate
* SERIAL7_OPTIONS: Serial7 options
* SERIAL8_PROTOCOL: Serial8 protocol selection
* SERIAL8_BAUD: Serial 8 Baud Rate
* SERIAL8_OPTIONS: Serial8 options
* SERIAL9_PROTOCOL: Serial9 protocol selection
* SERIAL9_BAUD: Serial 9 Baud Rate
* SERIAL9_OPTIONS: Serial9 options
* SERVO Parameters
* SERVO_AUTO_TRIM: Automatic servo trim
* SERVO_RATE: Servo default output rate
* SERVO_DSHOT_RATE: Servo DShot output rate
* SERVO_DSHOT_ESC: Servo DShot ESC type
* SERVO_GPIO_MASK: Servo GPIO mask
* SERVO_RC_FS_MSK: Servo RC Failsafe Mask
* SERVO_32_ENABLE: Enable outputs 17 to 31
* SERVO10_ Parameters
* SERVO10_MIN: Minimum PWM
* SERVO10_MAX: Maximum PWM
* SERVO10_TRIM: Trim PWM
* SERVO10_REVERSED: Servo reverse
* SERVO10_FUNCTION: Servo output function
* SERVO11_ Parameters
* SERVO11_MIN: Minimum PWM
* SERVO11_MAX: Maximum PWM
* SERVO11_TRIM: Trim PWM
* SERVO11_REVERSED: Servo reverse
* SERVO11_FUNCTION: Servo output function
* SERVO12_ Parameters
* SERVO12_MIN: Minimum PWM
* SERVO12_MAX: Maximum PWM
* SERVO12_TRIM: Trim PWM
* SERVO12_REVERSED: Servo reverse
* SERVO12_FUNCTION: Servo output function
* SERVO13_ Parameters
* SERVO13_MIN: Minimum PWM
* SERVO13_MAX: Maximum PWM
* SERVO13_TRIM: Trim PWM
* SERVO13_REVERSED: Servo reverse
* SERVO13_FUNCTION: Servo output function
* SERVO14_ Parameters
* SERVO14_MIN: Minimum PWM
* SERVO14_MAX: Maximum PWM
* SERVO14_TRIM: Trim PWM
* SERVO14_REVERSED: Servo reverse
* SERVO14_FUNCTION: Servo output function
* SERVO15_ Parameters
* SERVO15_MIN: Minimum PWM
* SERVO15_MAX: Maximum PWM
* SERVO15_TRIM: Trim PWM
* SERVO15_REVERSED: Servo reverse
* SERVO15_FUNCTION: Servo output function
* SERVO16_ Parameters
* SERVO16_MIN: Minimum PWM
* SERVO16_MAX: Maximum PWM
* SERVO16_TRIM: Trim PWM
* SERVO16_REVERSED: Servo reverse
* SERVO16_FUNCTION: Servo output function
* SERVO17_ Parameters
* SERVO17_MIN: Minimum PWM
* SERVO17_MAX: Maximum PWM
* SERVO17_TRIM: Trim PWM
* SERVO17_REVERSED: Servo reverse
* SERVO17_FUNCTION: Servo output function
* SERVO18_ Parameters
* SERVO18_MIN: Minimum PWM
* SERVO18_MAX: Maximum PWM
* SERVO18_TRIM: Trim PWM
* SERVO18_REVERSED: Servo reverse
* SERVO18_FUNCTION: Servo output function
* SERVO19_ Parameters
* SERVO19_MIN: Minimum PWM
* SERVO19_MAX: Maximum PWM
* SERVO19_TRIM: Trim PWM
* SERVO19_REVERSED: Servo reverse
* SERVO19_FUNCTION: Servo output function
* SERVO1_ Parameters
* SERVO1_MIN: Minimum PWM
* SERVO1_MAX: Maximum PWM
* SERVO1_TRIM: Trim PWM
* SERVO1_REVERSED: Servo reverse
* SERVO1_FUNCTION: Servo output function
* SERVO20_ Parameters
* SERVO20_MIN: Minimum PWM
* SERVO20_MAX: Maximum PWM
* SERVO20_TRIM: Trim PWM
* SERVO20_REVERSED: Servo reverse
* SERVO20_FUNCTION: Servo output function
* SERVO21_ Parameters
* SERVO21_MIN: Minimum PWM
* SERVO21_MAX: Maximum PWM
* SERVO21_TRIM: Trim PWM
* SERVO21_REVERSED: Servo reverse
* SERVO21_FUNCTION: Servo output function
* SERVO22_ Parameters
* SERVO22_MIN: Minimum PWM
* SERVO22_MAX: Maximum PWM
* SERVO22_TRIM: Trim PWM
* SERVO22_REVERSED: Servo reverse
* SERVO22_FUNCTION: Servo output function
* SERVO23_ Parameters
* SERVO23_MIN: Minimum PWM
* SERVO23_MAX: Maximum PWM
* SERVO23_TRIM: Trim PWM
* SERVO23_REVERSED: Servo reverse
* SERVO23_FUNCTION: Servo output function
* SERVO24_ Parameters
* SERVO24_MIN: Minimum PWM
* SERVO24_MAX: Maximum PWM
* SERVO24_TRIM: Trim PWM
* SERVO24_REVERSED: Servo reverse
* SERVO24_FUNCTION: Servo output function
* SERVO25_ Parameters
* SERVO25_MIN: Minimum PWM
* SERVO25_MAX: Maximum PWM
* SERVO25_TRIM: Trim PWM
* SERVO25_REVERSED: Servo reverse
* SERVO25_FUNCTION: Servo output function
* SERVO26_ Parameters
* SERVO26_MIN: Minimum PWM
* SERVO26_MAX: Maximum PWM
* SERVO26_TRIM: Trim PWM
* SERVO26_REVERSED: Servo reverse
* SERVO26_FUNCTION: Servo output function
* SERVO27_ Parameters
* SERVO27_MIN: Minimum PWM
* SERVO27_MAX: Maximum PWM
* SERVO27_TRIM: Trim PWM
* SERVO27_REVERSED: Servo reverse
* SERVO27_FUNCTION: Servo output function
* SERVO28_ Parameters
* SERVO28_MIN: Minimum PWM
* SERVO28_MAX: Maximum PWM
* SERVO28_TRIM: Trim PWM
* SERVO28_REVERSED: Servo reverse
* SERVO28_FUNCTION: Servo output function
* SERVO29_ Parameters
* SERVO29_MIN: Minimum PWM
* SERVO29_MAX: Maximum PWM
* SERVO29_TRIM: Trim PWM
* SERVO29_REVERSED: Servo reverse
* SERVO29_FUNCTION: Servo output function
* SERVO2_ Parameters
* SERVO2_MIN: Minimum PWM
* SERVO2_MAX: Maximum PWM
* SERVO2_TRIM: Trim PWM
* SERVO2_REVERSED: Servo reverse
* SERVO2_FUNCTION: Servo output function
* SERVO30_ Parameters
* SERVO30_MIN: Minimum PWM
* SERVO30_MAX: Maximum PWM
* SERVO30_TRIM: Trim PWM
* SERVO30_REVERSED: Servo reverse
* SERVO30_FUNCTION: Servo output function
* SERVO31_ Parameters
* SERVO31_MIN: Minimum PWM
* SERVO31_MAX: Maximum PWM
* SERVO31_TRIM: Trim PWM
* SERVO31_REVERSED: Servo reverse
* SERVO31_FUNCTION: Servo output function
* SERVO32_ Parameters
* SERVO32_MIN: Minimum PWM
* SERVO32_MAX: Maximum PWM
* SERVO32_TRIM: Trim PWM
* SERVO32_REVERSED: Servo reverse
* SERVO32_FUNCTION: Servo output function
* SERVO3_ Parameters
* SERVO3_MIN: Minimum PWM
* SERVO3_MAX: Maximum PWM
* SERVO3_TRIM: Trim PWM
* SERVO3_REVERSED: Servo reverse
* SERVO3_FUNCTION: Servo output function
* SERVO4_ Parameters
* SERVO4_MIN: Minimum PWM
* SERVO4_MAX: Maximum PWM
* SERVO4_TRIM: Trim PWM
* SERVO4_REVERSED: Servo reverse
* SERVO4_FUNCTION: Servo output function
* SERVO5_ Parameters
* SERVO5_MIN: Minimum PWM
* SERVO5_MAX: Maximum PWM
* SERVO5_TRIM: Trim PWM
* SERVO5_REVERSED: Servo reverse
* SERVO5_FUNCTION: Servo output function
* SERVO6_ Parameters
* SERVO6_MIN: Minimum PWM
* SERVO6_MAX: Maximum PWM
* SERVO6_TRIM: Trim PWM
* SERVO6_REVERSED: Servo reverse
* SERVO6_FUNCTION: Servo output function
* SERVO7_ Parameters
* SERVO7_MIN: Minimum PWM
* SERVO7_MAX: Maximum PWM
* SERVO7_TRIM: Trim PWM
* SERVO7_REVERSED: Servo reverse
* SERVO7_FUNCTION: Servo output function
* SERVO8_ Parameters
* SERVO8_MIN: Minimum PWM
* SERVO8_MAX: Maximum PWM
* SERVO8_TRIM: Trim PWM
* SERVO8_REVERSED: Servo reverse
* SERVO8_FUNCTION: Servo output function
* SERVO9_ Parameters
* SERVO9_MIN: Minimum PWM
* SERVO9_MAX: Maximum PWM
* SERVO9_TRIM: Trim PWM
* SERVO9_REVERSED: Servo reverse
* SERVO9_FUNCTION: Servo output function
* SERVO_BLH_ Parameters
* SERVO_BLH_MASK: BLHeli Channel Bitmask
* SERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors
* SERVO_BLH_TEST: BLHeli internal interface test
* SERVO_BLH_TMOUT: BLHeli protocol timeout
* SERVO_BLH_TRATE: BLHeli telemetry rate
* SERVO_BLH_DEBUG: BLHeli debug level
* SERVO_BLH_OTYPE: BLHeli output type override
* SERVO_BLH_PORT: Control port
* SERVO_BLH_POLES: BLHeli Motor Poles
* SERVO_BLH_3DMASK: BLHeli bitmask of 3D channels
* SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels
* SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels
* SERVO_FTW_ Parameters
* SERVO_FTW_MASK: Servo channel output bitmask
* SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask
* SERVO_FTW_POLES: Nr. electrical poles
* SERVO_ROB_ Parameters
* SERVO_ROB_POSMIN: Robotis servo position min
* SERVO_ROB_POSMAX: Robotis servo position max
* SERVO_SBUS_ Parameters
* SERVO_SBUS_RATE: SBUS default output rate
* SERVO_VOLZ_ Parameters
* SERVO_VOLZ_MASK: Channel Bitmask
* Simulation Parameters
* SIM_ACC1_BIAS_X: Accel 1 bias
* SIM_ACC1_BIAS_Y: Accel 1 bias
* SIM_ACC1_BIAS_Z: Accel 1 bias
* SIM_ACC1_SCAL_X: Accel 1 scaling factor
* SIM_ACC1_SCAL_Y: Accel 1 scaling factor
* SIM_ACC1_SCAL_Z: Accel 1 scaling factor
* SIM_ACC2_BIAS_X: Accel 2 bias
* SIM_ACC2_BIAS_Y: Accel 2 bias
* SIM_ACC2_BIAS_Z: Accel 2 bias
* SIM_ACC2_SCAL_X: Accel 2 scaling factor
* SIM_ACC2_SCAL_Y: Accel 2 scaling factor
* SIM_ACC2_SCAL_Z: Accel 2 scaling factor
* SIM_ACC3_BIAS_X: Accel 3 bias
* SIM_ACC3_BIAS_Y: Accel 3 bias
* SIM_ACC3_BIAS_Z: Accel 3 bias
* SIM_ACC3_SCAL_X: Accel 3 scaling factor
* SIM_ACC3_SCAL_Y: Accel 3 scaling factor
* SIM_ACC3_SCAL_Z: Accel 3 scaling factor
* SIM_ACC4_BIAS_X: Accel 4 bias
* SIM_ACC4_BIAS_Y: Accel 4 bias
* SIM_ACC4_BIAS_Z: Accel 4 bias
* SIM_ACC4_SCAL_X: Accel 4 scaling factor
* SIM_ACC4_SCAL_Y: Accel 4 scaling factor
* SIM_ACC4_SCAL_Z: Accel 4 scaling factor
* SIM_ACC5_BIAS_X: Accel 5 bias
* SIM_ACC5_BIAS_Y: Accel 5 bias
* SIM_ACC5_BIAS_Z: Accel 5 bias
* SIM_ACC5_SCAL_X: Accel 4 scaling factor
* SIM_ACC5_SCAL_Y: Accel 4 scaling factor
* SIM_ACC5_SCAL_Z: Accel 4 scaling factor
* SIM_ACCEL1_FAIL: ACCEL1 Failure
* SIM_ACCEL2_FAIL: ACCEL2 Failure
* SIM_ACCEL3_FAIL: ACCEL3 Failure
* SIM_ACCEL4_FAIL: ACCEL4 Failure
* SIM_ACCEL5_FAIL: ACCEL5 Failure
* SIM_ACC_FAIL_MSK: Accelerometer Failure Mask
* SIM_ADSB_TYPES: Simulated ADSB Type mask
* SIM_ARSPD2_FAIL: Airspeed sensor failure
* SIM_ARSPD2_FAILP: Airspeed sensor failure pressure
* SIM_ARSPD2_PITOT: Airspeed pitot tube failure pressure
* SIM_ARSPD2_RATIO: Airspeed ratios
* SIM_ARSPD2_SIGN: Airspeed signflip
* SIM_ARSPD_FAIL: Airspeed sensor failure
* SIM_ARSPD_FAILP: Airspeed sensor failure pressure
* SIM_ARSPD_PITOT: Airspeed pitot tube failure pressure
* SIM_ARSPD_RATIO: Airspeed ratios
* SIM_ARSPD_SIGN: Airspeed signflip
* SIM_BAR2_GLITCH: Baro2 Glitch
* SIM_BAR2_RND: Baro2 Noise
* SIM_BAR3_GLITCH: Baro3 Glitch
* SIM_BAR3_RND: Baro3 Noise
* SIM_BARO_DRIFT: Baro altitude drift
* SIM_BARO_GLITCH: Baro Glitch
* SIM_BARO_RND: Baro Noise
* SIM_BATT_VOLTAGE: Simulated battery voltage
* SIM_CAN_SRV_MSK: Mask of CAN servos/ESCs
* SIM_CAN_TYPE1: transport type for first CAN interface
* SIM_CAN_TYPE2: transport type for second CAN interface
* SIM_CLAMP_CH: Simulated Clamp Channel
* SIM_ESC_TELEM: Simulated ESC Telemetry
* SIM_FLOAT_EXCEPT: Generate floating point exceptions
* SIM_FLOW_DELAY: Opflow Delay
* SIM_FLOW_ENABLE: Opflow Enable
* SIM_FLOW_POS_X: Opflow Pos
* SIM_FLOW_POS_Y: Opflow Pos
* SIM_FLOW_POS_Z: Opflow Pos
* SIM_FLOW_RATE: Opflow Rate
* SIM_FLOW_RND: Opflow noise
* SIM_GLD_BLN_BRST: balloon burst height
* SIM_GLD_BLN_RATE: balloon climb rate
* SIM_GPS2_ACC: GPS 2 Accuracy
* SIM_GPS2_ALT_OFS: GPS 2 Altitude Offset
* SIM_GPS2_BYTELOS: GPS 2 Byteloss
* SIM_GPS2_DISABLE: GPS 2 disable
* SIM_GPS2_DRFTALT: GPS 2 Altitude Drift
* SIM_GPS2_GLTCH_X: GPS 2 Glitch
* SIM_GPS2_GLTCH_Y: GPS 2 Glitch
* SIM_GPS2_GLTCH_Z: GPS 2 Glitch
* SIM_GPS2_HDG: GPS 2 Heading
* SIM_GPS2_HZ: GPS 2 Hz
* SIM_GPS2_JAM: GPS jamming enable
* SIM_GPS2_LAG_MS: GPS 2 Lag
* SIM_GPS2_LCKTIME: GPS 2 Lock Time
* SIM_GPS2_NOISE: GPS 2 Noise
* SIM_GPS2_NUMSATS: GPS 2 Num Satellites
* SIM_GPS2_POS_X: GPS 2 Position
* SIM_GPS2_POS_Y: GPS 2 Position
* SIM_GPS2_POS_Z: GPS 2 Position
* SIM_GPS2_TYPE: GPS 2 type
* SIM_GPS2_VERR_X: GPS 2 Velocity Error
* SIM_GPS2_VERR_Y: GPS 2 Velocity Error
* SIM_GPS2_VERR_Z: GPS 2 Velocity Error
* SIM_GPS_ACC: GPS 1 Accuracy
* SIM_GPS_ALT_OFS: GPS 1 Altitude Offset
* SIM_GPS_BYTELOSS: GPS Byteloss
* SIM_GPS_DISABLE: GPS 1 disable
* SIM_GPS_DRIFTALT: GPS 1 Altitude Drift
* SIM_GPS_GLITCH_X: GPS 1 Glitch
* SIM_GPS_GLITCH_Y: GPS 1 Glitch
* SIM_GPS_GLITCH_Z: GPS 1 Glitch
* SIM_GPS_HDG: GPS 1 Heading
* SIM_GPS_HZ: GPS 1 Hz
* SIM_GPS_JAM: GPS jamming enable
* SIM_GPS_LAG_MS: GPS 1 Lag
* SIM_GPS_LOCKTIME: GPS 1 Lock Time
* SIM_GPS_LOG_NUM: GPS Log Number
* SIM_GPS_NOISE: GPS 1 Noise
* SIM_GPS_NUMSATS: GPS 1 Num Satellites
* SIM_GPS_POS_X: GPS 1 Position
* SIM_GPS_POS_Y: GPS 1 Position
* SIM_GPS_POS_Z: GPS 1 Position
* SIM_GPS_TYPE: GPS 1 type
* SIM_GPS_VERR_X: GPS 1 Velocity Error
* SIM_GPS_VERR_Y: GPS 1 Velocity Error
* SIM_GPS_VERR_Z: GPS 1 Velocity Error
* SIM_GRPE_ENABLE: Gripper servo Sim enable/disable
* SIM_GRPE_PIN: Gripper emp pin
* SIM_GRPS_ENABLE: Gripper servo Sim enable/disable
* SIM_GRPS_GRAB: Gripper Grab PWM
* SIM_GRPS_PIN: Gripper servo pin
* SIM_GRPS_RELEASE: Gripper Release PWM
* SIM_GRPS_REVERSE: Gripper close direction
* SIM_GYR1_BIAS_X: First Gyro bias on X axis
* SIM_GYR1_BIAS_Y: First Gyro bias on Y axis
* SIM_GYR1_BIAS_Z: First Gyro bias on Z axis
* SIM_GYR1_SCALE_X: Gyro 1 scaling factor
* SIM_GYR1_SCALE_Y: Gyro 1 scaling factor
* SIM_GYR1_SCALE_Z: Gyro 1 scaling factor
* SIM_GYR2_BIAS_X: Second Gyro bias on X axis
* SIM_GYR2_BIAS_Y: Second Gyro bias on Y axis
* SIM_GYR2_BIAS_Z: Second Gyro bias on Z axis
* SIM_GYR2_SCALE_X: Gyro 2 scaling factor
* SIM_GYR2_SCALE_Y: Gyro 2 scaling factor
* SIM_GYR2_SCALE_Z: Gyro 2 scaling factor
* SIM_GYR3_BIAS_X: Third Gyro bias on X axis
* SIM_GYR3_BIAS_Y: Third Gyro bias on Y axis
* SIM_GYR3_BIAS_Z: Third Gyro bias on Z axis
* SIM_GYR3_SCALE_X: Gyro 3 scaling factor
* SIM_GYR3_SCALE_Y: Gyro 3 scaling factor
* SIM_GYR3_SCALE_Z: Gyro 3 scaling factor
* SIM_GYR4_BIAS_X: Fourth Gyro bias on X axis
* SIM_GYR4_BIAS_Y: Fourth Gyro bias on Y axis
* SIM_GYR4_BIAS_Z: Fourth Gyro bias on Z axis
* SIM_GYR4_SCALE_X: Gyro 4 scaling factor
* SIM_GYR4_SCALE_Y: Gyro 4 scaling factor
* SIM_GYR4_SCALE_Z: Gyro 4 scaling factor
* SIM_GYR5_BIAS_X: Fifth Gyro bias on X axis
* SIM_GYR5_BIAS_Y: Fifth Gyro bias on Y axis
* SIM_GYR5_BIAS_Z: Fifth Gyro bias on Z axis
* SIM_GYR5_SCALE_X: Gyro 5 scaling factor
* SIM_GYR5_SCALE_Y: Gyro 5 scaling factor
* SIM_GYR5_SCALE_Z: Gyro 5 scaling factor
* SIM_GYRO_FAIL_MSK: Gyro Failure Mask
* SIM_IMU_COUNT: IMU count
* SIM_IMU_POS_X: IMU Offsets
* SIM_IMU_POS_Y: IMU Offsets
* SIM_IMU_POS_Z: IMU Offsets
* SIM_INIT_ALT_OFS: Initial Altitude Offset
* SIM_INIT_LAT_OFS: Initial Latitude Offset
* SIM_INIT_LON_OFS: Initial Longitude Offset
* SIM_JSON_MASTER: JSON master instance
* SIM_MAG1_DEVID: MAG1 Device ID
* SIM_MAG1_FAIL: MAG1 Failure
* SIM_MAG2_FAIL: MAG2 Failure
* SIM_MAG3_FAIL: MAG3 Failure
* SIM_MAG_SAVE_IDS: Save MAG devids on startup
* SIM_OH_MASK: SIM-on_hardware Output Enable Mask
* SIM_OH_RELAY_MSK: SIM-on_hardware Relay Enable Mask
* SIM_OPOS_ALT: Original Position (Altitude)
* SIM_OPOS_HDG: Original Position (Heading)
* SIM_OPOS_LAT: Original Position (Latitude)
* SIM_OPOS_LNG: Original Position (Longitude)
* SIM_OSD_COLUMNS: Simulated OSD number of text columns
* SIM_OSD_ROWS: Simulated OSD number of text rows
* SIM_PLD_ALT_LIMIT: Precland device alt range
* SIM_PLD_DIST_LIMIT: Precland device lateral range
* SIM_PLD_ENABLE: Preland device Sim enable/disable
* SIM_PLD_HEIGHT: Precland device center's height SITL origin
* SIM_PLD_LAT: Precland device center's latitude
* SIM_PLD_LON: Precland device center's longitude
* SIM_PLD_OPTIONS: SIM_Precland extra options
* SIM_PLD_ORIENT: Precland device orientation
* SIM_PLD_RATE: Precland device update rate
* SIM_PLD_SHIP: SIM_Precland follow ship
* SIM_PLD_TYPE: Precland device radiance type
* SIM_PLD_YAW: Precland device systems rotation from north
* SIM_RC_FAIL: Simulated RC signal failure
* SIM_SB_ALT_TARG: altitude target
* SIM_SB_ARM_LEN: arm length
* SIM_SB_CLMB_RT: target climb rate
* SIM_SB_COL: center of lift
* SIM_SB_DRAG_FWD: drag in forward direction
* SIM_SB_DRAG_SIDE: drag in sidewards direction
* SIM_SB_DRAG_UP: drag in upward direction
* SIM_SB_FLR: free lift rate
* SIM_SB_HMASS: helium mass
* SIM_SB_MASS: mass
* SIM_SB_MOI_PITCH: moment of inertia in pitch
* SIM_SB_MOI_ROLL: moment of inertia in roll
* SIM_SB_MOI_YAW: moment of inertia in yaw
* SIM_SB_MOT_ANG: motor angle
* SIM_SB_MOT_THST: motor thrust
* SIM_SB_WVANE: weathervaning offset
* SIM_SB_YAW_RT: yaw rate
* SIM_SERVO_DELAY: servo delay
* SIM_SERVO_FILTER: servo filter
* SIM_SERVO_SPEED: servo speed
* SIM_SPEEDUP: Sim Speedup
* SIM_SPR_ENABLE: Sprayer Sim enable/disable
* SIM_SPR_PUMP: Sprayer pump pin
* SIM_SPR_SPIN: Sprayer spinner servo pin
* SIM_UART_LOSS: UART byte loss percentage
* SIM_VICON_FAIL: SITL vicon failure
* SIM_VICON_GLIT_X: SITL vicon position glitch North
* SIM_VICON_GLIT_Y: SITL vicon position glitch East
* SIM_VICON_GLIT_Z: SITL vicon position glitch Down
* SIM_VICON_POS_X: SITL vicon position on vehicle in Forward direction
* SIM_VICON_POS_Y: SITL vicon position on vehicle in Right direction
* SIM_VICON_POS_Z: SITL vicon position on vehicle in Down direction
* SIM_VICON_TMASK: SITL vicon type mask
* SIM_VICON_VGLI_X: SITL vicon velocity glitch North
* SIM_VICON_VGLI_Y: SITL vicon velocity glitch East
* SIM_VICON_VGLI_Z: SITL vicon velocity glitch Down
* SIM_VICON_YAW: SITL vicon yaw angle in earth frame
* SIM_VICON_YAWERR: SITL vicon yaw error
* SIM_WIND_DIR: Simulated Wind direction
* SIM_WIND_SPD: Simulated Wind speed
* SIM_WIND_T: Wind Profile Type
* SIM_WIND_TC: Wind variation time constant
* SIM_WIND_TURB: Simulated Wind variation
* SIM_WIND_T_ALT: Full Wind Altitude
* SIM_WIND_T_COEF: Linear Wind Curve Coeff
* SIM_WOW_PIN: Weight on Wheels Pin
* SOAR_ Parameters
* SOAR_ENABLE: Is the soaring mode enabled or not
* SOAR_VSPEED: Vertical v-speed
* SOAR_Q1: Process noise
* SOAR_Q2: Process noise
* SOAR_R: Measurement noise
* SOAR_DIST_AHEAD: Distance to thermal center
* SOAR_MIN_THML_S: Minimum thermalling time
* SOAR_MIN_CRSE_S: Minimum cruising time
* SOAR_POLAR_CD0: Zero lift drag coef.
* SOAR_POLAR_B: Induced drag coeffient
* SOAR_POLAR_K: Cl factor
* SOAR_ALT_MAX: Maximum soaring altitude, relative to the home location
* SOAR_ALT_MIN: Minimum soaring altitude, relative to the home location
* SOAR_ALT_CUTOFF: Maximum power altitude, relative to the home location
* SOAR_MAX_DRIFT: (Optional) Maximum drift distance to allow when
thermalling.
* SOAR_MAX_RADIUS: (Optional) Maximum distance from home
* SOAR_THML_BANK: Thermalling bank angle
* SOAR_THML_ARSPD: Specific setting for airspeed when soaring in THERMAL
mode.
* SOAR_CRSE_ARSPD: Specific setting for airspeed when soaring in AUTO
mode.
* SOAR_THML_FLAP: Flap percent to be used during thermalling flight.
* SR0_ Parameters
* SR0_RAW_SENS: Raw sensor stream rate
* SR0_EXT_STAT: Extended status stream rate
* SR0_RC_CHAN: RC Channel stream rate
* SR0_RAW_CTRL: Raw Control stream rate
* SR0_POSITION: Position stream rate
* SR0_EXTRA1: Extra data type 1 stream rate
* SR0_EXTRA2: Extra data type 2 stream rate
* SR0_EXTRA3: Extra data type 3 stream rate
* SR0_PARAMS: Parameter stream rate
* SR0_ADSB: ADSB stream rate
* SR1_ Parameters
* SR1_RAW_SENS: Raw sensor stream rate
* SR1_EXT_STAT: Extended status stream rate
* SR1_RC_CHAN: RC Channel stream rate
* SR1_RAW_CTRL: Raw Control stream rate
* SR1_POSITION: Position stream rate
* SR1_EXTRA1: Extra data type 1 stream rate
* SR1_EXTRA2: Extra data type 2 stream rate
* SR1_EXTRA3: Extra data type 3 stream rate
* SR1_PARAMS: Parameter stream rate
* SR1_ADSB: ADSB stream rate
* SR2_ Parameters
* SR2_RAW_SENS: Raw sensor stream rate
* SR2_EXT_STAT: Extended status stream rate
* SR2_RC_CHAN: RC Channel stream rate
* SR2_RAW_CTRL: Raw Control stream rate
* SR2_POSITION: Position stream rate
* SR2_EXTRA1: Extra data type 1 stream rate
* SR2_EXTRA2: Extra data type 2 stream rate
* SR2_EXTRA3: Extra data type 3 stream rate
* SR2_PARAMS: Parameter stream rate
* SR2_ADSB: ADSB stream rate
* SR3_ Parameters
* SR3_RAW_SENS: Raw sensor stream rate
* SR3_EXT_STAT: Extended status stream rate
* SR3_RC_CHAN: RC Channel stream rate
* SR3_RAW_CTRL: Raw Control stream rate
* SR3_POSITION: Position stream rate
* SR3_EXTRA1: Extra data type 1 stream rate
* SR3_EXTRA2: Extra data type 2 stream rate
* SR3_EXTRA3: Extra data type 3 stream rate
* SR3_PARAMS: Parameter stream rate
* SR3_ADSB: ADSB stream rate
* SR4_ Parameters
* SR4_RAW_SENS: Raw sensor stream rate
* SR4_EXT_STAT: Extended status stream rate
* SR4_RC_CHAN: RC Channel stream rate
* SR4_RAW_CTRL: Raw Control stream rate
* SR4_POSITION: Position stream rate
* SR4_EXTRA1: Extra data type 1 stream rate
* SR4_EXTRA2: Extra data type 2 stream rate
* SR4_EXTRA3: Extra data type 3 stream rate
* SR4_PARAMS: Parameter stream rate
* SR4_ADSB: ADSB stream rate
* SR5_ Parameters
* SR5_RAW_SENS: Raw sensor stream rate
* SR5_EXT_STAT: Extended status stream rate
* SR5_RC_CHAN: RC Channel stream rate
* SR5_RAW_CTRL: Raw Control stream rate
* SR5_POSITION: Position stream rate
* SR5_EXTRA1: Extra data type 1 stream rate
* SR5_EXTRA2: Extra data type 2 stream rate
* SR5_EXTRA3: Extra data type 3 stream rate
* SR5_PARAMS: Parameter stream rate
* SR5_ADSB: ADSB stream rate
* SR6_ Parameters
* SR6_RAW_SENS: Raw sensor stream rate
* SR6_EXT_STAT: Extended status stream rate
* SR6_RC_CHAN: RC Channel stream rate
* SR6_RAW_CTRL: Raw Control stream rate
* SR6_POSITION: Position stream rate
* SR6_EXTRA1: Extra data type 1 stream rate
* SR6_EXTRA2: Extra data type 2 stream rate
* SR6_EXTRA3: Extra data type 3 stream rate
* SR6_PARAMS: Parameter stream rate
* SR6_ADSB: ADSB stream rate
* STAT Parameters
* STAT_BOOTCNT: Boot Count
* STAT_FLTTIME: Total FlightTime
* STAT_RUNTIME: Total RunTime
* STAT_RESET: Statistics Reset Time
* STEER2SRV_ Parameters
* STEER2SRV_TCONST: Steering Time Constant
* STEER2SRV_P: Steering turning gain
* STEER2SRV_I: Integrator Gain
* STEER2SRV_D: Damping Gain
* STEER2SRV_IMAX: Integrator limit
* STEER2SRV_MINSPD: Minimum speed
* STEER2SRV_FF: Steering feed forward
* STEER2SRV_DRTSPD: Derating speed
* STEER2SRV_DRTFCT: Derating factor
* STEER2SRV_DRTMIN: Minimum angle of wheel
* TECS_ Parameters
* TECS_CLMB_MAX: Maximum Climb Rate (metres/sec)
* TECS_SINK_MIN: Minimum Sink Rate (metres/sec)
* TECS_TIME_CONST: Controller time constant (sec)
* TECS_THR_DAMP: Controller throttle damping
* TECS_INTEG_GAIN: Controller integrator
* TECS_VERT_ACC: Vertical Acceleration Limit (metres/sec^2)
* TECS_HGT_OMEGA: Height complementary filter frequency (radians/sec)
* TECS_SPD_OMEGA: Speed complementary filter frequency (radians/sec)
* TECS_RLL2THR: Bank angle compensation gain
* TECS_SPDWEIGHT: Weighting applied to speed control
* TECS_PTCH_DAMP: Controller pitch damping
* TECS_SINK_MAX: Maximum Descent Rate (metres/sec)
* TECS_LAND_ARSPD: Airspeed during landing approach (m/s)
* TECS_LAND_THR: Cruise throttle during landing approach (percentage)
* TECS_LAND_SPDWGT: Weighting applied to speed control during landing.
* TECS_PITCH_MAX: Maximum pitch in auto flight
* TECS_PITCH_MIN: Minimum pitch in auto flight
* TECS_LAND_SINK: Sink rate for final landing stage
* TECS_LAND_TCONST: Land controller time constant (sec)
* TECS_LAND_DAMP: Controller sink rate to pitch gain during flare
* TECS_LAND_PMAX: Maximum pitch during final stage of landing
* TECS_APPR_SMAX: Sink rate max for landing approach stage
* TECS_LAND_SRC: Land sink rate change
* TECS_LAND_TDAMP: Controller throttle damping when landing
* TECS_LAND_IGAIN: Controller integrator during landing
* TECS_TKOFF_IGAIN: Controller integrator during takeoff
* TECS_LAND_PDAMP: Pitch damping gain when landing
* TECS_SYNAIRSPEED: Enable the use of synthetic airspeed
* TECS_OPTIONS: Extra TECS options
* TECS_PTCH_FF_V0: Baseline airspeed for pitch feed-forward.
* TECS_PTCH_FF_K: Gain for pitch feed-forward.
* TECS_FLARE_HGT: Flare holdoff height
* TECS_HDEM_TCONST: Height Demand Time Constant
* TEMP Parameters
* TEMP_LOG: Logging
* TEMP1_ Parameters
* TEMP1_TYPE: Temperature Sensor Type
* TEMP1_BUS: Temperature sensor bus
* TEMP1_ADDR: Temperature sensor address
* TEMP1_SRC: Sensor Source
* TEMP1_SRC_ID: Sensor Source Identification
* TEMP1_PIN: Temperature sensor analog voltage sensing pin
* TEMP1_A0: Temperature sensor analog 0th polynomial coefficient
* TEMP1_A1: Temperature sensor analog 1st polynomial coefficient
* TEMP1_A2: Temperature sensor analog 2nd polynomial coefficient
* TEMP1_A3: Temperature sensor analog 3rd polynomial coefficient
* TEMP1_A4: Temperature sensor analog 4th polynomial coefficient
* TEMP2_ Parameters
* TEMP2_TYPE: Temperature Sensor Type
* TEMP2_BUS: Temperature sensor bus
* TEMP2_ADDR: Temperature sensor address
* TEMP2_SRC: Sensor Source
* TEMP2_SRC_ID: Sensor Source Identification
* TEMP2_PIN: Temperature sensor analog voltage sensing pin
* TEMP2_A0: Temperature sensor analog 0th polynomial coefficient
* TEMP2_A1: Temperature sensor analog 1st polynomial coefficient
* TEMP2_A2: Temperature sensor analog 2nd polynomial coefficient
* TEMP2_A3: Temperature sensor analog 3rd polynomial coefficient
* TEMP2_A4: Temperature sensor analog 4th polynomial coefficient
* TEMP3_ Parameters
* TEMP3_TYPE: Temperature Sensor Type
* TEMP3_BUS: Temperature sensor bus
* TEMP3_ADDR: Temperature sensor address
* TEMP3_SRC: Sensor Source
* TEMP3_SRC_ID: Sensor Source Identification
* TEMP3_PIN: Temperature sensor analog voltage sensing pin
* TEMP3_A0: Temperature sensor analog 0th polynomial coefficient
* TEMP3_A1: Temperature sensor analog 1st polynomial coefficient
* TEMP3_A2: Temperature sensor analog 2nd polynomial coefficient
* TEMP3_A3: Temperature sensor analog 3rd polynomial coefficient
* TEMP3_A4: Temperature sensor analog 4th polynomial coefficient
* TEMP4_ Parameters
* TEMP4_TYPE: Temperature Sensor Type
* TEMP4_BUS: Temperature sensor bus
* TEMP4_ADDR: Temperature sensor address
* TEMP4_SRC: Sensor Source
* TEMP4_SRC_ID: Sensor Source Identification
* TEMP4_PIN: Temperature sensor analog voltage sensing pin
* TEMP4_A0: Temperature sensor analog 0th polynomial coefficient
* TEMP4_A1: Temperature sensor analog 1st polynomial coefficient
* TEMP4_A2: Temperature sensor analog 2nd polynomial coefficient
* TEMP4_A3: Temperature sensor analog 3rd polynomial coefficient
* TEMP4_A4: Temperature sensor analog 4th polynomial coefficient
* TEMP5_ Parameters
* TEMP5_TYPE: Temperature Sensor Type
* TEMP5_BUS: Temperature sensor bus
* TEMP5_ADDR: Temperature sensor address
* TEMP5_SRC: Sensor Source
* TEMP5_SRC_ID: Sensor Source Identification
* TEMP5_PIN: Temperature sensor analog voltage sensing pin
* TEMP5_A0: Temperature sensor analog 0th polynomial coefficient
* TEMP5_A1: Temperature sensor analog 1st polynomial coefficient
* TEMP5_A2: Temperature sensor analog 2nd polynomial coefficient
* TEMP5_A3: Temperature sensor analog 3rd polynomial coefficient
* TEMP5_A4: Temperature sensor analog 4th polynomial coefficient
* TEMP6_ Parameters
* TEMP6_TYPE: Temperature Sensor Type
* TEMP6_BUS: Temperature sensor bus
* TEMP6_ADDR: Temperature sensor address
* TEMP6_SRC: Sensor Source
* TEMP6_SRC_ID: Sensor Source Identification
* TEMP6_PIN: Temperature sensor analog voltage sensing pin
* TEMP6_A0: Temperature sensor analog 0th polynomial coefficient
* TEMP6_A1: Temperature sensor analog 1st polynomial coefficient
* TEMP6_A2: Temperature sensor analog 2nd polynomial coefficient
* TEMP6_A3: Temperature sensor analog 3rd polynomial coefficient
* TEMP6_A4: Temperature sensor analog 4th polynomial coefficient
* TEMP7_ Parameters
* TEMP7_TYPE: Temperature Sensor Type
* TEMP7_BUS: Temperature sensor bus
* TEMP7_ADDR: Temperature sensor address
* TEMP7_SRC: Sensor Source
* TEMP7_SRC_ID: Sensor Source Identification
* TEMP7_PIN: Temperature sensor analog voltage sensing pin
* TEMP7_A0: Temperature sensor analog 0th polynomial coefficient
* TEMP7_A1: Temperature sensor analog 1st polynomial coefficient
* TEMP7_A2: Temperature sensor analog 2nd polynomial coefficient
* TEMP7_A3: Temperature sensor analog 3rd polynomial coefficient
* TEMP7_A4: Temperature sensor analog 4th polynomial coefficient
* TEMP8_ Parameters
* TEMP8_TYPE: Temperature Sensor Type
* TEMP8_BUS: Temperature sensor bus
* TEMP8_ADDR: Temperature sensor address
* TEMP8_SRC: Sensor Source
* TEMP8_SRC_ID: Sensor Source Identification
* TEMP8_PIN: Temperature sensor analog voltage sensing pin
* TEMP8_A0: Temperature sensor analog 0th polynomial coefficient
* TEMP8_A1: Temperature sensor analog 1st polynomial coefficient
* TEMP8_A2: Temperature sensor analog 2nd polynomial coefficient
* TEMP8_A3: Temperature sensor analog 3rd polynomial coefficient
* TEMP8_A4: Temperature sensor analog 4th polynomial coefficient
* TEMP9_ Parameters
* TEMP9_TYPE: Temperature Sensor Type
* TEMP9_BUS: Temperature sensor bus
* TEMP9_ADDR: Temperature sensor address
* TEMP9_SRC: Sensor Source
* TEMP9_SRC_ID: Sensor Source Identification
* TEMP9_PIN: Temperature sensor analog voltage sensing pin
* TEMP9_A0: Temperature sensor analog 0th polynomial coefficient
* TEMP9_A1: Temperature sensor analog 1st polynomial coefficient
* TEMP9_A2: Temperature sensor analog 2nd polynomial coefficient
* TEMP9_A3: Temperature sensor analog 3rd polynomial coefficient
* TEMP9_A4: Temperature sensor analog 4th polynomial coefficient
* TERRAIN_ Parameters
* TERRAIN_ENABLE: Terrain data enable
* TERRAIN_SPACING: Terrain grid spacing
* TERRAIN_OPTIONS: Terrain options
* TERRAIN_MARGIN: Acceptance margin
* TERRAIN_OFS_MAX: Terrain reference offset maximum
* TERRAIN_CACHE_SZ: Terrain cache size
* TKOFF_ Parameters
* TKOFF_ALT: Takeoff mode altitude
* TKOFF_LVL_ALT: Takeoff mode altitude level altitude
* TKOFF_LVL_PITCH: Takeoff mode altitude initial pitch
* TKOFF_DIST: Takeoff mode distance
* TKOFF_GND_PITCH: Takeoff run pitch demand
* TUNE_ Parameters
* TUNE_PARAM: Transmitter tuning parameter or set of parameters
* TUNE_CHAN: Transmitter tuning channel
* TUNE_CHAN_MIN: Transmitter tuning channel minimum pwm
* TUNE_CHAN_MAX: Transmitter tuning channel maximum pwm
* TUNE_SELECTOR: Transmitter tuning selector channel
* TUNE_RANGE: Transmitter tuning range
* TUNE_MODE_REVERT: Revert on mode change
* TUNE_ERR_THRESH: Controller error threshold
* VISO Parameters
* VISO_TYPE: Visual odometry camera connection type
* VISO_POS_X: Visual odometry camera X position offset
* VISO_POS_Y: Visual odometry camera Y position offset
* VISO_POS_Z: Visual odometry camera Z position offset
* VISO_ORIENT: Visual odometery camera orientation
* VISO_SCALE: Visual odometry scaling factor
* VISO_DELAY_MS: Visual odometry sensor delay
* VISO_VEL_M_NSE: Visual odometry velocity measurement noise
* VISO_POS_M_NSE: Visual odometry position measurement noise
* VISO_YAW_M_NSE: Visual odometry yaw measurement noise
* VISO_QUAL_MIN: Visual odometry minimum quality
* VTX_ Parameters
* VTX_ENABLE: Is the Video Transmitter enabled or not
* VTX_POWER: Video Transmitter Power Level
* VTX_CHANNEL: Video Transmitter Channel
* VTX_BAND: Video Transmitter Band
* VTX_FREQ: Video Transmitter Frequency
* VTX_OPTIONS: Video Transmitter Options
* VTX_MAX_POWER: Video Transmitter Max Power Level
* YAW Parameters
* YAW2SRV_SLIP: Sideslip control gain
* YAW2SRV_INT: Sideslip control integrator
* YAW2SRV_DAMP: Yaw damping
* YAW2SRV_RLL: Yaw coordination gain
* YAW2SRV_IMAX: Integrator limit
* YAW_RATE_ENABLE: Yaw rate enable
* YAW_RATE_P: Yaw axis rate controller P gain
* YAW_RATE_I: Yaw axis rate controller I gain
* YAW_RATE_IMAX: Yaw axis rate controller I gain maximum
* YAW_RATE_D: Yaw axis rate controller D gain
* YAW_RATE_FF: Yaw axis rate controller feed forward
* YAW_RATE_FLTT: Yaw axis rate controller target frequency in Hz
* YAW_RATE_FLTE: Yaw axis rate controller error frequency in Hz
* YAW_RATE_FLTD: Yaw axis rate controller derivative frequency in Hz
* YAW_RATE_SMAX: Yaw slew rate limit
* YAW_RATE_PDMX: Yaw axis rate controller PD sum maximum
* YAW_RATE_D_FF: Yaw Derivative FeedForward Gain
* YAW_RATE_NTF: Yaw Target notch filter index
* YAW_RATE_NEF: Yaw Error notch filter index
* Parameter Reset
* RC Input Channel Mapping (RCMAP)
* RC Options
* Redundant Telemetry
* Reverse Thrust Setup
* RunCam Camera Configuration and Control
* Safety Switch
* Sensor Position Offset Compensation
* Sensor Testing
* Serial Forwarding to DroneCAN
* Serial Port to Port Passthrough
* Serial Port Configuration
* Ship(Moving Vehicle) Takeoff/Landing
* Telemetry Port Setup
* Terrain Following
* Transmitter Based Tuning
* Video Stabilization (Gyroflow)
* Video Transmitter Control
* UBlox GPS Configuration
* Vibration Damping
* Peripheral Hardware
* Additional Information
* User Alerts
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COMPLETE PARAMETER LIST¶
FULL PARAMETER LIST OF PLANE LATEST V4.6.0 DEV
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This is a complete list of the parameters which can be set (e.g. via the MAVLink
protocol) to control vehicle behaviour. They are stored in persistent storage on
the vehicle.
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.
ARDUPLANE PARAMETERS¶
FORMAT_VERSION: EEPROM FORMAT VERSION NUMBER¶
Note: This parameter is for advanced users
This value is incremented when changes are made to the eeprom format
SYSID_THISMAV: MAVLINK SYSTEM ID OF THIS VEHICLE¶
Note: This parameter is for advanced users
Allows setting an individual MAVLink system id for this vehicle to distinguish
it from others on the same network
Range
1 to 255
SYSID_MYGCS: GROUND STATION MAVLINK SYSTEM ID¶
Note: This parameter is for advanced users
The identifier of the ground station in the MAVLink protocol. Don't change this
unless you also modify the ground station to match.
Increment
Range
1
1 to 255
AUTOTUNE_LEVEL: AUTOTUNE LEVEL¶
Level of aggressiveness of pitch and roll PID gains. Lower values result in a
'softer' tune. Level 6 recommended for most planes. A value of 0 means to keep
the current values of RMAX and TCONST for the controllers, tuning only the PID
values
Increment
Range
1
0 to 10
AUTOTUNE_OPTIONS: AUTOTUNE OPTIONS BITMASK¶
Note: This parameter is for advanced users
Fixed Wing Autotune specific options. Useful on QuadPlanes with higher
INS_GYRO_FILTER settings to prevent these filter values from being set too
agressively during Fixed Wing Autotune.
Bitmask
Bit
Meaning
0
Disable FLTD update by Autotune
1
Disable FLTT update by Autotune
TELEM_DELAY: TELEMETRY STARTUP DELAY¶
The amount of time (in seconds) to delay radio telemetry to prevent an Xbee
bricking on power up
Increment
Range
Units
1
0 to 30
seconds
GCS_PID_MASK: GCS PID TUNING MASK¶
Note: This parameter is for advanced users
bitmask of PIDs to send MAVLink PID_TUNING messages for
Bitmask
Bit
Meaning
0
Roll
1
Pitch
2
Yaw
3
Steering
4
Landing
KFF_RDDRMIX: RUDDER MIX¶
Amount of rudder to add during aileron movement. Increase if nose initially yaws
away from roll. Reduces adverse yaw.
Increment
Range
0.01
0 to 1
KFF_THR2PTCH: THROTTLE TO PITCH MIX¶
Note: This parameter is for advanced users
Pitch up to add in proportion to throttle. 100% throttle will add this number of
degrees to the pitch target.
Increment
Range
0.01
-5 to 5
STAB_PITCH_DOWN: LOW THROTTLE PITCH DOWN TRIM¶
Note: This parameter is for advanced users
Degrees of down pitch added when throttle is below TRIM_THROTTLE in FBWA and
AUTOTUNE modes. Scales linearly so full value is added when THR_MIN is reached.
Helps to keep airspeed higher in glides or landing approaches and prevents
accidental stalls. 2 degrees recommended for most planes.
Increment
Range
Units
0.1
0 to 15
degrees
GLIDE_SLOPE_MIN: GLIDE SLOPE MINIMUM¶
Note: This parameter is for advanced users
This controls the minimum altitude change for a waypoint before a glide slope
will be used instead of an immediate altitude change. The default value is 15
meters, which helps to smooth out waypoint missions where small altitude changes
happen near waypoints. If you don't want glide slopes to be used in missions
then you can set this to zero, which will disable glide slope calculations.
Otherwise you can set it to a minimum number of meters of altitude error to the
destination waypoint before a glide slope will be used to change altitude.
Increment
Range
Units
1
0 to 1000
meters
GLIDE_SLOPE_THR: GLIDE SLOPE THRESHOLD¶
Note: This parameter is for advanced users
This controls the height above the glide slope the plane may be before
rebuilding a glide slope. This is useful for smoothing out an autotakeoff
Increment
Range
Units
1
0 to 100
meters
STICK_MIXING: STICK MIXING¶
Note: This parameter is for advanced users
When enabled, this adds user stick input to the control surfaces in auto modes,
allowing the user to have some degree of flight control without changing modes.
There are two types of stick mixing available. If you set STICK_MIXING to 1 then
it will use "fly by wire" mixing, which controls the roll and pitch in the same
way that the FBWA mode does. This is the safest option if you usually fly
ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 3 then it will apply
to the yaw while in quadplane modes only, such as while doing an automatic VTOL
takeoff or landing.
Values
Value
Meaning
0
Disabled
1
FBWMixing
3
VTOL Yaw only
TKOFF_THR_MINSPD: TAKEOFF THROTTLE MIN SPEED¶
Minimum GPS ground speed in m/s used by the speed check that un-suppresses
throttle in auto-takeoff. This can be be used for catapult launches where you
want the motor to engage only after the plane leaves the catapult, but it is
preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for
catapult launches due to the errors associated with GPS measurements. For hand
launches with a pusher prop it is strongly advised that this parameter be set to
a value no less than 4 m/s to provide additional protection against premature
motor start. Note that the GPS velocity will lag the real velocity by about 0.5
seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.
Increment
Range
Units
0.1
0 to 30
meters per second
TKOFF_THR_MINACC: TAKEOFF THROTTLE MIN ACCELERATION¶
Minimum forward acceleration in m/s/s before arming the ground speed check in
auto-takeoff. This is meant to be used for hand launches. Setting this value to
0 disables the acceleration test which means the ground speed check will always
be armed which could allow GPS velocity jumps to start the engine. For hand
launches and bungee launches this should be set to around 15. Also see
TKOFF_ACCEL_CNT paramter for control of full "shake to arm".
Increment
Range
Units
0.1
0 to 30
meters per square second
TKOFF_THR_DELAY: TAKEOFF THROTTLE DELAY¶
This parameter sets the time delay (in 1/10ths of a second) that the ground
speed check is delayed after the forward acceleration check controlled by
TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is
essential that this is set to a value of no less than 2 (0.2 seconds) to ensure
that the aircraft is safely clear of the throwers arm before the motor can
start. For bungee launches a larger value can be used (such as 30) to give time
for the bungee to release from the aircraft before the motor is started.
Increment
Range
Units
1
0 to 127
deciseconds
TKOFF_THR_MAX_T: TAKEOFF THROTTLE MAXIMUM TIME¶
This sets the time that maximum throttle will be forced during a fixed wing
takeoff without an airspeed sensor. If an airspeed sensor is being used then the
throttle is set to maximum until the takeoff airspeed is reached.
Increment
Range
Units
0.5
0 to 10
seconds
TKOFF_TDRAG_ELEV: TAKEOFF TAIL DRAGGER ELEVATOR¶
This parameter sets the amount of elevator to apply during the initial stage of
a takeoff. It is used to hold the tail wheel of a taildragger on the ground
during the initial takeoff stage to give maximum steering. This option should be
combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along
with tuning of the ground steering controller. A value of zero means to bypass
the initial "tail hold" stage of takeoff. Set to zero for hand and catapult
launch. For tail-draggers you should normally set this to 100, meaning full up
elevator during the initial stage of takeoff. For most tricycle undercarriage
aircraft a value of zero will work well, but for some tricycle aircraft a small
negative value (say around -20 to -30) will apply down elevator which will hold
the nose wheel firmly on the ground during initial acceleration. Only use a
negative value if you find that the nosewheel doesn't grip well during takeoff.
Too much down elevator on a tricycle undercarriage may cause instability in
steering as the plane pivots around the nosewheel. Add down elevator 10 percent
at a time.
Increment
Range
Units
1
-100 to 100
percent
TKOFF_TDRAG_SPD1: TAKEOFF TAIL DRAGGER SPEED1¶
This parameter sets the airspeed at which to stop holding the tail down and
transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is
reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is
reached, at which point the takeoff pitch specified in the mission will be used
to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go
straight to rotation. This should be set to zero for hand launch and catapult
launch. It should also be set to zero for tricycle undercarriages unless you are
using the method above to gently hold the nose wheel down. For tail dragger
aircraft it should be set just below the stall speed.
Increment
Range
Units
0.1
0 to 30
meters per second
TKOFF_ROTATE_SPD: TAKEOFF ROTATE SPEED¶
This parameter sets the airspeed at which the aircraft will "rotate", setting
climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb
pitch will be used as soon as takeoff is started. For hand launch and catapult
launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches
TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30
percent. During the run, use TKOFF_GND_PITCH to keep the aircraft on the runway
while below this airspeed.
Increment
Range
Units
0.1
0 to 30
meters per second
TKOFF_THR_SLEW: TAKEOFF THROTTLE SLEW RATE¶
This parameter sets the slew rate for the throttle during auto takeoff. When
this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling
takeoffs it can be a good idea to set a lower slewrate for takeoff to give a
slower acceleration which can improve ground steering control. The value is a
percentage throttle change per second, so a value of 20 means to advance the
throttle over 5 seconds on takeoff. Values below 20 are not recommended as they
may cause the plane to try to climb out with too little throttle. A value of -1
means no limit on slew rate in takeoff.
Increment
Range
Units
1
-1 to 127
percent per second
TKOFF_PLIM_SEC: TAKEOFF PITCH LIMIT REDUCTION¶
Note: This parameter is for advanced users
This parameter reduces the pitch minimum limit of an auto-takeoff just a few
seconds before it reaches the target altitude. This reduces overshoot by
allowing the flight controller to start leveling off a few seconds before
reaching the target height. When set to zero, the mission pitch min is enforced
all the way to and through the target altitude, otherwise the pitch min slowly
reduces to zero in the final segment. This is the pitch_min, not the demand. The
flight controller should still be commanding to gain altitude to finish the
takeoff but with this param it is not forcing it higher than it wants to be.
Increment
Range
Units
0.5
0 to 10
seconds
TKOFF_FLAP_PCNT: TAKEOFF FLAP PERCENTAGE¶
Note: This parameter is for advanced users
The amount of flaps (as a percentage) to apply in automatic takeoff
Increment
Range
Units
1
0 to 100
percent
LEVEL_ROLL_LIMIT: LEVEL FLIGHT ROLL LIMIT¶
This controls the maximum bank angle in degrees during flight modes where level
flight is desired, such as in the final stages of landing, and during auto
takeoff. This should be a small angle (such as 5 degrees) to prevent a wing
hitting the runway during takeoff or landing. Setting this to zero will
completely disable heading hold on auto takeoff while below 5 meters and during
the flare portion of a final landing approach.
Increment
Range
Units
1
0 to 45
degrees
USE_REV_THRUST: BITMASK FOR WHEN TO ALLOW NEGATIVE REVERSE THRUST¶
Note: This parameter is for advanced users
This controls when to use reverse thrust. If set to zero then reverse thrust is
never used. If set to a non-zero value then the bits correspond to flight stages
where reverse thrust may be used. The most commonly used value for
USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in
the landing stage of AUTO mode. Another common choice is 1, which means to use
reverse thrust in all auto flight stages. Reverse thrust is always used in
MANUAL mode if enabled with THR_MIN < 0. In non-autothrottle controlled modes,
if reverse thrust is not used, then THR_MIN is effectively set to 0 for that
mode.
Bitmask
Bit
Meaning
0
AUTO_ALWAYS
1
AUTO_LAND
2
AUTO_LOITER_TO_ALT
3
AUTO_LOITER_ALL
4
AUTO_WAYPOINTS
5
LOITER
6
RTL
7
CIRCLE
8
CRUISE
9
FBWB
10
GUIDED
11
AUTO_LANDING_PATTERN
12
FBWA
13
ACRO
14
STABILIZE
15
THERMAL
ALT_OFFSET: ALTITUDE OFFSET¶
Note: This parameter is for advanced users
This is added to the target altitude in automatic flight. It can be used to add
a global altitude offset to a mission
Increment
Range
Units
1
-32767 to 32767
meters
WP_RADIUS: WAYPOINT RADIUS¶
Defines the maximum distance from a waypoint that when crossed indicates the
waypoint may be complete. To avoid the aircraft looping around the waypoint in
case it misses by more than the WP_RADIUS an additional check is made to see if
the aircraft has crossed a "finish line" passing through the waypoint and
perpendicular to the flight path from the previous waypoint. If that finish line
is crossed then the waypoint is considered complete. Note that the navigation
controller may decide to turn later than WP_RADIUS before a waypoint, based on
how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS
much larger than the usual turn radius of your aircraft and the navigation
controller will work out when to turn. If you set WP_RADIUS too small then you
will tend to overshoot the turns.
Increment
Range
Units
1
1 to 32767
meters
WP_MAX_RADIUS: WAYPOINT MAXIMUM RADIUS¶
Sets the maximum distance to a waypoint for the waypoint to be considered
complete. This overrides the "cross the finish line" logic that is normally used
to consider a waypoint complete. For normal AUTO behaviour this parameter should
be set to zero. Using a non-zero value is only recommended when it is critical
that the aircraft does approach within the given radius, and should loop around
until it has done so. This can cause the aircraft to loop forever if its turn
radius is greater than the maximum radius set.
Increment
Range
Units
1
0 to 32767
meters
WP_LOITER_RAD: WAYPOINT LOITER RADIUS¶
Defines the distance from the waypoint center, the plane will maintain during a
loiter. If you set this value to a negative number then the default loiter
direction will be counter-clockwise instead of clockwise.
Increment
Range
Units
1
-32767 to 32767
meters
RTL_RADIUS: RTL LOITER RADIUS¶
Defines the radius of the loiter circle when in RTL mode. If this is zero then
WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is
used. If positive then a clockwise loiter is used.
Increment
Range
Units
1
-32767 to 32767
meters
STALL_PREVENTION: ENABLE STALL PREVENTION¶
Enables roll limits at low airspeed in roll limiting flight modes. Roll limits
based on aerodynamic load factor in turns and scale on AIRSPEED_MIN that must be
set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed
estimate that may both be inaccurate.
Values
Value
Meaning
0
Disabled
1
Enabled
AIRSPEED_CRUISE: TARGET CRUISE AIRSPEED¶
Target cruise airspeed in m/s in automatic throttle modes. Value is as an
indicated (calibrated/apparent) airspeed.
Units
meters per second
AIRSPEED_MIN: MINIMUM AIRSPEED¶
Minimum airspeed demanded in automatic throttle modes. Should be set to 20%
higher than level flight stall speed.
Increment
Range
Units
1
5 to 100
meters per second
AIRSPEED_MAX: MAXIMUM AIRSPEED¶
Maximum airspeed demanded in automatic throttle modes. Should be set slightly
less than level flight speed at THR_MAX and also at least 50% above AIRSPEED_MIN
to allow for accurate TECS altitude control.
Increment
Range
Units
1
5 to 100
meters per second
FBWB_ELEV_REV: FLY BY WIRE ELEVATOR REVERSE¶
Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator
(pulling back on the stick) means to lower altitude. When set to 1, up elevator
means to raise altitude.
Values
Value
Meaning
0
Disabled
1
Enabled
TERRAIN_FOLLOW: USE TERRAIN FOLLOWING¶
This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally
points. To use this option you also need to set TERRAIN_ENABLE to 1, which
enables terrain data fetching from the GCS, and you need to have a GCS that
supports sending terrain data to the aircraft. When terrain following is enabled
then CRUISE and FBWB mode will hold height above terrain rather than height
above home. In RTL the return to launch altitude will be considered to be a
height above the terrain. Rally point altitudes will be taken as height above
the terrain. This option does not affect mission items, which have a
per-waypoint flag for whether they are height above home or height above the
terrain. To use terrain following missions you need a ground station which can
set the waypoint type to be a terrain height waypoint when creating the mission.
Bitmask
Bit
Meaning
0
Enable all modes
1
FBWB
2
Cruise
3
Auto
4
RTL
5
Avoid_ADSB
6
Guided
7
Loiter
8
Circle
9
QRTL
10
QLand
11
Qloiter
TERRAIN_LOOKAHD: TERRAIN LOOKAHEAD¶
This controls how far ahead the terrain following code looks to ensure it stays
above upcoming terrain. A value of zero means no lookahead, so the controller
will track only the terrain directly below the aircraft. The lookahead will
never extend beyond the next waypoint when in AUTO mode.
Range
Units
0 to 10000
meters
FBWB_CLIMB_RATE: FLY BY WIRE B ALTITUDE CHANGE RATE¶
This sets the rate in m/s at which FBWB and CRUISE modes will change its target
altitude for full elevator deflection. Note that the actual climb rate of the
aircraft can be lower than this, depending on your airspeed and throttle control
settings. If you have this parameter set to the default value of 2.0, then
holding the elevator at maximum deflection for 10 seconds would change the
target altitude by 20 meters.
Increment
Range
Units
0.1
1 to 10
meters per second
THR_MIN: MINIMUM THROTTLE¶
Minimum throttle percentage used in all modes except manual, provided
THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware
supports it.
Increment
Range
Units
1
-100 to 100
percent
THR_MAX: MAXIMUM THROTTLE¶
Maximum throttle percentage used in all modes except manual, provided
THR_PASS_STAB is not set.
Increment
Range
Units
1
0 to 100
percent
TKOFF_THR_MAX: MAXIMUM THROTTLE FOR TAKEOFF¶
Note: This parameter is for advanced users
The maximum throttle setting during automatic takeoff. If this is zero then
THR_MAX is used for takeoff as well.
Increment
Range
Units
1
0 to 100
percent
THR_SLEWRATE: THROTTLE SLEW RATE¶
Maximum change in throttle percentage per second. Lower limit based on 1
microsend of servo increase per loop. Divide SCHED_LOOP_RATE by approximately 10
to determine minimum achievable value.
Increment
Range
Units
1
0 to 127
percent per second
FLAP_SLEWRATE: FLAP SLEW RATE¶
Note: This parameter is for advanced users
maximum percentage change in flap output per second. A setting of 25 means to
not change the flap by more than 25% of the full flap range in one second. A
value of 0 means no rate limiting.
Increment
Range
Units
1
0 to 100
percent per second
THR_SUPP_MAN: THROTTLE SUPPRESS MANUAL PASSTHRU¶
Note: This parameter is for advanced users
When throttle is suppressed in auto mode it is normally forced to zero. If you
enable this option, then while suppressed it will be manual throttle. This is
useful on petrol engines to hold the idle throttle manually while waiting for
takeoff
Values
Value
Meaning
0
Disabled
1
Enabled
THR_PASS_STAB: THROTTLE PASSTHRU IN STABILIZE¶
Note: This parameter is for advanced users
If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a
direct passthru from the transmitter. This means the THR_MIN and THR_MAX
settings are not used in these modes. This is useful for petrol engines where
you setup a throttle cut switch that suppresses the throttle below the normal
minimum.
Values
Value
Meaning
0
Disabled
1
Enabled
THR_FAILSAFE: THROTTLE AND RC FAILSAFE ENABLE¶
0 disables the failsafe. 1 enables failsafe on loss of RC input. This is
detected either by throttle values below THR_FS_VALUE, loss of receiver valid
pulses/data, or by the FS bit in receivers that provide it, like SBUS. A
programmable failsafe action will occur and RC inputs, if present, will be
ignored. A value of 2 means that the RC inputs won't be used when RC failsafe is
detected by any of the above methods, but it won't trigger an RC failsafe
action.
Values
Value
Meaning
0
Disabled
1
Enabled
2
EnabledNoFailsafe
THR_FS_VALUE: THROTTLE FAILSAFE VALUE¶
The PWM level on the throttle input channel below which throttle failsafe
triggers. Note that this should be well below the normal minimum for your
throttle channel.
Increment
Range
1
925 to 2200
TRIM_THROTTLE: THROTTLE CRUISE PERCENTAGE¶
Target percentage of throttle to apply for flight in automatic throttle modes
and throttle percentage that maintains AIRSPEED_CRUISE. Caution: low battery
voltages at the end of flights may require higher throttle to maintain airspeed.
Increment
Range
Units
1
0 to 100
percent
THROTTLE_NUDGE: THROTTLE NUDGE ENABLE¶
When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the
throttle or airspeed to higher or lower values. When you have an airspeed sensor
the nudge affects the target airspeed, so that throttle inputs above 50% will
increase the target airspeed from AIRSPEED_CRUISE up to a maximum of
AIRSPEED_MAX. When no airspeed sensor is enabled the throttle nudge will push up
the target throttle for throttle inputs above 50%.
Values
Value
Meaning
0
Disabled
1
Enabled
FS_SHORT_ACTN: SHORT FAILSAFE ACTION¶
The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short
failsafe event can be triggered either by loss of RC control (see THR_FS_VALUE)
or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this
parameter is ignored. A short failsafe event in stabilization and manual modes
will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA
mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if
FS_SHORT_ACTN is 4. In all other modes (AUTO, GUIDED and LOITER) a short
failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will
cause a change to CIRCLE mode if set to 1, will change to FBWA mode with zero
throttle if set to 2, or will change to FBWB if set to 4. Please see the
documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds
of failsafe. This parameter only applies to failsafes during fixed wing modes.
Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5(QRTL) or 20(RTL) are
set.
Values
Value
Meaning
0
CIRCLE/no change(if already in AUTO|GUIDED|LOITER)
1
CIRCLE
2
FBWA at zero throttle
3
Disable
4
FBWB
FS_SHORT_TIMEOUT: SHORT FAILSAFE TIMEOUT¶
The time in seconds that a failsafe condition has to persist before a short
failsafe event will occur. This defaults to 1.5 seconds
Increment
Range
Units
0.5
1 to 100
seconds
FS_LONG_ACTN: LONG FAILSAFE ACTION¶
The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the
aircraft was in a stabilization or manual mode when failsafe started and a long
failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and
will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto
mode (such as AUTO or GUIDED) when the failsafe started then it will continue in
the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if
FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to
2. If FS_LONG_ACTN is set to 3, the parachute will be deployed (make sure the
chute is configured and enabled). If FS_LONG_ACTN is set to 4 the aircraft will
switch to mode AUTO with the current waypoint if it is not already in mode AUTO,
unless it is in the middle of a landing sequence. This parameter only applies to
failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless
Q_OPTIONS bit 5 (QRTL) or 20(RTL) are set.
Values
Value
Meaning
0
Continue
1
ReturnToLaunch
2
Glide
3
Deploy Parachute
4
Auto
FS_LONG_TIMEOUT: LONG FAILSAFE TIMEOUT¶
The time in seconds that a failsafe condition has to persist before a long
failsafe event will occur. This defaults to 5 seconds.
Increment
Range
Units
0.5
1 to 300
seconds
FS_GCS_ENABL: GCS FAILSAFE ENABLE¶
Enable ground control station telemetry failsafe. Failsafe will trigger after
FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three
possible enabled settings. Setting FS_GCS_ENABL to 1 means that GCS failsafe
will be triggered when the aircraft has not received a MAVLink HEARTBEAT
message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on
either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink
enabled 3DR radio indicating that the ground station is not receiving status
updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field
being zero (this may happen if you have a one way link due to asymmetric noise
on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that
GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO
mode. WARNING: Enabling this option opens up the possibility of your plane going
into failsafe mode and running the motor on the ground it it loses contact with
your ground station. If this option is enabled on an electric plane then you
should enable ARMING_REQUIRED.
Values
Value
Meaning
0
Disabled
1
Heartbeat
2
HeartbeatAndREMRSSI
3
HeartbeatAndAUTO
FLTMODE_CH: FLIGHTMODE CHANNEL¶
Note: This parameter is for advanced users
RC Channel to use for flight mode control
Values
Value
Meaning
0
Disabled
1
Channel 1
2
Channel 2
3
Channel 3
4
Channel 4
5
Channel 5
6
Channel 6
7
Channel 7
8
Channel 8
9
Channel 9
10
Channel 10
11
Channel 11
12
Channel 12
13
Channel 13
14
Channel 14
15
Channel 15
16
Channel 16
FLTMODE1: FLIGHTMODE1¶
Flight mode for switch position 1 (910 to 1230 and above 2049)
Values
Value
Meaning
0
Manual
1
CIRCLE
2
STABILIZE
3
TRAINING
4
ACRO
5
FBWA
6
FBWB
7
CRUISE
8
AUTOTUNE
10
Auto
11
RTL
12
Loiter
13
TAKEOFF
14
AVOID_ADSB
15
Guided
17
QSTABILIZE
18
QHOVER
19
QLOITER
20
QLAND
21
QRTL
22
QAUTOTUNE
23
QACRO
24
THERMAL
25
Loiter to QLand
FLTMODE2: FLIGHTMODE2¶
Flight mode for switch position 2 (1231 to 1360)
Values
Value
Meaning
0
Manual
1
CIRCLE
2
STABILIZE
3
TRAINING
4
ACRO
5
FBWA
6
FBWB
7
CRUISE
8
AUTOTUNE
10
Auto
11
RTL
12
Loiter
13
TAKEOFF
14
AVOID_ADSB
15
Guided
17
QSTABILIZE
18
QHOVER
19
QLOITER
20
QLAND
21
QRTL
22
QAUTOTUNE
23
QACRO
24
THERMAL
25
Loiter to QLand
FLTMODE3: FLIGHTMODE3¶
Flight mode for switch position 3 (1361 to 1490)
Values
Value
Meaning
0
Manual
1
CIRCLE
2
STABILIZE
3
TRAINING
4
ACRO
5
FBWA
6
FBWB
7
CRUISE
8
AUTOTUNE
10
Auto
11
RTL
12
Loiter
13
TAKEOFF
14
AVOID_ADSB
15
Guided
17
QSTABILIZE
18
QHOVER
19
QLOITER
20
QLAND
21
QRTL
22
QAUTOTUNE
23
QACRO
24
THERMAL
25
Loiter to QLand
FLTMODE4: FLIGHTMODE4¶
Flight mode for switch position 4 (1491 to 1620)
Values
Value
Meaning
0
Manual
1
CIRCLE
2
STABILIZE
3
TRAINING
4
ACRO
5
FBWA
6
FBWB
7
CRUISE
8
AUTOTUNE
10
Auto
11
RTL
12
Loiter
13
TAKEOFF
14
AVOID_ADSB
15
Guided
17
QSTABILIZE
18
QHOVER
19
QLOITER
20
QLAND
21
QRTL
22
QAUTOTUNE
23
QACRO
24
THERMAL
25
Loiter to QLand
FLTMODE5: FLIGHTMODE5¶
Flight mode for switch position 5 (1621 to 1749)
Values
Value
Meaning
0
Manual
1
CIRCLE
2
STABILIZE
3
TRAINING
4
ACRO
5
FBWA
6
FBWB
7
CRUISE
8
AUTOTUNE
10
Auto
11
RTL
12
Loiter
13
TAKEOFF
14
AVOID_ADSB
15
Guided
17
QSTABILIZE
18
QHOVER
19
QLOITER
20
QLAND
21
QRTL
22
QAUTOTUNE
23
QACRO
24
THERMAL
25
Loiter to QLand
FLTMODE6: FLIGHTMODE6¶
Flight mode for switch position 6 (1750 to 2049)
Values
Value
Meaning
0
Manual
1
CIRCLE
2
STABILIZE
3
TRAINING
4
ACRO
5
FBWA
6
FBWB
7
CRUISE
8
AUTOTUNE
10
Auto
11
RTL
12
Loiter
13
TAKEOFF
14
AVOID_ADSB
15
Guided
17
QSTABILIZE
18
QHOVER
19
QLOITER
20
QLAND
21
QRTL
22
QAUTOTUNE
23
QACRO
24
THERMAL
25
Loiter to QLand
INITIAL_MODE: INITIAL FLIGHT MODE¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
Manual
1
CIRCLE
2
STABILIZE
3
TRAINING
4
ACRO
5
FBWA
6
FBWB
7
CRUISE
8
AUTOTUNE
10
Auto
11
RTL
12
Loiter
13
TAKEOFF
14
AVOID_ADSB
15
Guided
17
QSTABILIZE
18
QHOVER
19
QLOITER
20
QLAND
21
QRTL
22
QAUTOTUNE
23
QACRO
24
THERMAL
25
Loiter to QLand
ROLL_LIMIT_DEG: MAXIMUM BANK ANGLE¶
Maximum bank angle commanded in modes with stabilized limits. Increase this
value for sharper turns, but decrease to prevent accelerated stalls.
Increment
Range
Units
1
0 to 90
degrees
PTCH_LIM_MAX_DEG: MAXIMUM PITCH ANGLE¶
Maximum pitch up angle commanded in modes with stabilized limits.
Increment
Range
Units
1
0 to 90
degrees
PTCH_LIM_MIN_DEG: MINIMUM PITCH ANGLE¶
Maximum pitch down angle commanded in modes with stabilized limits
Increment
Range
Units
1
-90 to 0
degrees
ACRO_ROLL_RATE: ACRO MODE ROLL RATE¶
The maximum roll rate at full stick deflection in ACRO mode
Increment
Range
Units
1
10 to 500
degrees per second
ACRO_PITCH_RATE: ACRO MODE PITCH RATE¶
The maximum pitch rate at full stick deflection in ACRO mode
Increment
Range
Units
1
10 to 500
degrees per second
ACRO_YAW_RATE: ACRO MODE YAW RATE¶
The maximum yaw rate at full stick deflection in ACRO mode. If this is zero then
rudder is directly controlled by rudder stick input. This option is only
available if you also set YAW_RATE_ENABLE to 1.
Increment
Range
Units
1
0 to 500
degrees per second
ACRO_LOCKING: ACRO MODE ATTITUDE LOCKING¶
Enable attitude locking when sticks are released. If set to 2 then quaternion
based locking is used if the yaw rate controller is enabled. Quaternion based
locking will hold any attitude
Values
Value
Meaning
0
Disabled
1
Enabled
2
Quaternion
GROUND_STEER_ALT: GROUND STEER ALTITUDE¶
Altitude at which to use the ground steering controller on the rudder. If
non-zero then the STEER2SRV controller will be used to control the rudder for
altitudes within this limit of the home altitude.
Increment
Range
Units
0.1
-100 to 100
meters
GROUND_STEER_DPS: GROUND STEER RATE¶
Note: This parameter is for advanced users
Ground steering rate in degrees per second for full rudder stick deflection
Increment
Range
Units
1
10 to 360
degrees per second
MIXING_GAIN: MIXING GAIN¶
The gain for the Vtail and elevon output mixers. The default is 0.5, which
ensures that the mixer doesn't saturate, allowing both input channels to go to
extremes while retaining control over the output. Hardware mixers often have a
1.0 gain, which gives more servo throw, but can saturate. If you don't have
enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you
can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900
to 2100 microseconds.
Range
0.5 to 1.2
RUDDER_ONLY: RUDDER ONLY AIRCRAFT¶
Enable rudder only mode. The rudder will control attitude in attitude controlled
modes (such as FBWA). You should setup your transmitter to send roll stick
inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be
attached to the RCMAP_YAW channel as well. Note that automatic ground steering
will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to
1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for
your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.
Values
Value
Meaning
0
Disabled
1
Enabled
MIXING_OFFSET: MIXING OFFSET¶
The offset for the Vtail and elevon output mixers, as a percentage. This can be
used in combination with MIXING_GAIN to configure how the control surfaces
respond to input. The response to aileron or elevator input can be increased by
setting this parameter to a positive or negative value. A common usage is to
enter a positive value to increase the aileron response of the elevons of a
flying wing. The default value of zero will leave the aileron-input response
equal to the elevator-input response.
Range
Units
-1000 to 1000
decipercent
DSPOILR_RUD_RATE: DIFFERENTIAL SPOILERS RUDDER RATE¶
Sets the amount of deflection that the rudder output will apply to the
differential spoilers, as a percentage. The default value of 100 results in full
rudder applying full deflection. A value of 0 will result in the differential
spoilers exactly following the elevons (no rudder effect).
Range
Units
-100 to 100
percent
LOG_BITMASK: LOG BITMASK¶
Note: This parameter is for advanced users
Bitmap of what on-board log types to enable. This value is made up of the sum of
each of the log types you want to be saved. It is usually best just to enable
all basic log types by setting this to 65535.
Bitmask
Bit
Meaning
0
Fast Attitude
1
Medium Attitude
2
GPS
3
Performance
4
Control Tuning
5
Navigation Tuning
7
IMU
8
Mission Commands
9
Battery Monitor
10
Compass
11
TECS
12
Camera
13
RC Input-Output
14
Rangefinder
19
Raw IMU
20
Fullrate Attitude
21
Video Stabilization
22
Fullrate Notch
SCALING_SPEED: SPEED USED FOR SPEED SCALING CALCULATIONS¶
Note: This parameter is for advanced users
Airspeed in m/s to use when calculating surface speed scaling. Note that
changing this value will affect all PID values
Increment
Range
Units
0.1
0 to 50
meters per second
MIN_GROUNDSPEED: MINIMUM GROUND SPEED¶
Note: This parameter is for advanced users
Minimum ground speed when under airspeed control
Units
meters per second
PTCH_TRIM_DEG: PITCH ANGLE OFFSET¶
Offset in degrees used for in-flight pitch trimming for level flight. Correct
ground leveling is an alternative to changing this parameter.
Range
Units
-45 to 45
degrees
RTL_ALTITUDE: RTL ALTITUDE¶
Target altitude above home for RTL mode. Maintains current altitude if set to
-1. Rally point altitudes are used if plane does not return to home.
Units
meters
CRUISE_ALT_FLOOR: MINIMUM ALTITUDE FOR FBWB AND CRUISE MODE¶
This is the minimum altitude in meters (above home) that FBWB and CRUISE modes
will allow. If you attempt to descend below this altitude then the plane will
level off. It will also force a climb to this altitude if below in these modes.
A value of zero means no limit.
Units
meters
FLAP_1_PERCNT: FLAP 1 PERCENTAGE¶
Note: This parameter is for advanced users
The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to
disable flaps
Increment
Range
Units
1
0 to 100
percent
FLAP_1_SPEED: FLAP 1 SPEED¶
Note: This parameter is for advanced users
The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note
that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
Increment
Range
Units
1
0 to 100
meters per second
FLAP_2_PERCNT: FLAP 2 PERCENTAGE¶
Note: This parameter is for advanced users
The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to
disable flaps
Increment
Range
Units
1
0 to 100
percent
FLAP_2_SPEED: FLAP 2 SPEED¶
Note: This parameter is for advanced users
The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note
that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
Increment
Range
Units
1
0 to 100
meters per second
OVERRIDE_CHAN: IO OVERRIDE CHANNEL¶
Note: This parameter is for advanced users
If set to a non-zero value then this is an RC input channel number to use for
giving IO manual control in case the main FMU microcontroller on a board with a
IO co-processor fails. When this RC input channel goes above 1750 the FMU
microcontroller will no longer be involved in controlling the servos and instead
the IO microcontroller will directly control the servos. Note that IO manual
control will be automatically activated if the FMU crashes for any reason. This
parameter allows you to test for correct manual behaviour without actually
crashing the FMU. This parameter is can be set to a non-zero value either for
ground testing purposes or for giving the effect of an external override control
board. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to
get IO based override when in flight mode 6. Note that when override is
triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no
longer be updated, so all the flight controls you need must be assigned to the
first 8 channels on boards with an IOMCU.
Increment
Range
1
0 to 16
RTL_AUTOLAND: RTL AUTO LAND¶
Automatically begin landing sequence after arriving at RTL location. This
requires the addition of a DO_LAND_START mission item, which acts as a marker
for the start of a landing sequence. The closest landing sequence will be chosen
to the current location. If this is set to 0 and there is a DO_LAND_START
mission item then you will get an arming check failure. You can set to a value
of 3 to avoid the arming check failure and use the DO_LAND_START for go-around
without it changing RTL behaviour. For a value of 1 a rally point will be used
instead of HOME if in range (see rally point documentation).
Values
Value
Meaning
0
Disable
1
Fly HOME then land
2
Go directly to landing sequence
3
OnlyForGoAround
CRASH_ACC_THRESH: CRASH DECELERATION THRESHOLD¶
Note: This parameter is for advanced users
X-Axis deceleration threshold to notify the crash detector that there was a
possible impact which helps disarm the motor quickly after a crash. This value
should be much higher than normal negative x-axis forces during normal flight,
check flight log files to determine the average IMU.x values for your aircraft
and motor type. Higher value means less sensative (triggers on higher impact).
For electric planes that don't vibrate much during fight a value of 25 is good
(that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to
0 to disable the collision detector.
Increment
Range
Units
1
10 to 127
meters per square second
CRASH_DETECT: CRASH DETECTION¶
Note: This parameter is for advanced users
Automatically detect a crash during AUTO flight and perform the bitmask selected
action(s). Disarm will turn off motor for safety and to help against burning out
ESC and motor. Set to 0 to disable crash detection.
Bitmask
Bit
Meaning
0
Disarm
RNGFND_LANDING: ENABLE RANGEFINDER FOR LANDING¶
This enables the use of a rangefinder for automatic landing. The rangefinder
will be used both on the landing approach and for final flare
Values
Value
Meaning
0
Disabled
1
Enabled
SYSID_ENFORCE: GCS SYSID ENFORCEMENT¶
Note: This parameter is for advanced users
This controls whether packets from other than the expected GCS system ID will be
accepted
Values
Value
Meaning
0
NotEnforced
1
Enforced
RUDD_DT_GAIN: RUDDER DIFFERENTIAL THRUST GAIN¶
gain control from rudder to differential thrust
Increment
Range
Units
1
0 to 100
percent
MANUAL_RCMASK: MANUAL R/C PASS-THROUGH MASK¶
Note: This parameter is for advanced users
Mask of R/C channels to pass directly to corresponding output channel when in
MANUAL mode. When in any mode except MANUAL the channels selected with this
option behave normally. This parameter is designed to allow for complex mixing
strategies to be used for MANUAL flight using transmitter based mixing. Note
that when this option is used you need to be very careful with pre-flight checks
to ensure that the output is correct both in MANUAL and non-MANUAL modes.
Bitmask
Bit
Meaning
0
Chan1
1
Chan2
2
Chan3
3
Chan4
4
Chan5
5
Chan6
6
Chan7
7
Chan8
8
Chan9
9
Chan10
10
Chan11
11
Chan12
12
Chan13
13
Chan14
14
Chan15
15
Chan16
HOME_RESET_ALT: HOME RESET ALTITUDE THRESHOLD¶
Note: This parameter is for advanced users
When the aircraft is within this altitude of the home waypoint, while disarmed
it will automatically update the home position. Set to 0 to continously reset
it.
Range
Units
Values
-1 to 127
meters
Value
Meaning
-1
Never reset
0
Always reset
FLIGHT_OPTIONS: FLIGHT MODE OPTIONS¶
Note: This parameter is for advanced users
Flight mode specific options
Bitmask
Bit
Meaning
0
Rudder mixing in direct flight modes only (Manual/Stabilize/Acro)
1
Use centered throttle in Cruise or FBWB to indicate trim airspeed
2
Disable attitude check for takeoff arming
3
Force target airspeed to trim airspeed in Cruise or FBWB
4
Climb to RTL_ALTITUDE before turning for RTL
5
Enable yaw damper in acro mode
6
Supress speed scaling during auto takeoffs to be 1 or less to prevent
oscillations without airspeed sensor.
7
EnableDefaultAirspeed for takeoff
8
Remove the PTCH_TRIM_DEG on the GCS horizon
9
Remove the PTCH_TRIM_DEG on the OSD horizon
10
Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL
11
Disable suppression of fixed wing rate gains in ground mode
12
Enable FBWB style loiter altitude control
13
Indicate takeoff waiting for neutral rudder with flight control surfaces
TKOFF_ACCEL_CNT: TAKEOFF THROTTLE ACCELERATION COUNT¶
This is the number of acceleration events to require for arming with
TKOFF_THR_MINACC. The default is 1, which means a single forward acceleration
above TKOFF_THR_MINACC will arm. By setting this higher than 1 you can require
more forward/backward movements to arm.
Range
1 to 10
DSPOILER_CROW_W1: DIFFERENTIAL SPOILER CROW FLAPS OUTER WEIGHT¶
Note: This parameter is for advanced users
This is amount of deflection applied to the two outer surfaces for differential
spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no
crow flaps are applied. A recommended starting value is 25.
Increment
Range
Units
1
0 to 100
percent
DSPOILER_CROW_W2: DIFFERENTIAL SPOILER CROW FLAPS INNER WEIGHT¶
Note: This parameter is for advanced users
This is amount of deflection applied to the two inner surfaces for differential
spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no
crow flaps are applied. A recommended starting value is 45.
Increment
Range
Units
1
0 to 100
percent
TKOFF_TIMEOUT: TAKEOFF TIMEOUT¶
This is the timeout for an automatic takeoff. If this is non-zero and the
aircraft does not reach a ground speed of at least 4 m/s within this number of
seconds then the takeoff is aborted and the vehicle disarmed. If the value is
zero then no timeout applies.
Increment
Range
Units
1
0 to 120
seconds
DSPOILER_OPTS: DIFFERENTIAL SPOILER AND CROW FLAPS OPTIONS¶
Note: This parameter is for advanced users
Differential spoiler and crow flaps options. Progressive crow flaps only first
(0-50% flap in) then crow flaps (50 - 100% flap in).
Bitmask
Bit
Meaning
0
Pitch input
1
use both control surfaces on each wing for roll
2
Progressive crow flaps
DSPOILER_AILMTCH: DIFFERENTIAL SPOILER AILERON MATCHING¶
Note: This parameter is for advanced users
This scales down the inner flaps so less than full downwards range can be used
for differential spoiler and full span ailerons, 100 is use full range, upwards
travel is unaffected
Increment
Range
Units
1
0 to 100
percent
FWD_BAT_VOLT_MAX: FORWARD THROTTLE BATTERY VOLTAGE COMPENSATION MAXIMUM VOLTAGE¶
Note: This parameter is for advanced users
Forward throttle battery voltage compensation maximum voltage (voltage above
this will have no additional scaling effect on thrust). Recommend 4.2 * cell
count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x
FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x
FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set
accordingly.
Increment
Range
Units
0.1
6 to 35
volt
FWD_BAT_VOLT_MIN: FORWARD THROTTLE BATTERY VOLTAGE COMPENSATION MINIMUM VOLTAGE¶
Note: This parameter is for advanced users
Forward throttle battery voltage compensation minimum voltage (voltage below
this will have no additional scaling effect on thrust). Recommend 3.5 * cell
count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x
FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x
FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set
accordingly.
Increment
Range
Units
0.1
6 to 35
volt
FWD_BAT_IDX: FORWARD THROTTLE BATTERY COMPENSATION INDEX¶
Note: This parameter is for advanced users
Which battery monitor should be used for doing compensation for the forward
throttle
Values
Value
Meaning
0
First battery
1
Second battery
FS_EKF_THRESH: EKF FAILSAFE VARIANCE THRESHOLD¶
Note: This parameter is for advanced users
Allows setting the maximum acceptable compass and velocity variance used to
check navigation health in VTOL modes
Values
Value
Meaning
0.6
Strict
0.8
Default
1.0
Relaxed
RTL_CLIMB_MIN: RTL MINIMUM CLIMB¶
The vehicle will climb this many m during the initial climb portion of the RTL.
During this time the roll will be limited to LEVEL_ROLL_LIMIT degrees.
Increment
Range
Units
1
0 to 30
meters
MAN_EXPO_ROLL: MANUAL CONTROL EXPO FOR ROLL¶
Percentage exponential for roll input in MANUAL, ACRO and TRAINING modes
Increment
Range
1
0 to 100
MAN_EXPO_PITCH: MANUAL INPUT EXPO FOR PITCH¶
Percentage exponential for pitch input in MANUAL, ACRO and TRAINING modes
Increment
Range
1
0 to 100
MAN_EXPO_RUDDER: MANUAL INPUT EXPO FOR RUDDER¶
Percentage exponential for rudder input in MANUAL, ACRO and TRAINING modes
Increment
Range
1
0 to 100
ONESHOT_MASK: ONESHOT OUTPUT MASK¶
Note: This parameter is for advanced users
Mask of output channels to use oneshot on
Bitmask
Bit
Meaning
0
Servo 1
1
Servo 2
2
Servo 3
3
Servo 4
4
Servo 5
5
Servo 6
6
Servo 7
7
Servo 8
8
Servo 9
9
Servo 10
10
Servo 11
11
Servo 12
12
Servo 13
13
Servo 14
14
Servo 15
AUTOTUNE_AXES: AUTOTUNE AXIS BITMASK¶
1-byte bitmap of axes to autotune
Bitmask
Bit
Meaning
0
Roll
1
Pitch
2
Yaw
VEHICLE PARAMETERS¶
FLTMODE_GCSBLOCK: FLIGHT MODE BLOCK FROM GCS¶
Bitmask of flight modes to disable for GCS selection. Mode can still be accessed
via RC or failsafe.
Bitmask
Bit
Meaning
0
Manual
1
Circle
2
Stabilize
3
Training
4
ACRO
5
FBWA
6
FBWB
7
CRUISE
8
AUTOTUNE
9
Auto
10
Loiter
11
Takeoff
12
AVOID_ADSB
13
Guided
14
THERMAL
15
QSTABILIZE
16
QHOVER
17
QLOITER
18
QACRO
19
QAUTOTUNE
ADSB_ PARAMETERS¶
ADSB_TYPE: ADSB TYPE¶
Note: Reboot required after change
Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If
any type is selected then MAVLink based ADSB-in messages will always be enabled
Values
Value
Meaning
0
Disabled
1
uAvionix-MAVLink
2
Sagetech
3
uAvionix-UCP
4
Sagetech MX Series
ADSB_LIST_MAX: ADSB VEHICLE LIST SIZE¶
Note: This parameter is for advanced users
Note: Reboot required after change
ADSB list size of nearest vehicles. Longer lists take longer to refresh with
lower SRx_ADSB values.
Range
1 to 100
ADSB_LIST_RADIUS: ADSB VEHICLE LIST RADIUS FILTER¶
Note: This parameter is for advanced users
ADSB vehicle list radius filter. Vehicles detected outside this radius will be
completely ignored. They will not show up in the SRx_ADSB stream to the GCS and
will not be considered in any avoidance calculations. A value of 0 will disable
this filter.
Range
Units
0 to 100000
meters
ADSB_ICAO_ID: ICAO_ID VEHICLE IDENTIFICATION NUMBER¶
Note: This parameter is for advanced users
ICAO_ID unique vehicle identification number of this aircraft. This is an
integer limited to 24bits. If set to 0 then one will be randomly generated. If
set to -1 then static information is not sent, transceiver is assumed
pre-programmed.
Range
-1 to 16777215
ADSB_EMIT_TYPE: EMITTER TYPE¶
Note: This parameter is for advanced users
ADSB classification for the type of vehicle emitting the transponder signal.
Default value is 14 (UAV).
Values
Value
Meaning
0
NoInfo
1
Light
2
Small
3
Large
4
HighVortexlarge
5
Heavy
6
HighlyManuv
7
Rotocraft
8
RESERVED
9
Glider
10
LightAir
11
Parachute
12
UltraLight
13
RESERVED
14
UAV
15
Space
16
RESERVED
17
EmergencySurface
18
ServiceSurface
19
PointObstacle
ADSB_LEN_WIDTH: AIRCRAFT LENGTH AND WIDTH¶
Note: This parameter is for advanced users
Aircraft length and width dimension options in Length and Width in meters. In
most cases, use a value of 1 for smallest size.
Values
Value
Meaning
0
NO_DATA
1
L15W23
2
L25W28P5
3
L25W34
4
L35W33
5
L35W38
6
L45W39P5
7
L45W45
8
L55W45
9
L55W52
10
L65W59P5
11
L65W67
12
L75W72P5
13
L75W80
14
L85W80
15
L85W90
ADSB_OFFSET_LAT: GPS ANTENNA LATERAL OFFSET¶
Note: This parameter is for advanced users
GPS antenna lateral offset. This describes the physical location offset from
center of the GPS antenna on the aircraft.
Values
Value
Meaning
0
NoData
1
Left2m
2
Left4m
3
Left6m
4
Center
5
Right2m
6
Right4m
7
Right6m
ADSB_OFFSET_LON: GPS ANTENNA LONGITUDINAL OFFSET¶
Note: This parameter is for advanced users
GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor
Values
Value
Meaning
0
NO_DATA
1
AppliedBySensor
ADSB_RF_SELECT: TRANSCEIVER RF SELECTION¶
Note: This parameter is for advanced users
Transceiver RF selection for Rx enable and/or Tx enable. This only effects
devices that can Tx and/or Rx. Rx-only devices should override this to always be
Rx-only.
Bitmask
Bit
Meaning
0
Rx
1
Tx
ADSB_SQUAWK: SQUAWK CODE¶
Note: This parameter is for advanced users
VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is
flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal
1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is
octal 7000. If an invalid octal number is set then it will be reset to 1200.
Range
Units
0 to 7777
octal
ADSB_RF_CAPABLE: RF CAPABILITIES¶
Note: This parameter is for advanced users
Describes your hardware RF In/Out capabilities.
Bitmask
Bit
Meaning
0
UAT_in
1
1090ES_in
2
UAT_out
3
1090ES_out
ADSB_LIST_ALT: ADSB VEHICLE LIST ALTITUDE FILTER¶
Note: This parameter is for advanced users
ADSB vehicle list altitude filter. Vehicles detected above this altitude will be
completely ignored. They will not show up in the SRx_ADSB stream to the GCS and
will not be considered in any avoidance calculations. A value of 0 will disable
this filter.
Range
Units
0 to 32767
meters
ADSB_ICAO_SPECL: ICAO_ID OF SPECIAL VEHICLE¶
Note: This parameter is for advanced users
ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The
vehicle is always tracked. Use 0 to disable.
ADSB_LOG: ADS-B LOGGING¶
Note: This parameter is for advanced users
0: no logging, 1: log only special ID, 2:log all
Values
Value
Meaning
0
no logging
1
log only special ID
2
log all
ADSB_OPTIONS: ADS-B OPTIONS¶
Note: This parameter is for advanced users
Options for emergency failsafe codes and device capabilities
Bitmask
Bit
Meaning
0
Ping200X Send GPS
1
Squawk 7400 on RC failsafe
2
Squawk 7400 on GCS failsafe
3
Sagetech MXS use External Config
AFS_ PARAMETERS¶
AFS_ENABLE: ENABLE ADVANCED FAILSAFE¶
Note: This parameter is for advanced users
This enables the advanced failsafe system. If this is set to zero (disable) then
all the other AFS options have no effect
AFS_MAN_PIN: MANUAL PIN¶
Note: This parameter is for advanced users
This sets a digital output pin to set high when in manual mode. See the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
AFS_HB_PIN: HEARTBEAT PIN¶
Note: This parameter is for advanced users
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. Some
common values are given, but see the Wiki's "GPIOs" page for how to determine
the pin number for a given autopilot.
Values
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
AFS_WP_COMMS: COMMS WAYPOINT¶
Note: This parameter is for advanced users
Waypoint number to navigate to on comms loss
AFS_WP_GPS_LOSS: GPS LOSS WAYPOINT¶
Note: This parameter is for advanced users
Waypoint number to navigate to on GPS lock loss
AFS_TERMINATE: FORCE TERMINATE¶
Note: This parameter is for advanced users
Can be set in flight to force termination of the heartbeat signal
AFS_TERM_ACTION: TERMINATE ACTION¶
Note: This parameter is for advanced users
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
AFS_TERM_PIN: TERMINATE PIN¶
Note: This parameter is for advanced users
This sets a digital output pin to set high on flight termination. Some common
values are given, but see the Wiki's "GPIOs" page for how to determine the pin
number for a given autopilot.
Values
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
AFS_AMSL_LIMIT: AMSL LIMIT¶
Note: This parameter is for advanced users
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.
Units
meters
AFS_AMSL_ERR_GPS: ERROR MARGIN FOR GPS BASED AMSL LIMIT¶
Note: This parameter is for advanced users
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.
Units
meters
AFS_QNH_PRESSURE: QNH PRESSURE¶
Note: This parameter is for advanced users
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.
Units
hectopascal
AFS_MAX_GPS_LOSS: MAXIMUM NUMBER OF GPS LOSS EVENTS¶
Note: This parameter is for advanced users
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.
AFS_MAX_COM_LOSS: MAXIMUM NUMBER OF COMMS LOSS EVENTS¶
Note: This parameter is for advanced users
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.
AFS_GEOFENCE: ENABLE GEOFENCE ADVANCED FAILSAFE¶
Note: This parameter is for advanced users
This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE
is also 1
AFS_RC: ENABLE RC ADVANCED FAILSAFE¶
Note: This parameter is for advanced users
This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is
also 1
AFS_RC_MAN_ONLY: ENABLE RC TERMINATION ONLY IN MANUAL CONTROL MODES¶
Note: This parameter is for advanced users
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.
AFS_DUAL_LOSS: ENABLE DUAL LOSS TERMINATE DUE TO FAILURE OF BOTH GCS AND GPS
SIMULTANEOUSLY¶
Note: This parameter is for advanced users
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.
AFS_RC_FAIL_TIME: RC FAILURE TIME¶
Note: This parameter is for advanced users
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.
Units
seconds
AFS_MAX_RANGE: MAX ALLOWED RANGE¶
Note: This parameter is for advanced users
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.
Units
kilometers
AFS_OPTIONS: AFS OPTIONS¶
See description for each bitmask bit description
Bitmask
Bit
Meaning
0
Continue the mission even after comms are recovered (does not go to the mission
item at the time comms were lost)
1
Enable AFS for all autonomous modes (not just AUTO)
AFS_GCS_TIMEOUT: GCS TIMEOUT¶
Note: This parameter is for advanced users
The time (in seconds) of persistent data link loss before GCS failsafe occurs.
Units
seconds
AHRS_ PARAMETERS¶
AHRS_GPS_GAIN: AHRS GPS GAIN¶
Note: This parameter is for advanced users
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.
Increment
Range
.01
0.0 to 1.0
AHRS_GPS_USE: AHRS USE GPS FOR DCM NAVIGATION AND POSITION-DOWN¶
Note: This parameter is for advanced users
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 according to its own parameters. A
value of 2 means to use GPS for height as well as position - both in DCM
estimation and when determining altitude-above-home.
Values
Value
Meaning
0
Disabled
1
Use GPS for DCM position
2
Use GPS for DCM position and height
AHRS_YAW_P: YAW P¶
Note: This parameter is for advanced users
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.
Increment
Range
.01
0.1 to 0.4
AHRS_RP_P: AHRS RP_P¶
Note: This parameter is for advanced users
This controls how fast the accelerometers correct the attitude
Increment
Range
.01
0.1 to 0.4
AHRS_WIND_MAX: MAXIMUM WIND¶
Note: This parameter is for advanced users
This sets the maximum allowable difference between ground speed and airspeed. A
value of zero means to use the airspeed as is. This allows the plane to cope
with a failing airspeed sensor by clipping it to groundspeed plus/minus this
limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.
Increment
Range
Units
1
0 to 127
meters per second
AHRS_TRIM_X: AHRS TRIM ROLL¶
Compensates for the roll angle difference between the control board and the
frame. Positive values make the vehicle roll right.
Increment
Range
Units
0.01
-0.1745 to +0.1745
radians
AHRS_TRIM_Y: AHRS TRIM PITCH¶
Compensates for the pitch angle difference between the control board and the
frame. Positive values make the vehicle pitch up/back.
Increment
Range
Units
0.01
-0.1745 to +0.1745
radians
AHRS_TRIM_Z: AHRS TRIM YAW¶
Note: This parameter is for advanced users
Not Used
Increment
Range
Units
0.01
-0.1745 to +0.1745
radians
AHRS_ORIENTATION: BOARD ORIENTATION¶
Note: This parameter is for advanced users
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. The label for each option
is specified in the order of rotations for that orientation. This option takes
affect on next boot. After changing you will need to re-level your vehicle.
Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the
AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two
general custom rotations which can be used, Custom 1 and Custom 2, with
CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.
Values
Value
Meaning
0
None
1
Yaw45
2
Yaw90
3
Yaw135
4
Yaw180
5
Yaw225
6
Yaw270
7
Yaw315
8
Roll180
9
Yaw45Roll180
10
Yaw90Roll180
11
Yaw135Roll180
12
Pitch180
13
Yaw225Roll180
14
Yaw270Roll180
15
Yaw315Roll180
16
Roll90
17
Yaw45Roll90
18
Yaw90Roll90
19
Yaw135Roll90
20
Roll270
21
Yaw45Roll270
22
Yaw90Roll270
23
Yaw135Roll270
24
Pitch90
25
Pitch270
26
Yaw90Pitch180
27
Yaw270Pitch180
28
Pitch90Roll90
29
Pitch90Roll180
30
Pitch90Roll270
31
Pitch180Roll90
32
Pitch180Roll270
33
Pitch270Roll90
34
Pitch270Roll180
35
Pitch270Roll270
36
Yaw90Pitch180Roll90
37
Yaw270Roll90
38
Yaw293Pitch68Roll180
39
Pitch315
40
Pitch315Roll90
42
Roll45
43
Roll315
100
Custom 4.1 and older
101
Custom 1
102
Custom 2
AHRS_COMP_BETA: AHRS VELOCITY COMPLEMENTARY FILTER BETA COEFFICIENT¶
Note: This parameter is for advanced users
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.
Increment
Range
.01
0.001 to 0.5
AHRS_GPS_MINSATS: AHRS GPS MINIMUM SATELLITES¶
Note: This parameter is for advanced users
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.
Increment
Range
1
0 to 10
AHRS_EKF_TYPE: USE NAVEKF KALMAN FILTER FOR ATTITUDE AND POSITION ESTIMATION¶
Note: This parameter is for advanced users
This controls which NavEKF Kalman filter version is used for attitude and
position estimation
Values
Value
Meaning
0
Disabled
2
Enable EKF2
3
Enable EKF3
11
ExternalAHRS
AHRS_CUSTOM_ROLL: BOARD ORIENTATION ROLL OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
-180 to 180
degrees
AHRS_CUSTOM_PIT: BOARD ORIENTATION PITCH OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
-180 to 180
degrees
AHRS_CUSTOM_YAW: BOARD ORIENTATION YAW OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
-180 to 180
degrees
AHRS_OPTIONS: OPTIONAL AHRS BEHAVIOUR¶
Note: This parameter is for advanced users
This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change
the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall
back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will
change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL)
flight to not fall back to DCM when the EKF stops navigating.
Bitmask
Bit
Meaning
0
DisableDCMFallbackFW
1
DisableDCMFallbackVTOL
AIS_ PARAMETERS¶
AIS_TYPE: AIS RECEIVER TYPE¶
Note: Reboot required after change
AIS receiver type
Values
Value
Meaning
0
None
1
NMEA AIVDM message
AIS_LIST_MAX: AIS VESSEL LIST SIZE¶
Note: This parameter is for advanced users
AIS list size of nearest vessels. Longer lists take longer to refresh with lower
SRx_ADSB values.
Range
1 to 100
AIS_TIME_OUT: AIS VESSEL TIME OUT¶
Note: This parameter is for advanced users
if no updates are received in this time a vessel will be removed from the list
Range
Units
1 to 2000
seconds
AIS_LOGGING: AIS LOGGING OPTIONS¶
Note: This parameter is for advanced users
Bitmask of AIS logging options
Bitmask
Bit
Meaning
0
Log all AIVDM messages
1
Log only unsupported AIVDM messages
2
Log decoded messages
ARMING_ PARAMETERS¶
ARMING_BBOX_SPD: BLACKBOX SPEED¶
Note: This parameter is for advanced users
This is a 3D GPS speed threshold above which we will force arm the vehicle to
start logging. WARNING: This should only be used on a vehicle with no propellers
attached to the flight controller and when the flight controller is not in
control of the vehicle.
Increment
Range
Units
1
1 to 20
meters per second
ARMING_REQUIRE: REQUIRE ARMING MOTORS¶
Note: This parameter is for advanced users
Arming disabled until some requirements are met. If 0, there are no requirements
(arm immediately). If 1, sends the minimum throttle PWM value to the throttle
channel when disarmed. If 2, send 0 PWM (no signal) to throttle channel when
disarmed. On planes with ICE enabled and the throttle while disarmed option set
in ICE_OPTIONS, the motor will always get THR_MIN when disarmed. Arming will
occur using either rudder stick arming (if enabled) or GCS command when all
mandatory and ARMING_CHECK items are satisfied. Note, when setting this
parameter to 0, a reboot is required to immediately arm the plane.
Values
Value
Meaning
0
Disabled
1
minimum PWM when disarmed
2
0 PWM when disarmed
ARMING_ACCTHRESH: ACCELEROMETER ERROR THRESHOLD¶
Note: This parameter is for advanced users
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.
Range
Units
0.25 to 3.0
meters per square second
ARMING_RUDDER: ARMING WITH RUDDER ENABLE/DISABLE¶
Note: This parameter is for advanced users
Allow arm/disarm by rudder input. When enabled arming can be done with right
rudder, disarming with left rudder. Rudder arming only works with throttle at
zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is
prevented. See the wiki for each vehicle. Caution is recommended when arming if
it is allowed in an auto-throttle mode!
Values
Value
Meaning
0
Disabled
1
ArmingOnly
2
ArmOrDisarm
ARMING_MIS_ITEMS: REQUIRED MISSION ITEMS¶
Note: This parameter is for advanced users
Bitmask of mission items that are required to be planned in order to arm the
aircraft
Bitmask
Bit
Meaning
0
Land
1
VTOL Land
2
DO_LAND_START
3
Takeoff
4
VTOL Takeoff
5
Rallypoint
6
RTL
ARMING_CHECK: ARM CHECKS TO PERFORM (BITMASK)¶
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.
Bitmask
Bit
Meaning
0
All
1
Barometer
2
Compass
3
GPS lock
4
INS
5
Parameters
6
RC Channels
7
Board voltage
8
Battery Level
9
Airspeed
10
Logging Available
11
Hardware safety switch
12
GPS Configuration
13
System
14
Mission
15
Rangefinder
16
Camera
17
AuxAuth
19
FFT
ARMING_OPTIONS: ARMING OPTIONS¶
Note: This parameter is for advanced users
Options that can be applied to change arming behaviour
Bitmask
Bit
Meaning
0
Disable prearm display
1
Do not send status text on state change
ARMING_MAGTHRESH: COMPASS MAGNETIC FIELD STRENGTH ERROR THRESHOLD VS EARTH
MAGNETIC MODEL¶
Note: This parameter is for advanced users
Compass magnetic field strength error threshold vs earth magnetic model. X and y
axis are compared using this threhold, Z axis uses 2x this threshold. 0 to
disable check
Range
Units
0 to 500
milligauss
ARMING_CRSDP_IGN: DISABLE CRASHDUMP ARMING CHECK¶
Note: This parameter is for advanced users
Must have value "1" if crashdump data is present on the system, or a prearm
failure will be raised. Do not set this parameter unless the risks of doing so
are fully understood. The presence of a crash dump means that the firmware
currently installed has suffered a critical software failure which resulted in
the autopilot immediately rebooting. The crashdump file gives diagnostic
information which can help in finding the issue, please contact the ArduPIlot
support team. If this crashdump data is present, the vehicle is likely unsafe to
fly. Check the ArduPilot documentation for more details.
Values
Value
Meaning
0
Crash Dump arming check active
1
Crash Dump arming check deactivated
ARSPD PARAMETERS¶
ARSPD_ENABLE: AIRSPEED ENABLE¶
Enable airspeed sensor support
Values
Value
Meaning
0
Disable
1
Enable
ARSPD_TUBE_ORDER: CONTROL PITOT TUBE ORDER¶
Note: This parameter is for advanced users
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 first (often
the top) connector on the sensor needs to be the stagnation pressure (the
pressure at the tip of the pitot tube). If set to 1 then the second (often the
bottom) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the
stagnation port such as during a stall, which would otherwise be seen as a
positive airspeed.
Values
Value
Meaning
0
Normal
1
Swapped
2
Auto Detect
ARSPD_PRIMARY: PRIMARY AIRSPEED SENSOR¶
Note: This parameter is for advanced users
This selects which airspeed sensor will be the primary if multiple sensors are
found
Values
Value
Meaning
0
FirstSensor
1
2ndSensor
ARSPD_OPTIONS: AIRSPEED OPTIONS BITMASK¶
Note: This parameter is for advanced users
Bitmask of options to use with airspeed. 0:Disable use based on
airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use
based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable
voltage correction, 3:Check that the airspeed is statistically consistent with
the navigation EKF vehicle and wind velocity estimates using EKF3 (requires
AHRS_EKF_TYPE = 3), 4:Report cal offset to GCS
Bitmask
Bit
Meaning
0
SpeedMismatchDisable
1
AllowSpeedMismatchRecovery
2
DisableVoltageCorrection
3
UseEkf3Consistency
4
ReportOffset
ARSPD_WIND_MAX: MAXIMUM AIRSPEED AND GROUND SPEED DIFFERENCE¶
Note: This parameter is for advanced users
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.
Units
meters per second
ARSPD_WIND_WARN: AIRSPEED AND GPS SPEED DIFFERENCE THAT GIVES A WARNING¶
Note: This parameter is for advanced users
If the difference between airspeed and GPS speed is greater than this value the
sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.
Units
meters per second
ARSPD_WIND_GATE: RE-ENABLE CONSISTENCY CHECK GATE SIZE¶
Note: This parameter is for advanced users
Number of standard deviations applied to the re-enable EKF consistency check
that is used when ARSPD_OPTIONS bit position 3 is set. Larger values will make
the re-enabling of the airspeed sensor faster, but increase the likelihood of
re-enabling a degraded sensor. The value can be tuned by using the ARSP.TR log
message by setting ARSPD_WIND_GATE to a value that is higher than the value for
ARSP.TR observed with a healthy airspeed sensor. Occasional transients in
ARSP.TR above the value set by ARSPD_WIND_GATE can be tolerated provided they
are less than 5 seconds in duration and less than 10% duty cycle.
Range
0.0 to 10.0
ARSPD_OFF_PCNT: MAXIMUM OFFSET CAL SPEED ERROR¶
Note: This parameter is for advanced users
The maximum percentage speed change in airspeed reports that is allowed due to
offset changes between calibrations before a warning is issued. This potential
speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of
calibrations without pitot being covered.
Range
Units
0.0 to 10.0
percent
ARSPD2_ PARAMETERS¶
ARSPD2_TYPE: AIRSPEED TYPE¶
Type of airspeed sensor
Values
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
DroneCAN
9
I2C-DLVR-10in
10
I2C-DLVR-20in
11
I2C-DLVR-30in
12
I2C-DLVR-60in
13
NMEA water speed
14
MSP
15
ASP5033
16
ExternalAHRS
100
SITL
ARSPD2_USE: AIRSPEED USE¶
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).
Values
Value
Meaning
0
DoNotUse
1
Use
2
UseWhenZeroThrottle
ARSPD2_OFFSET: AIRSPEED OFFSET¶
Note: This parameter is for advanced users
Airspeed calibration offset
Increment
0.1
ARSPD2_RATIO: AIRSPEED RATIO¶
Note: This parameter is for advanced users
Calibrates pitot tube pressure to velocity. Increasing this value will indicate
a higher airspeed at any given dynamic pressure.
Increment
0.1
ARSPD2_PIN: AIRSPEED PIN¶
Note: This parameter is for advanced users
The pin number that the airspeed sensor is connected to for analog sensors. Set
to 15 on the Pixhawk for the analog airspeed port.
ARSPD2_AUTOCAL: AUTOMATIC AIRSPEED RATIO CALIBRATION¶
Note: This parameter is for advanced users
Enables automatic adjustment of airspeed 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.
ARSPD2_TUBE_ORDR: CONTROL PITOT TUBE ORDER¶
Note: This parameter is for advanced users
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 first (often
the top) connector on the sensor needs to be the stagnation pressure (the
pressure at the tip of the pitot tube). If set to 1 then the second (often the
bottom) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the
stagnation port such as during a stall, which would otherwise be seen as a
positive airspeed.
Values
Value
Meaning
0
Normal
1
Swapped
2
Auto Detect
ARSPD2_SKIP_CAL: SKIP AIRSPEED OFFSET CALIBRATION ON STARTUP¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
Disable
1
Enable
ARSPD2_PSI_RANGE: THE PSI RANGE OF THE DEVICE¶
Note: This parameter is for advanced users
This parameter allows you 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
ARSPD2_BUS: AIRSPEED I2C BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Bus number of the I2C bus where the airspeed sensor is connected. May not
correspond to board's I2C bus number labels. Retry another bus and reboot if
airspeed sensor fails to initialize.
Values
Value
Meaning
0
Bus0
1
Bus1
2
Bus2
ARSPD2_DEVID: AIRSPEED ID¶
Note: This parameter is for advanced users
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly
True
ARSPD_ PARAMETERS¶
ARSPD_TYPE: AIRSPEED TYPE¶
Type of airspeed sensor
Values
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
DroneCAN
9
I2C-DLVR-10in
10
I2C-DLVR-20in
11
I2C-DLVR-30in
12
I2C-DLVR-60in
13
NMEA water speed
14
MSP
15
ASP5033
16
ExternalAHRS
100
SITL
ARSPD_USE: AIRSPEED USE¶
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).
Values
Value
Meaning
0
DoNotUse
1
Use
2
UseWhenZeroThrottle
ARSPD_OFFSET: AIRSPEED OFFSET¶
Note: This parameter is for advanced users
Airspeed calibration offset
Increment
0.1
ARSPD_RATIO: AIRSPEED RATIO¶
Note: This parameter is for advanced users
Calibrates pitot tube pressure to velocity. Increasing this value will indicate
a higher airspeed at any given dynamic pressure.
Increment
0.1
ARSPD_PIN: AIRSPEED PIN¶
Note: This parameter is for advanced users
The pin number that the airspeed sensor is connected to for analog sensors. Set
to 15 on the Pixhawk for the analog airspeed port.
ARSPD_AUTOCAL: AUTOMATIC AIRSPEED RATIO CALIBRATION¶
Note: This parameter is for advanced users
Enables automatic adjustment of airspeed 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.
ARSPD_TUBE_ORDR: CONTROL PITOT TUBE ORDER¶
Note: This parameter is for advanced users
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 first (often
the top) connector on the sensor needs to be the stagnation pressure (the
pressure at the tip of the pitot tube). If set to 1 then the second (often the
bottom) connector needs to be the stagnation 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 is receiving excessive pressure on the static port compared to the
stagnation port such as during a stall, which would otherwise be seen as a
positive airspeed.
Values
Value
Meaning
0
Normal
1
Swapped
2
Auto Detect
ARSPD_SKIP_CAL: SKIP AIRSPEED OFFSET CALIBRATION ON STARTUP¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
Disable
1
Enable
ARSPD_PSI_RANGE: THE PSI RANGE OF THE DEVICE¶
Note: This parameter is for advanced users
This parameter allows you 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
ARSPD_BUS: AIRSPEED I2C BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Bus number of the I2C bus where the airspeed sensor is connected. May not
correspond to board's I2C bus number labels. Retry another bus and reboot if
airspeed sensor fails to initialize.
Values
Value
Meaning
0
Bus0
1
Bus1
2
Bus2
ARSPD_DEVID: AIRSPEED ID¶
Note: This parameter is for advanced users
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly
True
AVD_ PARAMETERS¶
AVD_ENABLE: ENABLE AVOIDANCE USING ADSB¶
Note: This parameter is for advanced users
Enable Avoidance using ADSB
Values
Value
Meaning
0
Disabled
1
Enabled
AVD_F_ACTION: COLLISION AVOIDANCE BEHAVIOR¶
Note: This parameter is for advanced users
Specifies aircraft behaviour when a collision is imminent
Values
Value
Meaning
0
None
1
Report
2
Climb Or Descend
3
Move Horizontally
4
Move Perpendicularly in 3D
5
RTL
6
Hover
AVD_W_ACTION: COLLISION AVOIDANCE BEHAVIOR - WARN¶
Note: This parameter is for advanced users
Specifies aircraft behaviour when a collision may occur
Values
Value
Meaning
0
None
1
Report
AVD_F_RCVRY: RECOVERY BEHAVIOUR AFTER A FAIL EVENT¶
Note: This parameter is for advanced users
Determines what the aircraft will do after a fail event is resolved
Values
Value
Meaning
0
Remain in AVOID_ADSB
1
Resume previous flight mode
2
RTL
3
Resume if AUTO else Loiter
AVD_OBS_MAX: MAXIMUM NUMBER OF OBSTACLES TO TRACK¶
Note: This parameter is for advanced users
Maximum number of obstacles to track
AVD_W_TIME: TIME HORIZON WARN¶
Note: This parameter is for advanced users
Aircraft velocity vectors are multiplied by this time to determine closest
approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then
W_ACTION is undertaken (assuming F_ACTION is not undertaken)
Units
seconds
AVD_F_TIME: TIME HORIZON FAIL¶
Note: This parameter is for advanced users
Aircraft velocity vectors are multiplied by this time to determine closest
approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then
F_ACTION is undertaken
Units
seconds
AVD_W_DIST_XY: DISTANCE WARN XY¶
Note: This parameter is for advanced users
Closest allowed projected distance before W_ACTION is undertaken
Units
meters
AVD_F_DIST_XY: DISTANCE FAIL XY¶
Note: This parameter is for advanced users
Closest allowed projected distance before F_ACTION is undertaken
Units
meters
AVD_W_DIST_Z: DISTANCE WARN Z¶
Note: This parameter is for advanced users
Closest allowed projected distance before BEHAVIOUR_W is undertaken
Units
meters
AVD_F_DIST_Z: DISTANCE FAIL Z¶
Note: This parameter is for advanced users
Closest allowed projected distance before BEHAVIOUR_F is undertaken
Units
meters
AVD_F_ALT_MIN: ADS-B AVOIDANCE MINIMUM ALTITUDE¶
Note: This parameter is for advanced users
Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle
is below this altitude, no avoidance action will take place. Useful to prevent
ADS-B avoidance from activating while below the tree line or around structures.
Default of 0 is no minimum.
Units
meters
BARO PARAMETERS¶
BARO1_GND_PRESS: GROUND PRESSURE¶
Note: This parameter is for advanced users
calibrated ground pressure in Pascals
Increment
ReadOnly
Units
Volatile
1
True
pascal
True
BARO_GND_TEMP: GROUND TEMPERATURE¶
Note: This parameter is for advanced users
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.
Increment
Units
Volatile
1
degrees Celsius
True
BARO_ALT_OFFSET: ALTITUDE OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Units
0.1
meters
BARO_PRIMARY: PRIMARY BAROMETER¶
Note: This parameter is for advanced users
This selects which barometer will be the primary if multiple barometers are
found
Values
Value
Meaning
0
FirstBaro
1
2ndBaro
2
3rdBaro
BARO_EXT_BUS: EXTERNAL BARO BUS¶
Note: This parameter is for advanced users
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 BARO_PROBE_EXT parameter.
Values
Value
Meaning
-1
Disabled
0
Bus0
1
Bus1
6
Bus6
BARO2_GND_PRESS: GROUND PRESSURE¶
Note: This parameter is for advanced users
calibrated ground pressure in Pascals
Increment
ReadOnly
Units
Volatile
1
True
pascal
True
BARO3_GND_PRESS: ABSOLUTE PRESSURE¶
Note: This parameter is for advanced users
calibrated ground pressure in Pascals
Increment
ReadOnly
Units
Volatile
1
True
pascal
True
BARO_FLTR_RNG: RANGE IN WHICH SAMPLE IS ACCEPTED¶
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.
Increment
Range
Units
1
0 to 100
percent
BARO_PROBE_EXT: EXTERNAL BAROMETERS TO PROBE¶
Note: This parameter is for advanced users
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 BARO_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 BARO_EXT_BUS.
Bitmask
Bit
Meaning
0
BMP085
1
BMP280
2
MS5611
3
MS5607
4
MS5637
5
FBM320
6
DPS280
7
LPS25H
8
Keller
9
MS5837
10
BMP388
11
SPL06
12
MSP
13
BMP581
BARO1_DEVID: BARO ID¶
Note: This parameter is for advanced users
Barometer sensor ID, taking into account its type, bus and instance
ReadOnly
True
BARO2_DEVID: BARO ID2¶
Note: This parameter is for advanced users
Barometer2 sensor ID, taking into account its type, bus and instance
ReadOnly
True
BARO3_DEVID: BARO ID3¶
Note: This parameter is for advanced users
Barometer3 sensor ID, taking into account its type, bus and instance
ReadOnly
True
BARO_FIELD_ELV: FIELD ELEVATION¶
Note: This parameter is for advanced users
User provided field elevation in meters. 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. Changes to this parameter will
only be used when disarmed. A value of 0 means the EKF origin height is used for
takeoff height above sea level.
Increment
Units
Volatile
0.1
meters
True
BARO_ALTERR_MAX: ALTITUDE ERROR MAXIMUM¶
Note: This parameter is for advanced users
This is the maximum acceptable altitude discrepancy between GPS altitude and
barometric presssure altitude calculated against a standard atmosphere for
arming checks to pass. If you are getting an arming error due to this parameter
then you may have a faulty or substituted barometer. A common issue is vendors
replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then
please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607.
This check is disabled if the value is zero.
Increment
Range
Units
1
0 to 5000
meters
BARO_OPTIONS: BAROMETER OPTIONS¶
Note: This parameter is for advanced users
Barometer options
Bitmask
Bit
Meaning
0
Treat MS5611 as MS5607
BARO1_WCF_ PARAMETERS¶
BARO1_WCF_ENABLE: WIND COEFFICIENT ENABLE¶
Note: This parameter is for advanced users
This enables the use of wind coefficients for barometer compensation
Values
Value
Meaning
0
Disabled
1
Enabled
BARO1_WCF_FWD: PRESSURE ERROR COEFFICIENT IN POSITIVE X DIRECTION (FORWARD)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X
and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO1_WCF_BCK: PRESSURE ERROR COEFFICIENT IN NEGATIVE X DIRECTION (BACKWARDS)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X
and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO1_WCF_RGT: PRESSURE ERROR COEFFICIENT IN POSITIVE Y DIRECTION (RIGHT)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO1_WCF_LFT: PRESSURE ERROR COEFFICIENT IN NEGATIVE Y DIRECTION (LEFT)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO1_WCF_UP: PRESSURE ERROR COEFFICIENT IN POSITIVE Z DIRECTION (UP)¶
Note: This parameter is for advanced users
This is the ratio of static pressure error to dynamic pressure generated by a
positive wind relative velocity along the Z body axis. If the baro height
estimate rises above truth height during climbing flight (or forward flight with
a high forwards lean angle), then this should be a negative number. Multirotors
can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and
EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO1_WCF_DN: PRESSURE ERROR COEFFICIENT IN NEGATIVE Z DIRECTION (DOWN)¶
Note: This parameter is for advanced users
This is the ratio of static pressure error to dynamic pressure generated by a
negative wind relative velocity along the Z body axis. If the baro height
estimate rises above truth height during descending flight (or forward flight
with a high backwards lean angle, eg braking manoeuvre), then this should be a
negative number. Multirotors can use this feature only if using EKF3 and if the
EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO2_WCF_ PARAMETERS¶
BARO2_WCF_ENABLE: WIND COEFFICIENT ENABLE¶
Note: This parameter is for advanced users
This enables the use of wind coefficients for barometer compensation
Values
Value
Meaning
0
Disabled
1
Enabled
BARO2_WCF_FWD: PRESSURE ERROR COEFFICIENT IN POSITIVE X DIRECTION (FORWARD)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X
and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO2_WCF_BCK: PRESSURE ERROR COEFFICIENT IN NEGATIVE X DIRECTION (BACKWARDS)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X
and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO2_WCF_RGT: PRESSURE ERROR COEFFICIENT IN POSITIVE Y DIRECTION (RIGHT)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO2_WCF_LFT: PRESSURE ERROR COEFFICIENT IN NEGATIVE Y DIRECTION (LEFT)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO2_WCF_UP: PRESSURE ERROR COEFFICIENT IN POSITIVE Z DIRECTION (UP)¶
Note: This parameter is for advanced users
This is the ratio of static pressure error to dynamic pressure generated by a
positive wind relative velocity along the Z body axis. If the baro height
estimate rises above truth height during climbing flight (or forward flight with
a high forwards lean angle), then this should be a negative number. Multirotors
can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and
EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO2_WCF_DN: PRESSURE ERROR COEFFICIENT IN NEGATIVE Z DIRECTION (DOWN)¶
Note: This parameter is for advanced users
This is the ratio of static pressure error to dynamic pressure generated by a
negative wind relative velocity along the Z body axis. If the baro height
estimate rises above truth height during descending flight (or forward flight
with a high backwards lean angle, eg braking manoeuvre), then this should be a
negative number. Multirotors can use this feature only if using EKF3 and if the
EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO3_WCF_ PARAMETERS¶
BARO3_WCF_ENABLE: WIND COEFFICIENT ENABLE¶
Note: This parameter is for advanced users
This enables the use of wind coefficients for barometer compensation
Values
Value
Meaning
0
Disabled
1
Enabled
BARO3_WCF_FWD: PRESSURE ERROR COEFFICIENT IN POSITIVE X DIRECTION (FORWARD)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X
and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO3_WCF_BCK: PRESSURE ERROR COEFFICIENT IN NEGATIVE X DIRECTION (BACKWARDS)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X
and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO3_WCF_RGT: PRESSURE ERROR COEFFICIENT IN POSITIVE Y DIRECTION (RIGHT)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO3_WCF_LFT: PRESSURE ERROR COEFFICIENT IN NEGATIVE Y DIRECTION (LEFT)¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO3_WCF_UP: PRESSURE ERROR COEFFICIENT IN POSITIVE Z DIRECTION (UP)¶
Note: This parameter is for advanced users
This is the ratio of static pressure error to dynamic pressure generated by a
positive wind relative velocity along the Z body axis. If the baro height
estimate rises above truth height during climbing flight (or forward flight with
a high forwards lean angle), then this should be a negative number. Multirotors
can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and
EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BARO3_WCF_DN: PRESSURE ERROR COEFFICIENT IN NEGATIVE Z DIRECTION (DOWN)¶
Note: This parameter is for advanced users
This is the ratio of static pressure error to dynamic pressure generated by a
negative wind relative velocity along the Z body axis. If the baro height
estimate rises above truth height during descending flight (or forward flight
with a high backwards lean angle, eg braking manoeuvre), then this should be a
negative number. Multirotors can use this feature only if using EKF3 and if the
EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment
Range
0.05
-1.0 to 1.0
BATT2_ PARAMETERS¶
BATT2_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATT2_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATT2_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATT2_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATT2_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATT2_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATT2_LOW_VOLT: LOW BATTERY 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.
Increment
Units
0.1
volt
BATT2_LOW_MAH: LOW BATTERY CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT2_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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.
Increment
Units
0.1
volt
BATT2_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT2_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATT2_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATT2_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATT2_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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.
Increment
Units
50
milliampere hour
BATT2_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATT2_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATT2_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATT2_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATT2_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
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.
BATT2_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATT2_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATT2_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATT2_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT2_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATT2_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATT2_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATT2_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATT2_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATT2_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATT2_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATT2_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATT2_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATT2_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATT2_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATT2_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATT2_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT2_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATT2_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATT2_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATT2_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATT3_ PARAMETERS¶
BATT3_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATT3_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATT3_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATT3_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATT3_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATT3_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATT3_LOW_VOLT: LOW BATTERY 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.
Increment
Units
0.1
volt
BATT3_LOW_MAH: LOW BATTERY CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT3_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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.
Increment
Units
0.1
volt
BATT3_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT3_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATT3_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATT3_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATT3_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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.
Increment
Units
50
milliampere hour
BATT3_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATT3_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATT3_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATT3_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATT3_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
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.
BATT3_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATT3_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATT3_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATT3_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT3_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATT3_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATT3_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATT3_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATT3_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATT3_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATT3_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATT3_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATT3_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATT3_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATT3_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATT3_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATT3_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT3_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATT3_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATT3_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATT3_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATT4_ PARAMETERS¶
BATT4_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATT4_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATT4_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATT4_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATT4_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATT4_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATT4_LOW_VOLT: LOW BATTERY 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.
Increment
Units
0.1
volt
BATT4_LOW_MAH: LOW BATTERY CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT4_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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.
Increment
Units
0.1
volt
BATT4_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT4_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATT4_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATT4_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATT4_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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.
Increment
Units
50
milliampere hour
BATT4_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATT4_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATT4_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATT4_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATT4_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
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.
BATT4_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATT4_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATT4_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATT4_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT4_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATT4_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATT4_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATT4_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATT4_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATT4_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATT4_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATT4_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATT4_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATT4_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATT4_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATT4_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATT4_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT4_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATT4_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATT4_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATT4_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATT5_ PARAMETERS¶
BATT5_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATT5_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATT5_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATT5_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATT5_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATT5_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATT5_LOW_VOLT: LOW BATTERY 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.
Increment
Units
0.1
volt
BATT5_LOW_MAH: LOW BATTERY CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT5_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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.
Increment
Units
0.1
volt
BATT5_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT5_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATT5_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATT5_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATT5_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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.
Increment
Units
50
milliampere hour
BATT5_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATT5_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATT5_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATT5_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATT5_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
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.
BATT5_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATT5_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATT5_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATT5_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT5_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATT5_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATT5_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATT5_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATT5_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATT5_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATT5_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATT5_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATT5_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATT5_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATT5_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATT5_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATT5_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT5_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATT5_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATT5_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATT5_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATT6_ PARAMETERS¶
BATT6_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATT6_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATT6_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATT6_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATT6_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATT6_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATT6_LOW_VOLT: LOW BATTERY 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.
Increment
Units
0.1
volt
BATT6_LOW_MAH: LOW BATTERY CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT6_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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.
Increment
Units
0.1
volt
BATT6_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT6_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATT6_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATT6_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATT6_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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.
Increment
Units
50
milliampere hour
BATT6_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATT6_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATT6_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATT6_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATT6_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
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.
BATT6_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATT6_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATT6_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATT6_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT6_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATT6_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATT6_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATT6_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATT6_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATT6_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATT6_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATT6_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATT6_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATT6_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATT6_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATT6_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATT6_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT6_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATT6_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATT6_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATT6_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATT7_ PARAMETERS¶
BATT7_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATT7_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATT7_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATT7_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATT7_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATT7_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATT7_LOW_VOLT: LOW BATTERY 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.
Increment
Units
0.1
volt
BATT7_LOW_MAH: LOW BATTERY CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT7_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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.
Increment
Units
0.1
volt
BATT7_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT7_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATT7_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATT7_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATT7_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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.
Increment
Units
50
milliampere hour
BATT7_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATT7_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATT7_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATT7_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATT7_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
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.
BATT7_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATT7_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATT7_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATT7_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT7_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATT7_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATT7_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATT7_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATT7_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATT7_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATT7_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATT7_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATT7_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATT7_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATT7_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATT7_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATT7_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT7_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATT7_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATT7_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATT7_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATT8_ PARAMETERS¶
BATT8_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATT8_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATT8_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATT8_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATT8_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATT8_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATT8_LOW_VOLT: LOW BATTERY 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.
Increment
Units
0.1
volt
BATT8_LOW_MAH: LOW BATTERY CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT8_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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.
Increment
Units
0.1
volt
BATT8_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT8_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATT8_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATT8_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATT8_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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.
Increment
Units
50
milliampere hour
BATT8_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATT8_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATT8_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATT8_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATT8_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
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.
BATT8_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATT8_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATT8_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATT8_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT8_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATT8_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATT8_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATT8_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATT8_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATT8_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATT8_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATT8_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATT8_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATT8_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATT8_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATT8_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATT8_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT8_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATT8_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATT8_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATT8_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATT9_ PARAMETERS¶
BATT9_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATT9_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATT9_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATT9_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATT9_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATT9_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATT9_LOW_VOLT: LOW BATTERY 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.
Increment
Units
0.1
volt
BATT9_LOW_MAH: LOW BATTERY CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT9_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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.
Increment
Units
0.1
volt
BATT9_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT9_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATT9_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATT9_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATT9_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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.
Increment
Units
50
milliampere hour
BATT9_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATT9_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATT9_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATT9_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATT9_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
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.
BATT9_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATT9_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATT9_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATT9_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT9_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATT9_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATT9_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATT9_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATT9_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATT9_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATT9_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATT9_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATT9_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATT9_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATT9_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATT9_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATT9_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT9_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATT9_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATT9_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATT9_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATTA_ PARAMETERS¶
BATTA_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATTA_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATTA_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATTA_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATTA_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATTA_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATTA_LOW_VOLT: LOW BATTERY 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 BATTA_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTA_FS_LOW_ACT parameter.
Increment
Units
0.1
volt
BATTA_LOW_MAH: LOW BATTERY CAPACITY¶
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 BATTA_FS_LOW_ACT
parameter.
Increment
Units
50
milliampere hour
BATTA_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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 BATTA_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTA_FS_CRT_ACT parameter.
Increment
Units
0.1
volt
BATTA_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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 BATTA_FS_CRT_ACT
parameter.
Increment
Units
50
milliampere hour
BATTA_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATTA_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATTA_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATTA_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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 BATTA__ARM_VOLT parameter.
Increment
Units
50
milliampere hour
BATTA_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATTA_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATTA_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATTA_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATTA_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATTA_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.
BATTA_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATTA_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATTA_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATTA_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTA_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATTA_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATTA_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATTA_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATTA_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATTA_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATTA_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATTA_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATTA_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATTA_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATTA_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATTA_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATTA_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTA_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATTA_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATTA_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATTA_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATTB_ PARAMETERS¶
BATTB_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATTB_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATTB_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATTB_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATTB_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATTB_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATTB_LOW_VOLT: LOW BATTERY 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 BATTB_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTB_FS_LOW_ACT parameter.
Increment
Units
0.1
volt
BATTB_LOW_MAH: LOW BATTERY CAPACITY¶
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 BATTB_FS_LOW_ACT
parameter.
Increment
Units
50
milliampere hour
BATTB_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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 BATTB_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTB_FS_CRT_ACT parameter.
Increment
Units
0.1
volt
BATTB_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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 BATTB_FS_CRT_ACT
parameter.
Increment
Units
50
milliampere hour
BATTB_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATTB_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATTB_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATTB_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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 BATTB__ARM_VOLT parameter.
Increment
Units
50
milliampere hour
BATTB_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATTB_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATTB_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATTB_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATTB_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATTB_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.
BATTB_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATTB_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATTB_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATTB_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTB_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATTB_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATTB_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATTB_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATTB_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATTB_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATTB_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATTB_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATTB_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATTB_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATTB_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATTB_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATTB_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTB_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATTB_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATTB_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATTB_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATTC_ PARAMETERS¶
BATTC_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATTC_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATTC_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATTC_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATTC_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATTC_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATTC_LOW_VOLT: LOW BATTERY 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 BATTC_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTC_FS_LOW_ACT parameter.
Increment
Units
0.1
volt
BATTC_LOW_MAH: LOW BATTERY CAPACITY¶
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 BATTC_FS_LOW_ACT
parameter.
Increment
Units
50
milliampere hour
BATTC_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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 BATTC_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTC_FS_CRT_ACT parameter.
Increment
Units
0.1
volt
BATTC_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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 BATTC_FS_CRT_ACT
parameter.
Increment
Units
50
milliampere hour
BATTC_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATTC_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATTC_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATTC_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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 BATTC__ARM_VOLT parameter.
Increment
Units
50
milliampere hour
BATTC_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATTC_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATTC_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATTC_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATTC_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATTC_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.
BATTC_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATTC_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATTC_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATTC_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTC_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATTC_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATTC_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATTC_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATTC_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATTC_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATTC_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATTC_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATTC_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATTC_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATTC_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATTC_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATTC_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTC_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATTC_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATTC_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATTC_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATTD_ PARAMETERS¶
BATTD_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATTD_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATTD_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATTD_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATTD_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATTD_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATTD_LOW_VOLT: LOW BATTERY 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 BATTD_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTD_FS_LOW_ACT parameter.
Increment
Units
0.1
volt
BATTD_LOW_MAH: LOW BATTERY CAPACITY¶
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 BATTD_FS_LOW_ACT
parameter.
Increment
Units
50
milliampere hour
BATTD_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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 BATTD_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTD_FS_CRT_ACT parameter.
Increment
Units
0.1
volt
BATTD_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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 BATTD_FS_CRT_ACT
parameter.
Increment
Units
50
milliampere hour
BATTD_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATTD_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATTD_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATTD_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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 BATTD__ARM_VOLT parameter.
Increment
Units
50
milliampere hour
BATTD_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATTD_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATTD_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATTD_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATTD_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATTD_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.
BATTD_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATTD_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATTD_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATTD_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTD_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATTD_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATTD_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATTD_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATTD_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATTD_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATTD_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATTD_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATTD_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATTD_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATTD_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATTD_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATTD_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTD_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATTD_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATTD_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATTD_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATTE_ PARAMETERS¶
BATTE_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATTE_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATTE_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATTE_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATTE_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATTE_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATTE_LOW_VOLT: LOW BATTERY 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 BATTE_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTE_FS_LOW_ACT parameter.
Increment
Units
0.1
volt
BATTE_LOW_MAH: LOW BATTERY CAPACITY¶
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 BATTE_FS_LOW_ACT
parameter.
Increment
Units
50
milliampere hour
BATTE_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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 BATTE_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTE_FS_CRT_ACT parameter.
Increment
Units
0.1
volt
BATTE_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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 BATTE_FS_CRT_ACT
parameter.
Increment
Units
50
milliampere hour
BATTE_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATTE_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATTE_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATTE_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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 BATTE__ARM_VOLT parameter.
Increment
Units
50
milliampere hour
BATTE_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATTE_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATTE_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATTE_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATTE_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATTE_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.
BATTE_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATTE_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATTE_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATTE_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTE_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATTE_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATTE_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATTE_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATTE_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATTE_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATTE_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATTE_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATTE_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATTE_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATTE_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATTE_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATTE_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTE_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATTE_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATTE_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATTE_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATTF_ PARAMETERS¶
BATTF_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATTF_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATTF_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATTF_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATTF_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATTF_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATTF_LOW_VOLT: LOW BATTERY 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 BATTF_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTF_FS_LOW_ACT parameter.
Increment
Units
0.1
volt
BATTF_LOW_MAH: LOW BATTERY CAPACITY¶
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 BATTF_FS_LOW_ACT
parameter.
Increment
Units
50
milliampere hour
BATTF_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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 BATTF_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTF_FS_CRT_ACT parameter.
Increment
Units
0.1
volt
BATTF_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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 BATTF_FS_CRT_ACT
parameter.
Increment
Units
50
milliampere hour
BATTF_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATTF_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATTF_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATTF_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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 BATTF__ARM_VOLT parameter.
Increment
Units
50
milliampere hour
BATTF_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATTF_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATTF_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATTF_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATTF_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATTF_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.
BATTF_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATTF_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATTF_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATTF_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTF_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATTF_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATTF_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATTF_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATTF_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATTF_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATTF_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATTF_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATTF_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATTF_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATTF_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATTF_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATTF_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTF_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATTF_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATTF_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATTF_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATTG_ PARAMETERS¶
BATTG_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATTG_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATTG_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATTG_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATTG_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATTG_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATTG_LOW_VOLT: LOW BATTERY 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 BATTG_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTG_FS_LOW_ACT parameter.
Increment
Units
0.1
volt
BATTG_LOW_MAH: LOW BATTERY CAPACITY¶
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 BATTG_FS_LOW_ACT
parameter.
Increment
Units
50
milliampere hour
BATTG_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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 BATTG_LOW_TIMER parameter then the vehicle will perform
the failsafe specified by the BATTG_FS_CRT_ACT parameter.
Increment
Units
0.1
volt
BATTG_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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 BATTG_FS_CRT_ACT
parameter.
Increment
Units
50
milliampere hour
BATTG_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATTG_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATTG_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATTG_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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 BATTG__ARM_VOLT parameter.
Increment
Units
50
milliampere hour
BATTG_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATTG_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATTG_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATTG_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATTG_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATTG_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.
BATTG_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATTG_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATTG_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATTG_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTG_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATTG_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATTG_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATTG_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATTG_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATTG_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATTG_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATTG_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATTG_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATTG_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATTG_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATTG_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATTG_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATTG_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATTG_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATTG_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATTG_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BATT_ PARAMETERS¶
BATT_MONITOR: BATTERY MONITORING¶
Note: Reboot required after change
Controls enabling monitoring of the battery's voltage and current
Values
Value
Meaning
0
Disabled
3
Analog Voltage Only
4
Analog Voltage and Current
5
Solo
6
Bebop
7
SMBus-Generic
8
DroneCAN-BatteryInfo
9
ESC
10
Sum Of Selected Monitors
11
FuelFlow
12
FuelLevelPWM
13
SMBUS-SUI3
14
SMBUS-SUI6
15
NeoDesign
16
SMBus-Maxell
17
Generator-Elec
18
Generator-Fuel
19
Rotoye
20
MPPT
21
INA2XX
22
LTC2946
23
Torqeedo
24
FuelLevelAnalog
25
Synthetic Current and Analog Voltage
26
INA239_SPI
27
EFI
28
AD7091R5
29
Scripting
BATT_CAPACITY: BATTERY CAPACITY¶
Capacity of the battery in mAh when full
Increment
Units
50
milliampere hour
BATT_WATT_MAX: MAXIMUM ALLOWED POWER (WATTS)¶
Note: This parameter is for advanced users
If battery wattage (voltage * current) exceeds this value then the system will
reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to
satisfy this limit. This helps limit high current to low C rated batteries
regardless of battery voltage. The max throttle will slowly grow back to THR_MAX
(or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt
max. Use 0 to disable.
Increment
Units
1
watt
BATT_SERIAL_NUM: BATTERY SERIAL NUMBER¶
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise
will be -1. With DroneCan it is the battery_id.
BATT_LOW_TIMER: LOW VOLTAGE TIMEOUT¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
0 to 120
seconds
BATT_FS_VOLTSRC: FAILSAFE VOLTAGE SOURCE¶
Note: This parameter is for advanced users
Voltage type used for detection of low voltage event
Values
Value
Meaning
0
Raw Voltage
1
Sag Compensated Voltage
BATT_LOW_VOLT: LOW BATTERY 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.
Increment
Units
0.1
volt
BATT_LOW_MAH: LOW BATTERY CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT_CRT_VOLT: CRITICAL BATTERY VOLTAGE¶
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.
Increment
Units
0.1
volt
BATT_CRT_MAH: BATTERY CRITICAL CAPACITY¶
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.
Increment
Units
50
milliampere hour
BATT_FS_LOW_ACT: LOW BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a low battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
6
Loiter to QLand
BATT_FS_CRT_ACT: CRITICAL BATTERY FAILSAFE ACTION¶
What action the vehicle should perform if it hits a critical battery failsafe
Values
Value
Meaning
0
None
1
RTL
2
Land
3
Terminate
4
QLand
5
Parachute
6
Loiter to QLand
BATT_ARM_VOLT: REQUIRED ARMING VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage level which is required to arm the aircraft. Set to 0 to allow
arming at any voltage.
Increment
Units
0.1
volt
BATT_ARM_MAH: REQUIRED ARMING REMAINING CAPACITY¶
Note: This parameter is for advanced users
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.
Increment
Units
50
milliampere hour
BATT_OPTIONS: BATTERY MONITOR OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask
Bit
Meaning
0
Ignore DroneCAN SoC
1
MPPT reports input voltage and current
2
MPPT Powered off when disarmed
3
MPPT Powered on when armed
4
MPPT Powered off at boot
5
MPPT Powered on at boot
6
Send resistance compensated voltage to GCS
7
Allow DroneCAN InfoAux to be from a different CAN node
BATT_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write voltage, current, consumption and temperature data
to. Use 0 to disable.
Increment
Range
1
0 to 10
BATT_VOLT_PIN: BATTERY VOLTAGE SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
BATT_CURR_PIN: BATTERY CURRENT SENSING PIN¶
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values
Value
Meaning
-1
Disabled
3
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4
CubeOrange_PM2/Navigator
14
Pixhawk2_PM2
15
CubeOrange
17
Durandal
101
PX4-v1
BATT_VOLT_MULT: VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
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.
BATT_AMP_PERVLT: AMPS PER VOLT¶
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. For Synthetic Current sensor monitors, this
is the maximum, full throttle current draw.
Units
ampere per volt
BATT_AMP_OFFSET: AMP OFFSET¶
Voltage offset at zero current on current sensor for Analog Sensors. For
Synthetic Current sensor, this offset is the zero throttle system current and is
added to the calculated throttle base current.
Units
volt
BATT_VLT_OFFSET: VOLTAGE OFFSET¶
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This
voltage is subtracted before the scaling is applied.
Units
volt
BATT_I2C_BUS (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT_I2C_ADDR (AP_BATTMONITOR_SMBUS): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
Range
0 to 127
BATT_SUM_MASK: BATTERY SUM MASK¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors.
Current will be summed and voltages averaged.
Bitmask
Bit
Meaning
0
monitor 1
1
monitor 2
2
monitor 3
3
monitor 4
4
monitor 5
5
monitor 6
6
monitor 7
7
monitor 8
8
monitor 9
BATT_CURR_MULT: SCALES REPORTED POWER MONITOR CURRENT¶
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no
UAVCAN param access or current splitting applications
Range
.1 to 10
BATT_FL_VLT_MIN: EMPTY FUEL LEVEL VOLTAGE¶
Note: This parameter is for advanced users
The voltage seen on the analog pin when the fuel tank is empty. Note: For this
type of battery monitor, the voltage seen by the analog pin is displayed as
battery voltage on a GCS.
Range
Units
0.01 to 10
volt
BATT_FL_V_MULT: FUEL LEVEL VOLTAGE MULTIPLIER¶
Note: This parameter is for advanced users
Voltage multiplier to determine what the full tank voltage reading is. This is
calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery
monitor, the voltage seen by the analog pin is displayed as battery voltage on a
GCS.
Range
0.01 to 10
BATT_FL_FLTR: FUEL LEVEL FILTER FREQUENCY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Filter frequency in Hertz where a low pass filter is used. This is used to
filter out tank slosh from the fuel level reading. A value of -1 disables the
filter and unfiltered voltage is used to determine the fuel level. The suggested
values at in the range of 0.2 Hz to 0.5 Hz.
Range
Units
-1 to 1
hertz
BATT_FL_PIN: FUEL LEVEL ANALOG PIN NUMBER¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be
used for Analog input. When using analog pin 103, the maximum value of the input
in 3.3V.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
103
Pixhawk SBUS
BATT_FL_FF: FIRST ORDER TERM¶
Note: This parameter is for advanced users
First order polynomial fit term
Range
0 to 10
BATT_FL_FS: SECOND ORDER TERM¶
Note: This parameter is for advanced users
Second order polynomial fit term
Range
0 to 10
BATT_FL_FT: THIRD ORDER TERM¶
Note: This parameter is for advanced users
Third order polynomial fit term
Range
0 to 10
BATT_FL_OFF: OFFSET TERM¶
Note: This parameter is for advanced users
Offset polynomial fit term
Range
0 to 10
BATT_MAX_VOLT: MAXIMUM BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Maximum voltage of battery. Provides scaling of current versus voltage
Range
7 to 100
BATT_I2C_BUS (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C BUS NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
Range
0 to 3
BATT_I2C_ADDR (AP_BATTMONITOR_INA2XX): BATTERY MONITOR I2C ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address. If this is zero then probe list of supported
addresses
Range
0 to 127
BATT_MAX_AMPS: BATTERY MONITOR MAX CURRENT¶
Note: This parameter is for advanced users
This controls the maximum current the INS2XX sensor will work with.
Range
Units
1 to 400
ampere
BATT_SHUNT: BATTERY MONITOR SHUNT RESISTOR¶
Note: This parameter is for advanced users
This sets the shunt resistor used in the device
Range
Units
0.0001 to 0.01
Ohm
BATT_ESC_MASK: ESC MASK¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will
be used.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
BRD_ PARAMETERS¶
BRD_SER1_RTSCTS: SERIAL 1 FLOW CONTROL¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enable flow control on serial 1 (telemetry 1). 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.
Values
Value
Meaning
0
Disabled
1
Enabled
2
Auto
3
RS-485 Driver enable RTS pin
BRD_SER2_RTSCTS: SERIAL 2 FLOW CONTROL¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enable flow control on serial 2 (telemetry 2). 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.
Values
Value
Meaning
0
Disabled
1
Enabled
2
Auto
3
RS-485 Driver enable RTS pin
BRD_SER3_RTSCTS: SERIAL 3 FLOW CONTROL¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Values
Value
Meaning
0
Disabled
1
Enabled
2
Auto
3
RS-485 Driver enable RTS pin
BRD_SER4_RTSCTS: SERIAL 4 FLOW CONTROL¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Values
Value
Meaning
0
Disabled
1
Enabled
2
Auto
3
RS-485 Driver enable RTS pin
BRD_SER5_RTSCTS: SERIAL 5 FLOW CONTROL¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Values
Value
Meaning
0
Disabled
1
Enabled
2
Auto
3
RS-485 Driver enable RTS pin
BRD_SAFETY_DEFLT: SETS DEFAULT STATE OF THE SAFETY SWITCH¶
Note: Reboot required after change
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.
Values
Value
Meaning
0
Disabled
1
Enabled
BRD_SBUS_OUT: SBUS OUTPUT RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
This sets the SBUS output frame rate in Hz
Values
Value
Meaning
0
Disabled
1
50Hz
2
75Hz
3
100Hz
4
150Hz
5
200Hz
6
250Hz
7
300Hz
BRD_SERIAL_NUM: USER-DEFINED SERIAL NUMBER¶
User-defined serial number of this vehicle, it can be any arbitrary number you
want and has no effect on the autopilot
Range
-8388608 to 8388607
BRD_SAFETY_MASK: OUTPUTS WHICH IGNORE THE SAFETY SWITCH STATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
A bitmask which controls what outputs can move while the safety switch has not
been pressed
Bitmask
Bit
Meaning
0
Output1
1
Output2
2
Output3
3
Output4
4
Output5
5
Output6
6
Output7
7
Output8
8
Output9
9
Output10
10
Output11
11
Output12
12
Output13
13
Output14
BRD_HEAT_TARG: BOARD HEATER TEMPERATURE TARGET¶
Note: This parameter is for advanced users
Board heater target temperature for boards with controllable heating units. Set
to -1 to disable the heater, please reboot after setting to -1.
Range
Units
-1 to 80
degrees Celsius
BRD_TYPE: BOARD TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
This allows selection of a PX4 or VRBRAIN board type. If set to zero then the
board type is auto-detected (PX4)
Values
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
BRD_IO_ENABLE: ENABLE IO CO-PROCESSOR¶
Note: This parameter is for advanced users
Note: Reboot required after change
This allows for the IO co-processor on boards with an IOMCU to be disabled.
Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
Values
Value
Meaning
0
Disabled
1
Enabled
2
EnableNoFWUpdate
BRD_SAFETYOPTION: OPTIONS FOR SAFETY BUTTON BEHAVIOR¶
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
Bitmask
Bit
Meaning
0
ActiveForSafetyDisable
1
ActiveForSafetyEnable
2
ActiveWhenArmed
3
Force safety on when the aircraft disarms
BRD_VBUS_MIN: AUTOPILOT BOARD VOLTAGE REQUIREMENT¶
Note: This parameter is for advanced users
Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to
disable the check.
Increment
Range
Units
0.1
4.0 to 5.5
volt
BRD_VSERVO_MIN: SERVO VOLTAGE REQUIREMENT¶
Note: This parameter is for advanced users
Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the
check.
Increment
Range
Units
0.1
3.3 to 12.0
volt
BRD_SD_SLOWDOWN: MICROSD SLOWDOWN¶
Note: This parameter is for advanced users
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.
Increment
Range
1
0 to 32
BRD_PWM_VOLT_SEL: SET PWM OUT VOLTAGE¶
Note: This parameter is for advanced users
This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.
On boards with an IOMCU that support this parameter this option only affects the
8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce
the impact of ESC noise interference corrupting signals to the ESCs.
Values
Value
Meaning
0
3.3V
1
5V
BRD_OPTIONS: BOARD OPTIONS¶
Note: This parameter is for advanced users
Board specific option flags
Bitmask
Bit
Meaning
0
Enable hardware watchdog
1
Disable MAVftp
2
Enable set of internal parameters
3
Enable Debug Pins
4
Unlock flash on reboot
5
Write protect firmware flash on reboot
6
Write protect bootloader flash on reboot
7
Skip board validation
8
Disable board arming gpio output change on arm/disarm
BRD_BOOT_DELAY: BOOT DELAY¶
Note: This parameter is for advanced users
This adds a delay in milliseconds to boot to ensure peripherals initialise fully
Range
Units
0 to 10000
milliseconds
BRD_HEAT_P: BOARD HEATER P GAIN¶
Note: This parameter is for advanced users
Board Heater P gain
Increment
Range
1
1 to 500
BRD_HEAT_I: BOARD HEATER I GAIN¶
Note: This parameter is for advanced users
Board Heater integrator gain
Increment
Range
0.1
0 to 1
BRD_HEAT_IMAX: BOARD HEATER IMAX¶
Note: This parameter is for advanced users
Board Heater integrator maximum
Increment
Range
1
0 to 100
BRD_ALT_CONFIG: ALTERNATIVE HW CONFIG¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
Range
1
0 to 10
BRD_HEAT_LOWMGN: BOARD HEATER TEMP LOWER MARGIN¶
Note: This parameter is for advanced users
Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0
disables the low temperature check
Range
Units
0 to 20
degrees Celsius
BRD_SD_MISSION: SDCARD MISSION SIZE¶
Note: This parameter is for advanced users
Note: Reboot required after change
This sets the amount of storage in kilobytes reserved on the microsd card in
mission.stg for waypoint storage. Each waypoint uses 15 bytes.
Range
0 to 64
BRD_SD_FENCE: SDCARD FENCE SIZE¶
Note: This parameter is for advanced users
Note: Reboot required after change
This sets the amount of storage in kilobytes reserved on the microsd card in
fence.stg for fence storage.
Range
0 to 64
BRD_IO_DSHOT: LOAD DSHOT FW ON IO¶
Note: This parameter is for advanced users
Note: Reboot required after change
This loads the DShot firmware on the IO co-processor
Values
Value
Meaning
0
StandardFW
1
DshotFW
BRD_RADIO PARAMETERS¶
BRD_RADIO_TYPE: SET TYPE OF DIRECT ATTACHED RADIO¶
This enables support for direct attached radio receivers
Values
Value
Meaning
0
None
1
CYRF6936
2
CC2500
3
BK2425
BRD_RADIO_PROT: PROTOCOL¶
Note: This parameter is for advanced users
Select air protocol
Values
Value
Meaning
0
Auto
1
DSM2
2
DSMX
BRD_RADIO_DEBUG: DEBUG LEVEL¶
Note: This parameter is for advanced users
radio debug level
Range
0 to 4
BRD_RADIO_DISCRC: DISABLE RECEIVE CRC¶
Note: This parameter is for advanced users
disable receive CRC (for debug)
Values
Value
Meaning
0
NotDisabled
1
Disabled
BRD_RADIO_SIGCH: RSSI SIGNAL STRENGTH¶
Note: This parameter is for advanced users
Channel to show receive RSSI signal strength, or zero for disabled
Range
0 to 16
BRD_RADIO_PPSCH: PACKET RATE CHANNEL¶
Note: This parameter is for advanced users
Channel to show received packet-per-second rate, or zero for disabled
Range
0 to 16
BRD_RADIO_TELEM: ENABLE TELEMETRY¶
Note: This parameter is for advanced users
If this is non-zero then telemetry packets will be sent over DSM
Values
Value
Meaning
0
Disabled
1
Enabled
BRD_RADIO_TXPOW: TELEMETRY TRANSMIT POWER¶
Note: This parameter is for advanced users
Set telemetry transmit power. This is the power level (from 1 to 8) for
telemetry packets sent from the RX to the TX
Range
1 to 8
BRD_RADIO_FCCTST: PUT RADIO INTO FCC TEST MODE¶
Note: This parameter is for advanced users
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
Values
Value
Meaning
0
Disabled
1
MinChannel
2
MidChannel
3
MaxChannel
4
MinChannelCW
5
MidChannelCW
6
MaxChannelCW
BRD_RADIO_STKMD: STICK INPUT MODE¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
1
Mode1
2
Mode2
BRD_RADIO_TESTCH: SET RADIO TO FACTORY TEST CHANNEL¶
Note: This parameter is for advanced users
This sets the radio to a fixed test channel for factory testing. Using a fixed
channel avoids the need for binding in factory testing.
Values
Value
Meaning
0
Disabled
1
TestChan1
2
TestChan2
3
TestChan3
4
TestChan4
5
TestChan5
6
TestChan6
7
TestChan7
8
TestChan8
BRD_RADIO_TSIGCH: RSSI VALUE CHANNEL FOR TELEMETRY DATA ON TRANSMITTER¶
Note: This parameter is for advanced users
Channel to show telemetry RSSI value as received by TX
Range
0 to 16
BRD_RADIO_TPPSCH: TELEMETRY PPS CHANNEL¶
Note: This parameter is for advanced users
Channel to show telemetry packets-per-second value, as received at TX
Range
0 to 16
BRD_RADIO_TXMAX: TRANSMITTER TRANSMIT POWER¶
Note: This parameter is for advanced users
Set transmitter maximum transmit power (from 1 to 8)
Range
1 to 8
BRD_RADIO_BZOFS: TRANSMITTER BUZZER ADJUSTMENT¶
Note: This parameter is for advanced users
Set transmitter buzzer note adjustment (adjust frequency up)
Range
0 to 40
BRD_RADIO_ABTIME: AUTO-BIND TIME¶
Note: This parameter is for advanced users
When non-zero this sets the time with no transmitter packets before we start
looking for auto-bind packets.
Range
0 to 120
BRD_RADIO_ABLVL: AUTO-BIND LEVEL¶
Note: This parameter is for advanced users
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
Range
0 to 31
BRD_RTC PARAMETERS¶
BRD_RTC_TYPES: ALLOWED SOURCES OF RTC TIME¶
Note: This parameter is for advanced users
Specifies which sources of UTC time will be accepted
Bitmask
Bit
Meaning
0
GPS
1
MAVLINK_SYSTEM_TIME
2
HW
BRD_RTC_TZ_MIN: TIMEZONE OFFSET FROM UTC¶
Note: This parameter is for advanced users
Adds offset in +- minutes from UTC to calculate local time
Range
-720 to +840
BTN_ PARAMETERS¶
BTN_ENABLE: ENABLE BUTTON REPORTING¶
Note: This parameter is for advanced users
This enables the button checking module. When this is disabled the parameters
for setting button inputs are not visible
Values
Value
Meaning
0
Disabled
1
Enabled
BTN_PIN1: FIRST BUTTON PIN¶
Digital pin number for first button input. Some common values are given, but see
the Wiki's "GPIOs" page for how to determine the pin number for a given
autopilot.
Values
Value
Meaning
-1
Disabled
50
AUXOUT1
51
AUXOUT2
52
AUXOUT3
53
AUXOUT4
54
AUXOUT5
55
AUXOUT6
BTN_PIN2: SECOND BUTTON PIN¶
Digital pin number for second button input. Some common values are given, but
see the Wiki's "GPIOs" page for how to determine the pin number for a given
autopilot.
Values
Value
Meaning
-1
Disabled
50
AUXOUT1
51
AUXOUT2
52
AUXOUT3
53
AUXOUT4
54
AUXOUT5
55
AUXOUT6
BTN_PIN3: THIRD BUTTON PIN¶
Digital pin number for third button input. Some common values are given, but see
the Wiki's "GPIOs" page for how to determine the pin number for a given
autopilot.
Values
Value
Meaning
-1
Disabled
50
AUXOUT1
51
AUXOUT2
52
AUXOUT3
53
AUXOUT4
54
AUXOUT5
55
AUXOUT6
BTN_PIN4: FOURTH BUTTON PIN¶
Digital pin number for fourth button input. Some common values are given, but
see the Wiki's "GPIOs" page for how to determine the pin number for a given
autopilot.
Values
Value
Meaning
-1
Disabled
50
AUXOUT1
51
AUXOUT2
52
AUXOUT3
53
AUXOUT4
54
AUXOUT5
55
AUXOUT6
BTN_REPORT_SEND: REPORT SEND TIME¶
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.
Range
0 to 3600
BTN_OPTIONS1: BUTTON PIN 1 OPTIONS¶
Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of
logic level. If PWM is not detected or is less than 800us or above 2200us the
button will interpreted as low. Invert changes HIGH state to be logic low
voltage on pin, or below 1200us, if PWM input.
Bitmask
Bit
Meaning
0
PWM Input
1
InvertInput
BTN_OPTIONS2: BUTTON PIN 2 OPTIONS¶
Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of
logic level. If PWM is not detected or is less than 800us or above 2200us the
button will interpreted as low. Invert changes HIGH state to be logic low
voltage on pin, or below 1200us, if PWM input.
Bitmask
Bit
Meaning
0
PWM Input
1
InvertInput
BTN_OPTIONS3: BUTTON PIN 3 OPTIONS¶
Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of
logic level. If PWM is not detected or is less than 800us or above 2200us the
button will interpreted as low. Invert changes HIGH state to be logic low
voltage on pin, or below 1200us, if PWM input.
Bitmask
Bit
Meaning
0
PWM Input
1
InvertInput
BTN_OPTIONS4: BUTTON PIN 4 OPTIONS¶
Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of
logic level. If PWM is not detected or is less than 800us or above 2200us the
button will interpreted as low. Invert changes HIGH state to be logic low
voltage on pin, or below 1200us, if PWM input.
Bitmask
Bit
Meaning
0
PWM Input
1
InvertInput
BTN_FUNC1: BUTTON PIN 1 RC CHANNEL FUNCTION¶
Auxiliary RC Options function executed on pin change
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
BTN_FUNC2: BUTTON PIN 2 RC CHANNEL FUNCTION¶
Auxiliary RC Options function executed on pin change
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
BTN_FUNC3: BUTTON PIN 3 RC CHANNEL FUNCTION¶
Auxiliary RC Options function executed on pin change
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
BTN_FUNC4: BUTTON PIN 4 RC CHANNEL FUNCTION¶
Auxiliary RC Options function executed on pin change
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
CAM PARAMETERS¶
CAM_MAX_ROLL: MAXIMUM PHOTO ROLL ANGLE.¶
Postpone shooting if roll is greater than limit. (0=Disable, will shoot
regardless of roll).
Range
Units
0 to 180
degrees
CAM_AUTO_ONLY: DISTANCE-TRIGGING IN AUTO MODE ONLY¶
When enabled, trigging by distance is done in AUTO mode only.
Values
Value
Meaning
0
Always
1
Only when in AUTO
CAM1 PARAMETERS¶
CAM1_TYPE: CAMERA SHUTTER (TRIGGER) TYPE¶
how to trigger the camera to take a picture
Values
Value
Meaning
0
None
1
Servo
2
Relay
3
GoPro in Solo Gimbal
4
Mount (Siyi)
5
MAVLink
6
MAVLinkCamV2
7
Scripting
CAM1_DURATION: CAMERA SHUTTER DURATION HELD OPEN¶
Duration in seconds that the camera shutter is held open
Range
Units
0 to 5
seconds
CAM1_SERVO_ON: CAMERA SERVO ON PWM VALUE¶
PWM value in microseconds to move servo to when shutter is activated
Range
Units
1000 to 2000
PWM in microseconds
CAM1_SERVO_OFF: CAMERA SERVO OFF PWM VALUE¶
PWM value in microseconds to move servo to when shutter is deactivated
Range
Units
1000 to 2000
PWM in microseconds
CAM1_TRIGG_DIST: CAMERA TRIGGER DISTANCE¶
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.
Range
Units
0 to 1000
meters
CAM1_RELAY_ON: CAMERA RELAY ON VALUE¶
This sets whether the relay goes high or low when it triggers. Note that you
should also set RELAY_DEFAULT appropriately for your camera
Values
Value
Meaning
0
Low
1
High
CAM1_INTRVAL_MIN: CAMERA MINIMUM TIME INTERVAL BETWEEN PHOTOS¶
Postpone shooting if previous picture was taken less than this many seconds ago
Range
Units
0 to 10
seconds
CAM1_FEEDBAK_PIN: CAMERA FEEDBACK PIN¶
Note: Reboot required after change
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. Some common
values are given, but see the Wiki's "GPIOs" page for how to determine the pin
number for a given autopilot. See also the CAMx_FEEDBCK_POL option.
Values
Value
Meaning
-1
Disabled
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
CAM1_FEEDBAK_POL: CAMERA FEEDBACK PIN POLARITY¶
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
Values
Value
Meaning
0
TriggerLow
1
TriggerHigh
CAM1_OPTIONS: CAMERA OPTIONS¶
Camera options bitmask
Bitmask
Bit
Meaning
0
Recording Starts at arming and stops at disarming
CAM1_MNT_INST: CAMERA MOUNT INSTANCE¶
Mount instance camera is associated with. 0 means camera and mount have
identical instance numbers e.g. camera1 and mount1
CAM1_HFOV: CAMERA HORIZONTAL FIELD OF VIEW¶
Camera horizontal field of view. 0 if unknown
Range
Units
0 to 360
degrees
CAM1_VFOV: CAMERA VERTICAL FIELD OF VIEW¶
Camera vertical field of view. 0 if unknown
Range
Units
0 to 180
degrees
CAM2 PARAMETERS¶
CAM2_TYPE: CAMERA SHUTTER (TRIGGER) TYPE¶
how to trigger the camera to take a picture
Values
Value
Meaning
0
None
1
Servo
2
Relay
3
GoPro in Solo Gimbal
4
Mount (Siyi)
5
MAVLink
6
MAVLinkCamV2
7
Scripting
CAM2_DURATION: CAMERA SHUTTER DURATION HELD OPEN¶
Duration in seconds that the camera shutter is held open
Range
Units
0 to 5
seconds
CAM2_SERVO_ON: CAMERA SERVO ON PWM VALUE¶
PWM value in microseconds to move servo to when shutter is activated
Range
Units
1000 to 2000
PWM in microseconds
CAM2_SERVO_OFF: CAMERA SERVO OFF PWM VALUE¶
PWM value in microseconds to move servo to when shutter is deactivated
Range
Units
1000 to 2000
PWM in microseconds
CAM2_TRIGG_DIST: CAMERA TRIGGER DISTANCE¶
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.
Range
Units
0 to 1000
meters
CAM2_RELAY_ON: CAMERA RELAY ON VALUE¶
This sets whether the relay goes high or low when it triggers. Note that you
should also set RELAY_DEFAULT appropriately for your camera
Values
Value
Meaning
0
Low
1
High
CAM2_INTRVAL_MIN: CAMERA MINIMUM TIME INTERVAL BETWEEN PHOTOS¶
Postpone shooting if previous picture was taken less than this many seconds ago
Range
Units
0 to 10
seconds
CAM2_FEEDBAK_PIN: CAMERA FEEDBACK PIN¶
Note: Reboot required after change
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. Some common
values are given, but see the Wiki's "GPIOs" page for how to determine the pin
number for a given autopilot. See also the CAMx_FEEDBCK_POL option.
Values
Value
Meaning
-1
Disabled
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
CAM2_FEEDBAK_POL: CAMERA FEEDBACK PIN POLARITY¶
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
Values
Value
Meaning
0
TriggerLow
1
TriggerHigh
CAM2_OPTIONS: CAMERA OPTIONS¶
Camera options bitmask
Bitmask
Bit
Meaning
0
Recording Starts at arming and stops at disarming
CAM2_MNT_INST: CAMERA MOUNT INSTANCE¶
Mount instance camera is associated with. 0 means camera and mount have
identical instance numbers e.g. camera1 and mount1
CAM2_HFOV: CAMERA HORIZONTAL FIELD OF VIEW¶
Camera horizontal field of view. 0 if unknown
Range
Units
0 to 360
degrees
CAM2_VFOV: CAMERA VERTICAL FIELD OF VIEW¶
Camera vertical field of view. 0 if unknown
Range
Units
0 to 180
degrees
CAM_RC_ PARAMETERS¶
CAM_RC_TYPE: RUNCAM DEVICE TYPE¶
RunCam device type used to determine OSD menu structure and shutter options.
Values
Value
Meaning
0
Disabled
1
RunCam Split Micro/RunCam with UART
2
RunCam Split
3
RunCam Split4 4k
4
RunCam Hybrid/RunCam Thumb Pro
5
Runcam 2 4k
CAM_RC_FEATURES: RUNCAM FEATURES AVAILABLE¶
Note: This parameter is for advanced users
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.
Bitmask
Bit
Meaning
0
Power Button
1
WiFi Button
2
Change Mode
3
5-Key OSD
4
Settings Access
5
DisplayPort
6
Start Recording
7
Stop Recording
CAM_RC_BT_DELAY: RUNCAM BOOT DELAY BEFORE ALLOWING UPDATES¶
Note: This parameter is for advanced users
Time it takes for the RunCam to become fully ready in ms. If this is too short
then commands can get out of sync.
CAM_RC_BTN_DELAY: RUNCAM BUTTON DELAY BEFORE ALLOWING FURTHER BUTTON PRESSES¶
Note: This parameter is for advanced users
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.
CAM_RC_MDE_DELAY: RUNCAM MODE DELAY BEFORE ALLOWING FURTHER BUTTON PRESSES¶
Note: This parameter is for advanced users
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.
CAM_RC_CONTROL: RUNCAM CONTROL OPTION¶
Note: This parameter is for advanced users
Specifies the allowed actions required to enter the OSD menu and other option
like autorecording
Bitmask
Bit
Meaning
0
Stick yaw right
1
Stick roll right
2
3-position switch
3
2-position switch
4
Autorecording enabled
CAN_ PARAMETERS¶
CAN_LOGLEVEL: LOGLEVEL¶
Note: This parameter is for advanced users
Loglevel for recording initialisation and debug information from CAN Interface
Range
Values
0 to 4
Value
Meaning
0
Log None
1
Log Error
2
Log Warning and below
3
Log Info and below
4
Log Everything
CAN_D1_ PARAMETERS¶
CAN_D1_PROTOCOL: ENABLE USE OF SPECIFIC PROTOCOL OVER VIRTUAL DRIVER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enabling this option starts selected protocol that will use this virtual driver
Values
Value
Meaning
0
Disabled
1
DroneCAN
4
PiccoloCAN
6
EFI_NWPMU
7
USD1
8
KDECAN
10
Scripting
11
Benewake
12
Scripting2
13
TOFSenseP
14
NanoRadar
CAN_D1_PROTOCOL2: SECONDARY PROTOCOL WITH 11 BIT CAN ADDRESSING¶
Note: This parameter is for advanced users
Note: Reboot required after change
Secondary protocol with 11 bit CAN addressing
Values
Value
Meaning
0
Disabled
7
USD1
10
Scripting
11
Benewake
12
Scripting2
13
TOFSenseP
14
NanoRadar
CAN_D1_PC_ PARAMETERS¶
CAN_D1_PC_ESC_BM: ESC CHANNELS¶
Note: This parameter is for advanced users
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo
CAN
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
CAN_D1_PC_ESC_RT: ESC OUTPUT RATE¶
Note: This parameter is for advanced users
Output rate of ESC command messages
Range
Units
1 to 500
hertz
CAN_D1_PC_SRV_BM: SERVO CHANNELS¶
Note: This parameter is for advanced users
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask
Bit
Meaning
0
Servo 1
1
Servo 2
2
Servo 3
3
Servo 4
4
Servo 5
5
Servo 6
6
Servo 7
7
Servo 8
8
Servo 9
9
Servo 10
10
Servo 11
11
Servo 12
12
Servo 13
13
Servo 14
14
Servo 15
15
Servo 16
CAN_D1_PC_SRV_RT: SERVO COMMAND OUTPUT RATE¶
Note: This parameter is for advanced users
Output rate of servo command messages
Range
Units
1 to 500
hertz
CAN_D1_PC_ECU_ID: ECU NODE ID¶
Note: This parameter is for advanced users
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle
messages. Set to 255 to broadcast to all ECUs.
Range
0 to 255
CAN_D1_PC_ECU_RT: ECU COMMAND OUTPUT RATE¶
Note: This parameter is for advanced users
Output rate of ECU command messages
Range
Units
1 to 500
hertz
CAN_D1_UC_ PARAMETERS¶
CAN_D1_UC_NODE: DRONECAN NODE THAT IS USED FOR THIS NETWORK¶
Note: This parameter is for advanced users
DroneCAN node should be set implicitly
Range
1 to 250
CAN_D1_UC_SRV_BM: OUTPUT CHANNELS TO BE TRANSMITTED AS SERVO OVER DRONECAN¶
Bitmask with one set for channel to be transmitted as a servo command over
DroneCAN
Bitmask
Bit
Meaning
0
Servo 1
1
Servo 2
2
Servo 3
3
Servo 4
4
Servo 5
5
Servo 6
6
Servo 7
7
Servo 8
8
Servo 9
9
Servo 10
10
Servo 11
11
Servo 12
12
Servo 13
13
Servo 14
14
Servo 15
15
Servo 16
16
Servo 17
17
Servo 18
18
Servo 19
19
Servo 20
20
Servo 21
21
Servo 22
22
Servo 23
23
Servo 24
24
Servo 25
25
Servo 26
26
Servo 27
27
Servo 28
28
Servo 29
29
Servo 30
30
Servo 31
31
Servo 32
CAN_D1_UC_ESC_BM: OUTPUT CHANNELS TO BE TRANSMITTED AS ESC OVER DRONECAN¶
Note: This parameter is for advanced users
Bitmask with one set for channel to be transmitted as a ESC command over
DroneCAN
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
CAN_D1_UC_SRV_RT: SERVO OUTPUT RATE¶
Note: This parameter is for advanced users
Maximum transmit rate for servo outputs
Range
Units
1 to 200
hertz
CAN_D1_UC_OPTION: DRONECAN OPTIONS¶
Note: This parameter is for advanced users
Option flags
Bitmask
Bit
Meaning
0
ClearDNADatabase
1
IgnoreDNANodeConflicts
2
EnableCanfd
3
IgnoreDNANodeUnhealthy
4
SendServoAsPWM
5
SendGNSS
6
UseHimarkServo
7
HobbyWingESC
8
EnableStats
CAN_D1_UC_NTF_RT: NOTIFY STATE RATE¶
Note: This parameter is for advanced users
Maximum transmit rate for Notify State Message
Range
Units
1 to 200
hertz
CAN_D1_UC_ESC_OF: ESC OUTPUT CHANNELS OFFSET¶
Note: This parameter is for advanced users
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for
more efficient packing of ESC command messages. If your ESCs are on servo
functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be
sent with the first 4 slots filled. This can be used for more efficient usage of
CAN bandwidth
Range
0 to 18
CAN_D1_UC_POOL: CAN POOL SIZE¶
Note: This parameter is for advanced users
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory
is needed for higher CAN bus loads
Range
1024 to 16384
CAN_D1_UC_ESC_RV: BITMASK FOR OUTPUT CHANNELS FOR REVERSIBLE ESCS OVER
DRONECAN.¶
Note: This parameter is for advanced users
Bitmask with one set for each output channel that uses a reversible ESC over
DroneCAN. Reversible ESCs use both positive and negative values in RawCommands,
with positive commanding the forward direction and negative commanding the
reverse direction.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
CAN_D1_UC_RLY_RT: DRONECAN RELAY OUTPUT RATE¶
Note: This parameter is for advanced users
Maximum transmit rate for relay outputs, note that this rate is per message each
message does 1 relay, so if with more relays will take longer to update at the
same rate, a extra message will be sent when a relay changes state
Range
Units
0 to 200
hertz
CAN_D1_UC_SER_EN: DRONECAN SERIAL ENABLE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enable DroneCAN virtual serial ports
Values
Value
Meaning
0
Disabled
1
Enabled
CAN_D1_UC_S1_NOD: SERIAL CAN REMOTE NODE NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
CAN remote node number for serial port
Range
0 to 127
CAN_D1_UC_S1_IDX: DRONECAN SERIAL1 INDEX¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial port number on remote CAN node
Range
Values
0 to 100
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
CAN_D1_UC_S1_BD: DRONECAN SERIAL DEFAULT BAUD RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial baud rate on remote CAN node
Values
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
2000
2000000
CAN_D1_UC_S1_PRO: SERIAL PROTOCOL OF DRONECAN SERIAL PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial protocol of DroneCAN serial port
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
CAN_D1_UC_S2_NOD: SERIAL CAN REMOTE NODE NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
CAN remote node number for serial port
Range
0 to 127
CAN_D1_UC_S2_IDX: SERIAL PORT NUMBER ON REMOTE CAN NODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial port number on remote CAN node
Range
Values
0 to 100
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
CAN_D1_UC_S2_BD: DRONECAN SERIAL DEFAULT BAUD RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial baud rate on remote CAN node
Values
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
2000
2000000
CAN_D1_UC_S2_PRO: SERIAL PROTOCOL OF DRONECAN SERIAL PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial protocol of DroneCAN serial port
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
CAN_D1_UC_S3_NOD: SERIAL CAN REMOTE NODE NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
CAN node number for serial port
Range
0 to 127
CAN_D1_UC_S3_IDX: SERIAL PORT NUMBER ON REMOTE CAN NODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial port number on remote CAN node
Range
Values
0 to 100
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
CAN_D1_UC_S3_BD: SERIAL BAUD RATE ON REMOTE CAN NODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial baud rate on remote CAN node
Values
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
2000
2000000
CAN_D1_UC_S3_PRO: SERIAL PROTOCOL OF DRONECAN SERIAL PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial protocol of DroneCAN serial port
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
CAN_D2_ PARAMETERS¶
CAN_D2_PROTOCOL: ENABLE USE OF SPECIFIC PROTOCOL OVER VIRTUAL DRIVER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enabling this option starts selected protocol that will use this virtual driver
Values
Value
Meaning
0
Disabled
1
DroneCAN
4
PiccoloCAN
6
EFI_NWPMU
7
USD1
8
KDECAN
10
Scripting
11
Benewake
12
Scripting2
13
TOFSenseP
14
NanoRadar
CAN_D2_PROTOCOL2: SECONDARY PROTOCOL WITH 11 BIT CAN ADDRESSING¶
Note: This parameter is for advanced users
Note: Reboot required after change
Secondary protocol with 11 bit CAN addressing
Values
Value
Meaning
0
Disabled
7
USD1
10
Scripting
11
Benewake
12
Scripting2
13
TOFSenseP
14
NanoRadar
CAN_D2_PC_ PARAMETERS¶
CAN_D2_PC_ESC_BM: ESC CHANNELS¶
Note: This parameter is for advanced users
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo
CAN
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
CAN_D2_PC_ESC_RT: ESC OUTPUT RATE¶
Note: This parameter is for advanced users
Output rate of ESC command messages
Range
Units
1 to 500
hertz
CAN_D2_PC_SRV_BM: SERVO CHANNELS¶
Note: This parameter is for advanced users
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask
Bit
Meaning
0
Servo 1
1
Servo 2
2
Servo 3
3
Servo 4
4
Servo 5
5
Servo 6
6
Servo 7
7
Servo 8
8
Servo 9
9
Servo 10
10
Servo 11
11
Servo 12
12
Servo 13
13
Servo 14
14
Servo 15
15
Servo 16
CAN_D2_PC_SRV_RT: SERVO COMMAND OUTPUT RATE¶
Note: This parameter is for advanced users
Output rate of servo command messages
Range
Units
1 to 500
hertz
CAN_D2_PC_ECU_ID: ECU NODE ID¶
Note: This parameter is for advanced users
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle
messages. Set to 255 to broadcast to all ECUs.
Range
0 to 255
CAN_D2_PC_ECU_RT: ECU COMMAND OUTPUT RATE¶
Note: This parameter is for advanced users
Output rate of ECU command messages
Range
Units
1 to 500
hertz
CAN_D2_UC_ PARAMETERS¶
CAN_D2_UC_NODE: DRONECAN NODE THAT IS USED FOR THIS NETWORK¶
Note: This parameter is for advanced users
DroneCAN node should be set implicitly
Range
1 to 250
CAN_D2_UC_SRV_BM: OUTPUT CHANNELS TO BE TRANSMITTED AS SERVO OVER DRONECAN¶
Bitmask with one set for channel to be transmitted as a servo command over
DroneCAN
Bitmask
Bit
Meaning
0
Servo 1
1
Servo 2
2
Servo 3
3
Servo 4
4
Servo 5
5
Servo 6
6
Servo 7
7
Servo 8
8
Servo 9
9
Servo 10
10
Servo 11
11
Servo 12
12
Servo 13
13
Servo 14
14
Servo 15
15
Servo 16
16
Servo 17
17
Servo 18
18
Servo 19
19
Servo 20
20
Servo 21
21
Servo 22
22
Servo 23
23
Servo 24
24
Servo 25
25
Servo 26
26
Servo 27
27
Servo 28
28
Servo 29
29
Servo 30
30
Servo 31
31
Servo 32
CAN_D2_UC_ESC_BM: OUTPUT CHANNELS TO BE TRANSMITTED AS ESC OVER DRONECAN¶
Note: This parameter is for advanced users
Bitmask with one set for channel to be transmitted as a ESC command over
DroneCAN
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
CAN_D2_UC_SRV_RT: SERVO OUTPUT RATE¶
Note: This parameter is for advanced users
Maximum transmit rate for servo outputs
Range
Units
1 to 200
hertz
CAN_D2_UC_OPTION: DRONECAN OPTIONS¶
Note: This parameter is for advanced users
Option flags
Bitmask
Bit
Meaning
0
ClearDNADatabase
1
IgnoreDNANodeConflicts
2
EnableCanfd
3
IgnoreDNANodeUnhealthy
4
SendServoAsPWM
5
SendGNSS
6
UseHimarkServo
7
HobbyWingESC
8
EnableStats
CAN_D2_UC_NTF_RT: NOTIFY STATE RATE¶
Note: This parameter is for advanced users
Maximum transmit rate for Notify State Message
Range
Units
1 to 200
hertz
CAN_D2_UC_ESC_OF: ESC OUTPUT CHANNELS OFFSET¶
Note: This parameter is for advanced users
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for
more efficient packing of ESC command messages. If your ESCs are on servo
functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be
sent with the first 4 slots filled. This can be used for more efficient usage of
CAN bandwidth
Range
0 to 18
CAN_D2_UC_POOL: CAN POOL SIZE¶
Note: This parameter is for advanced users
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory
is needed for higher CAN bus loads
Range
1024 to 16384
CAN_D2_UC_ESC_RV: BITMASK FOR OUTPUT CHANNELS FOR REVERSIBLE ESCS OVER
DRONECAN.¶
Note: This parameter is for advanced users
Bitmask with one set for each output channel that uses a reversible ESC over
DroneCAN. Reversible ESCs use both positive and negative values in RawCommands,
with positive commanding the forward direction and negative commanding the
reverse direction.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
CAN_D2_UC_RLY_RT: DRONECAN RELAY OUTPUT RATE¶
Note: This parameter is for advanced users
Maximum transmit rate for relay outputs, note that this rate is per message each
message does 1 relay, so if with more relays will take longer to update at the
same rate, a extra message will be sent when a relay changes state
Range
Units
0 to 200
hertz
CAN_D2_UC_SER_EN: DRONECAN SERIAL ENABLE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enable DroneCAN virtual serial ports
Values
Value
Meaning
0
Disabled
1
Enabled
CAN_D2_UC_S1_NOD: SERIAL CAN REMOTE NODE NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
CAN remote node number for serial port
Range
0 to 127
CAN_D2_UC_S1_IDX: DRONECAN SERIAL1 INDEX¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial port number on remote CAN node
Range
Values
0 to 100
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
CAN_D2_UC_S1_BD: DRONECAN SERIAL DEFAULT BAUD RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial baud rate on remote CAN node
Values
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
2000
2000000
CAN_D2_UC_S1_PRO: SERIAL PROTOCOL OF DRONECAN SERIAL PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial protocol of DroneCAN serial port
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
CAN_D2_UC_S2_NOD: SERIAL CAN REMOTE NODE NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
CAN remote node number for serial port
Range
0 to 127
CAN_D2_UC_S2_IDX: SERIAL PORT NUMBER ON REMOTE CAN NODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial port number on remote CAN node
Range
Values
0 to 100
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
CAN_D2_UC_S2_BD: DRONECAN SERIAL DEFAULT BAUD RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial baud rate on remote CAN node
Values
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
2000
2000000
CAN_D2_UC_S2_PRO: SERIAL PROTOCOL OF DRONECAN SERIAL PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial protocol of DroneCAN serial port
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
CAN_D2_UC_S3_NOD: SERIAL CAN REMOTE NODE NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
CAN node number for serial port
Range
0 to 127
CAN_D2_UC_S3_IDX: SERIAL PORT NUMBER ON REMOTE CAN NODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial port number on remote CAN node
Range
Values
0 to 100
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
CAN_D2_UC_S3_BD: SERIAL BAUD RATE ON REMOTE CAN NODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial baud rate on remote CAN node
Values
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
2000
2000000
CAN_D2_UC_S3_PRO: SERIAL PROTOCOL OF DRONECAN SERIAL PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial protocol of DroneCAN serial port
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
CAN_D3_ PARAMETERS¶
CAN_D3_PROTOCOL: ENABLE USE OF SPECIFIC PROTOCOL OVER VIRTUAL DRIVER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enabling this option starts selected protocol that will use this virtual driver
Values
Value
Meaning
0
Disabled
1
DroneCAN
4
PiccoloCAN
6
EFI_NWPMU
7
USD1
8
KDECAN
10
Scripting
11
Benewake
12
Scripting2
13
TOFSenseP
14
NanoRadar
CAN_D3_PROTOCOL2: SECONDARY PROTOCOL WITH 11 BIT CAN ADDRESSING¶
Note: This parameter is for advanced users
Note: Reboot required after change
Secondary protocol with 11 bit CAN addressing
Values
Value
Meaning
0
Disabled
7
USD1
10
Scripting
11
Benewake
12
Scripting2
13
TOFSenseP
14
NanoRadar
CAN_D3_PC_ PARAMETERS¶
CAN_D3_PC_ESC_BM: ESC CHANNELS¶
Note: This parameter is for advanced users
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo
CAN
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
CAN_D3_PC_ESC_RT: ESC OUTPUT RATE¶
Note: This parameter is for advanced users
Output rate of ESC command messages
Range
Units
1 to 500
hertz
CAN_D3_PC_SRV_BM: SERVO CHANNELS¶
Note: This parameter is for advanced users
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask
Bit
Meaning
0
Servo 1
1
Servo 2
2
Servo 3
3
Servo 4
4
Servo 5
5
Servo 6
6
Servo 7
7
Servo 8
8
Servo 9
9
Servo 10
10
Servo 11
11
Servo 12
12
Servo 13
13
Servo 14
14
Servo 15
15
Servo 16
CAN_D3_PC_SRV_RT: SERVO COMMAND OUTPUT RATE¶
Note: This parameter is for advanced users
Output rate of servo command messages
Range
Units
1 to 500
hertz
CAN_D3_PC_ECU_ID: ECU NODE ID¶
Note: This parameter is for advanced users
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle
messages. Set to 255 to broadcast to all ECUs.
Range
0 to 255
CAN_D3_PC_ECU_RT: ECU COMMAND OUTPUT RATE¶
Note: This parameter is for advanced users
Output rate of ECU command messages
Range
Units
1 to 500
hertz
CAN_D3_UC_ PARAMETERS¶
CAN_D3_UC_NODE: DRONECAN NODE THAT IS USED FOR THIS NETWORK¶
Note: This parameter is for advanced users
DroneCAN node should be set implicitly
Range
1 to 250
CAN_D3_UC_SRV_BM: OUTPUT CHANNELS TO BE TRANSMITTED AS SERVO OVER DRONECAN¶
Bitmask with one set for channel to be transmitted as a servo command over
DroneCAN
Bitmask
Bit
Meaning
0
Servo 1
1
Servo 2
2
Servo 3
3
Servo 4
4
Servo 5
5
Servo 6
6
Servo 7
7
Servo 8
8
Servo 9
9
Servo 10
10
Servo 11
11
Servo 12
12
Servo 13
13
Servo 14
14
Servo 15
15
Servo 16
16
Servo 17
17
Servo 18
18
Servo 19
19
Servo 20
20
Servo 21
21
Servo 22
22
Servo 23
23
Servo 24
24
Servo 25
25
Servo 26
26
Servo 27
27
Servo 28
28
Servo 29
29
Servo 30
30
Servo 31
31
Servo 32
CAN_D3_UC_ESC_BM: OUTPUT CHANNELS TO BE TRANSMITTED AS ESC OVER DRONECAN¶
Note: This parameter is for advanced users
Bitmask with one set for channel to be transmitted as a ESC command over
DroneCAN
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
CAN_D3_UC_SRV_RT: SERVO OUTPUT RATE¶
Note: This parameter is for advanced users
Maximum transmit rate for servo outputs
Range
Units
1 to 200
hertz
CAN_D3_UC_OPTION: DRONECAN OPTIONS¶
Note: This parameter is for advanced users
Option flags
Bitmask
Bit
Meaning
0
ClearDNADatabase
1
IgnoreDNANodeConflicts
2
EnableCanfd
3
IgnoreDNANodeUnhealthy
4
SendServoAsPWM
5
SendGNSS
6
UseHimarkServo
7
HobbyWingESC
8
EnableStats
CAN_D3_UC_NTF_RT: NOTIFY STATE RATE¶
Note: This parameter is for advanced users
Maximum transmit rate for Notify State Message
Range
Units
1 to 200
hertz
CAN_D3_UC_ESC_OF: ESC OUTPUT CHANNELS OFFSET¶
Note: This parameter is for advanced users
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for
more efficient packing of ESC command messages. If your ESCs are on servo
functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be
sent with the first 4 slots filled. This can be used for more efficient usage of
CAN bandwidth
Range
0 to 18
CAN_D3_UC_POOL: CAN POOL SIZE¶
Note: This parameter is for advanced users
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory
is needed for higher CAN bus loads
Range
1024 to 16384
CAN_D3_UC_ESC_RV: BITMASK FOR OUTPUT CHANNELS FOR REVERSIBLE ESCS OVER
DRONECAN.¶
Note: This parameter is for advanced users
Bitmask with one set for each output channel that uses a reversible ESC over
DroneCAN. Reversible ESCs use both positive and negative values in RawCommands,
with positive commanding the forward direction and negative commanding the
reverse direction.
Bitmask
Bit
Meaning
0
ESC 1
1
ESC 2
2
ESC 3
3
ESC 4
4
ESC 5
5
ESC 6
6
ESC 7
7
ESC 8
8
ESC 9
9
ESC 10
10
ESC 11
11
ESC 12
12
ESC 13
13
ESC 14
14
ESC 15
15
ESC 16
16
ESC 17
17
ESC 18
18
ESC 19
19
ESC 20
20
ESC 21
21
ESC 22
22
ESC 23
23
ESC 24
24
ESC 25
25
ESC 26
26
ESC 27
27
ESC 28
28
ESC 29
29
ESC 30
30
ESC 31
31
ESC 32
CAN_D3_UC_RLY_RT: DRONECAN RELAY OUTPUT RATE¶
Note: This parameter is for advanced users
Maximum transmit rate for relay outputs, note that this rate is per message each
message does 1 relay, so if with more relays will take longer to update at the
same rate, a extra message will be sent when a relay changes state
Range
Units
0 to 200
hertz
CAN_D3_UC_SER_EN: DRONECAN SERIAL ENABLE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enable DroneCAN virtual serial ports
Values
Value
Meaning
0
Disabled
1
Enabled
CAN_D3_UC_S1_NOD: SERIAL CAN REMOTE NODE NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
CAN remote node number for serial port
Range
0 to 127
CAN_D3_UC_S1_IDX: DRONECAN SERIAL1 INDEX¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial port number on remote CAN node
Range
Values
0 to 100
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
CAN_D3_UC_S1_BD: DRONECAN SERIAL DEFAULT BAUD RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial baud rate on remote CAN node
Values
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
2000
2000000
CAN_D3_UC_S1_PRO: SERIAL PROTOCOL OF DRONECAN SERIAL PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial protocol of DroneCAN serial port
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
CAN_D3_UC_S2_NOD: SERIAL CAN REMOTE NODE NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
CAN remote node number for serial port
Range
0 to 127
CAN_D3_UC_S2_IDX: SERIAL PORT NUMBER ON REMOTE CAN NODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial port number on remote CAN node
Range
Values
0 to 100
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
CAN_D3_UC_S2_BD: DRONECAN SERIAL DEFAULT BAUD RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial baud rate on remote CAN node
Values
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
2000
2000000
CAN_D3_UC_S2_PRO: SERIAL PROTOCOL OF DRONECAN SERIAL PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial protocol of DroneCAN serial port
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
CAN_D3_UC_S3_NOD: SERIAL CAN REMOTE NODE NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
CAN node number for serial port
Range
0 to 127
CAN_D3_UC_S3_IDX: SERIAL PORT NUMBER ON REMOTE CAN NODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial port number on remote CAN node
Range
Values
0 to 100
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
CAN_D3_UC_S3_BD: SERIAL BAUD RATE ON REMOTE CAN NODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial baud rate on remote CAN node
Values
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
2000
2000000
CAN_D3_UC_S3_PRO: SERIAL PROTOCOL OF DRONECAN SERIAL PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
Serial protocol of DroneCAN serial port
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
CAN_P1_ PARAMETERS¶
CAN_P1_DRIVER: INDEX OF VIRTUAL DRIVER TO BE USED WITH PHYSICAL CAN INTERFACE¶
Note: Reboot required after change
Enabling this option enables use of CAN buses.
Values
Value
Meaning
0
Disabled
1
First driver
2
Second driver
3
Third driver
CAN_P1_BITRATE: BITRATE OF CAN INTERFACE¶
Note: This parameter is for advanced users
Bit rate can be set up to from 10000 to 1000000
Range
10000 to 1000000
CAN_P1_FDBITRATE: BITRATE OF CANFD INTERFACE¶
Note: This parameter is for advanced users
Bit rate can be set up to from 1000000 to 8000000
Values
Value
Meaning
1
1M
2
2M
4
4M
5
5M
8
8M
CAN_P2_ PARAMETERS¶
CAN_P2_DRIVER: INDEX OF VIRTUAL DRIVER TO BE USED WITH PHYSICAL CAN INTERFACE¶
Note: Reboot required after change
Enabling this option enables use of CAN buses.
Values
Value
Meaning
0
Disabled
1
First driver
2
Second driver
3
Third driver
CAN_P2_BITRATE: BITRATE OF CAN INTERFACE¶
Note: This parameter is for advanced users
Bit rate can be set up to from 10000 to 1000000
Range
10000 to 1000000
CAN_P2_FDBITRATE: BITRATE OF CANFD INTERFACE¶
Note: This parameter is for advanced users
Bit rate can be set up to from 1000000 to 8000000
Values
Value
Meaning
1
1M
2
2M
4
4M
5
5M
8
8M
CAN_P3_ PARAMETERS¶
CAN_P3_DRIVER: INDEX OF VIRTUAL DRIVER TO BE USED WITH PHYSICAL CAN INTERFACE¶
Note: Reboot required after change
Enabling this option enables use of CAN buses.
Values
Value
Meaning
0
Disabled
1
First driver
2
Second driver
3
Third driver
CAN_P3_BITRATE: BITRATE OF CAN INTERFACE¶
Note: This parameter is for advanced users
Bit rate can be set up to from 10000 to 1000000
Range
10000 to 1000000
CAN_P3_FDBITRATE: BITRATE OF CANFD INTERFACE¶
Note: This parameter is for advanced users
Bit rate can be set up to from 1000000 to 8000000
Values
Value
Meaning
1
1M
2
2M
4
4M
5
5M
8
8M
CAN_SLCAN_ PARAMETERS¶
CAN_SLCAN_CPORT: SLCAN ROUTE¶
Note: Reboot required after change
CAN Interface ID to be routed to SLCAN, 0 means no routing
Values
Value
Meaning
0
Disabled
1
First interface
2
Second interface
CAN_SLCAN_SERNUM: SLCAN SERIAL PORT¶
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
Values
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
CAN_SLCAN_TIMOUT: SLCAN TIMEOUT¶
Duration of inactivity after which SLCAN is switched back to original driver in
seconds.
Range
0 to 127
CAN_SLCAN_SDELAY: SLCAN START DELAY¶
Duration after which slcan starts after setting SERNUM in seconds.
Range
0 to 127
CHUTE_ PARAMETERS¶
CHUTE_ENABLED: PARACHUTE RELEASE ENABLED OR DISABLED¶
Parachute release enabled or disabled
Values
Value
Meaning
0
Disabled
1
Enabled
CHUTE_TYPE: PARACHUTE RELEASE MECHANISM TYPE (RELAY OR SERVO)¶
Parachute release mechanism type (relay number in versions prior to 4.5, or
servo). Values 0-3 all are relay. Relay number used for release is set by
RELAYx_FUNCTION in 4.5 or later.
Values
Value
Meaning
0
Relay
10
Servo
CHUTE_SERVO_ON: PARACHUTE SERVO ON PWM VALUE¶
Parachute Servo PWM value in microseconds when parachute is released
Increment
Range
Units
1
1000 to 2000
PWM in microseconds
CHUTE_SERVO_OFF: SERVO OFF PWM VALUE¶
Parachute Servo PWM value in microseconds when parachute is not released
Increment
Range
Units
1
1000 to 2000
PWM in microseconds
CHUTE_ALT_MIN: PARACHUTE MIN ALTITUDE IN METERS ABOVE HOME¶
Parachute min altitude above home. Parachute will not be released below this
altitude. 0 to disable alt check.
Increment
Range
Units
1
0 to 32000
meters
CHUTE_DELAY_MS: PARACHUTE RELEASE DELAY¶
Delay in millseconds between motor stop and chute release
Increment
Range
Units
1
0 to 5000
milliseconds
CHUTE_CRT_SINK: CRITICAL SINK SPEED RATE IN M/S TO TRIGGER EMERGENCY PARACHUTE¶
Release parachute when critical sink rate is reached
Increment
Range
Units
1
0 to 15
meters per second
CHUTE_OPTIONS: PARACHUTE OPTIONS¶
Optional behaviour for parachute
Bitmask
Bit
Meaning
0
hold open forever after release
1
skip disarm before parachute release
COMPASS_ PARAMETERS¶
COMPASS_OFS_X: COMPASS OFFSETS IN MILLIGAUSS ON THE X AXIS¶
Note: This parameter is for advanced users
Offset to be added to the compass x-axis values to compensate for metal in the
frame
Calibration
Increment
Range
Units
1
1
-400 to 400
milligauss
COMPASS_OFS_Y: COMPASS OFFSETS IN MILLIGAUSS ON THE Y AXIS¶
Note: This parameter is for advanced users
Offset to be added to the compass y-axis values to compensate for metal in the
frame
Calibration
Increment
Range
Units
1
1
-400 to 400
milligauss
COMPASS_OFS_Z: COMPASS OFFSETS IN MILLIGAUSS ON THE Z AXIS¶
Note: This parameter is for advanced users
Offset to be added to the compass z-axis values to compensate for metal in the
frame
Increment
Range
Units
1
-400 to 400
milligauss
COMPASS_DEC: COMPASS DECLINATION¶
An angle to compensate between the true north and magnetic north
Increment
Range
Units
0.01
-3.142 to 3.142
radians
COMPASS_LEARN: LEARN COMPASS OFFSETS AUTOMATICALLY¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
Disabled
1
Internal-Learning
2
EKF-Learning
3
InFlight-Learning
COMPASS_USE: USE COMPASS FOR YAW¶
Note: This parameter is for advanced users
Enable or disable the use of the compass (instead of the GPS) for determining
heading
Values
Value
Meaning
0
Disabled
1
Enabled
COMPASS_AUTODEC: AUTO DECLINATION¶
Note: This parameter is for advanced users
Enable or disable the automatic calculation of the declination based on gps
location
Values
Value
Meaning
0
Disabled
1
Enabled
COMPASS_MOTCT: MOTOR INTERFERENCE COMPENSATION TYPE¶
Note: This parameter is for advanced users
Set motor interference compensation type to disabled, throttle or current. Do
not change manually.
Calibration
Values
1
Value
Meaning
0
Disabled
1
Use Throttle
2
Use Current
COMPASS_MOT_X: MOTOR INTERFERENCE COMPENSATION FOR BODY FRAME X AXIS¶
Note: This parameter is for advanced users
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)
Calibration
Increment
Range
Units
1
1
-1000 to 1000
milligauss per ampere
COMPASS_MOT_Y: MOTOR INTERFERENCE COMPENSATION FOR BODY FRAME Y AXIS¶
Note: This parameter is for advanced users
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)
Calibration
Increment
Range
Units
1
1
-1000 to 1000
milligauss per ampere
COMPASS_MOT_Z: MOTOR INTERFERENCE COMPENSATION FOR BODY FRAME Z AXIS¶
Note: This parameter is for advanced users
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)
Increment
Range
Units
1
-1000 to 1000
milligauss per ampere
COMPASS_ORIENT: COMPASS ORIENTATION¶
Note: This parameter is for advanced users
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. The
label for each option is specified in the order of rotations for that
orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to
set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions
provide two general custom rotations which can be used, Custom 1 and Custom 2,
with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values
Value
Meaning
0
None
1
Yaw45
2
Yaw90
3
Yaw135
4
Yaw180
5
Yaw225
6
Yaw270
7
Yaw315
8
Roll180
9
Yaw45Roll180
10
Yaw90Roll180
11
Yaw135Roll180
12
Pitch180
13
Yaw225Roll180
14
Yaw270Roll180
15
Yaw315Roll180
16
Roll90
17
Yaw45Roll90
18
Yaw90Roll90
19
Yaw135Roll90
20
Roll270
21
Yaw45Roll270
22
Yaw90Roll270
23
Yaw135Roll270
24
Pitch90
25
Pitch270
26
Yaw90Pitch180
27
Yaw270Pitch180
28
Pitch90Roll90
29
Pitch90Roll180
30
Pitch90Roll270
31
Pitch180Roll90
32
Pitch180Roll270
33
Pitch270Roll90
34
Pitch270Roll180
35
Pitch270Roll270
36
Yaw90Pitch180Roll90
37
Yaw270Roll90
38
Yaw293Pitch68Roll180
39
Pitch315
40
Pitch315Roll90
42
Roll45
43
Roll315
100
Custom 4.1 and older
101
Custom 1
102
Custom 2
COMPASS_EXTERNAL: COMPASS IS ATTACHED VIA AN EXTERNAL CABLE¶
Note: This parameter is for advanced users
Configure compass so it is attached externally. This is auto-detected on most
boards. 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.
Values
Value
Meaning
0
Internal
1
External
2
ForcedExternal
COMPASS_OFS2_X: COMPASS2 OFFSETS IN MILLIGAUSS ON THE X AXIS¶
Note: This parameter is for advanced users
Offset to be added to compass2's x-axis values to compensate for metal in the
frame
Calibration
Increment
Range
Units
1
1
-400 to 400
milligauss
COMPASS_OFS2_Y: COMPASS2 OFFSETS IN MILLIGAUSS ON THE Y AXIS¶
Note: This parameter is for advanced users
Offset to be added to compass2's y-axis values to compensate for metal in the
frame
Calibration
Increment
Range
Units
1
1
-400 to 400
milligauss
COMPASS_OFS2_Z: COMPASS2 OFFSETS IN MILLIGAUSS ON THE Z AXIS¶
Note: This parameter is for advanced users
Offset to be added to compass2's z-axis values to compensate for metal in the
frame
Increment
Range
Units
1
-400 to 400
milligauss
COMPASS_MOT2_X: MOTOR INTERFERENCE COMPENSATION TO COMPASS2 FOR BODY FRAME X
AXIS¶
Note: This parameter is for advanced users
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)
Calibration
Increment
Range
Units
1
1
-1000 to 1000
milligauss per ampere
COMPASS_MOT2_Y: MOTOR INTERFERENCE COMPENSATION TO COMPASS2 FOR BODY FRAME Y
AXIS¶
Note: This parameter is for advanced users
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)
Calibration
Increment
Range
Units
1
1
-1000 to 1000
milligauss per ampere
COMPASS_MOT2_Z: MOTOR INTERFERENCE COMPENSATION TO COMPASS2 FOR BODY FRAME Z
AXIS¶
Note: This parameter is for advanced users
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)
Increment
Range
Units
1
-1000 to 1000
milligauss per ampere
COMPASS_OFS3_X: COMPASS3 OFFSETS IN MILLIGAUSS ON THE X AXIS¶
Note: This parameter is for advanced users
Offset to be added to compass3's x-axis values to compensate for metal in the
frame
Calibration
Increment
Range
Units
1
1
-400 to 400
milligauss
COMPASS_OFS3_Y: COMPASS3 OFFSETS IN MILLIGAUSS ON THE Y AXIS¶
Note: This parameter is for advanced users
Offset to be added to compass3's y-axis values to compensate for metal in the
frame
Calibration
Increment
Range
Units
1
1
-400 to 400
milligauss
COMPASS_OFS3_Z: COMPASS3 OFFSETS IN MILLIGAUSS ON THE Z AXIS¶
Note: This parameter is for advanced users
Offset to be added to compass3's z-axis values to compensate for metal in the
frame
Increment
Range
Units
1
-400 to 400
milligauss
COMPASS_MOT3_X: MOTOR INTERFERENCE COMPENSATION TO COMPASS3 FOR BODY FRAME X
AXIS¶
Note: This parameter is for advanced users
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)
Calibration
Increment
Range
Units
1
1
-1000 to 1000
milligauss per ampere
COMPASS_MOT3_Y: MOTOR INTERFERENCE COMPENSATION TO COMPASS3 FOR BODY FRAME Y
AXIS¶
Note: This parameter is for advanced users
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)
Calibration
Increment
Range
Units
1
1
-1000 to 1000
milligauss per ampere
COMPASS_MOT3_Z: MOTOR INTERFERENCE COMPENSATION TO COMPASS3 FOR BODY FRAME Z
AXIS¶
Note: This parameter is for advanced users
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)
Increment
Range
Units
1
-1000 to 1000
milligauss per ampere
COMPASS_DEV_ID: COMPASS DEVICE ID¶
Note: This parameter is for advanced users
Compass device id. Automatically detected, do not set manually
ReadOnly
True
COMPASS_DEV_ID2: COMPASS2 DEVICE ID¶
Note: This parameter is for advanced users
Second compass's device id. Automatically detected, do not set manually
ReadOnly
True
COMPASS_DEV_ID3: COMPASS3 DEVICE ID¶
Note: This parameter is for advanced users
Third compass's device id. Automatically detected, do not set manually
ReadOnly
True
COMPASS_USE2: COMPASS2 USED FOR YAW¶
Note: This parameter is for advanced users
Enable or disable the secondary compass for determining heading.
Values
Value
Meaning
0
Disabled
1
Enabled
COMPASS_ORIENT2: COMPASS2 ORIENTATION¶
Note: This parameter is for advanced users
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. The
label for each option is specified in the order of rotations for that
orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to
set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions
provide two general custom rotations which can be used, Custom 1 and Custom 2,
with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values
Value
Meaning
0
None
1
Yaw45
2
Yaw90
3
Yaw135
4
Yaw180
5
Yaw225
6
Yaw270
7
Yaw315
8
Roll180
9
Yaw45Roll180
10
Yaw90Roll180
11
Yaw135Roll180
12
Pitch180
13
Yaw225Roll180
14
Yaw270Roll180
15
Yaw315Roll180
16
Roll90
17
Yaw45Roll90
18
Yaw90Roll90
19
Yaw135Roll90
20
Roll270
21
Yaw45Roll270
22
Yaw90Roll270
23
Yaw135Roll270
24
Pitch90
25
Pitch270
26
Yaw90Pitch180
27
Yaw270Pitch180
28
Pitch90Roll90
29
Pitch90Roll180
30
Pitch90Roll270
31
Pitch180Roll90
32
Pitch180Roll270
33
Pitch270Roll90
34
Pitch270Roll180
35
Pitch270Roll270
36
Yaw90Pitch180Roll90
37
Yaw270Roll90
38
Yaw293Pitch68Roll180
39
Pitch315
40
Pitch315Roll90
42
Roll45
43
Roll315
100
Custom 4.1 and older
101
Custom 1
102
Custom 2
COMPASS_EXTERN2: COMPASS2 IS ATTACHED VIA AN EXTERNAL CABLE¶
Note: This parameter is for advanced users
Configure second compass so it is attached externally. This is auto-detected on
most boards. 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.
Values
Value
Meaning
0
Internal
1
External
2
ForcedExternal
COMPASS_USE3: COMPASS3 USED FOR YAW¶
Note: This parameter is for advanced users
Enable or disable the tertiary compass for determining heading.
Values
Value
Meaning
0
Disabled
1
Enabled
COMPASS_ORIENT3: COMPASS3 ORIENTATION¶
Note: This parameter is for advanced users
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. The
label for each option is specified in the order of rotations for that
orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to
set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions
provide two general custom rotations which can be used, Custom 1 and Custom 2,
with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values
Value
Meaning
0
None
1
Yaw45
2
Yaw90
3
Yaw135
4
Yaw180
5
Yaw225
6
Yaw270
7
Yaw315
8
Roll180
9
Yaw45Roll180
10
Yaw90Roll180
11
Yaw135Roll180
12
Pitch180
13
Yaw225Roll180
14
Yaw270Roll180
15
Yaw315Roll180
16
Roll90
17
Yaw45Roll90
18
Yaw90Roll90
19
Yaw135Roll90
20
Roll270
21
Yaw45Roll270
22
Yaw90Roll270
23
Yaw135Roll270
24
Pitch90
25
Pitch270
26
Yaw90Pitch180
27
Yaw270Pitch180
28
Pitch90Roll90
29
Pitch90Roll180
30
Pitch90Roll270
31
Pitch180Roll90
32
Pitch180Roll270
33
Pitch270Roll90
34
Pitch270Roll180
35
Pitch270Roll270
36
Yaw90Pitch180Roll90
37
Yaw270Roll90
38
Yaw293Pitch68Roll180
39
Pitch315
40
Pitch315Roll90
42
Roll45
43
Roll315
100
Custom 4.1 and older
101
Custom 1
102
Custom 2
COMPASS_EXTERN3: COMPASS3 IS ATTACHED VIA AN EXTERNAL CABLE¶
Note: This parameter is for advanced users
Configure third compass so it is attached externally. This is auto-detected on
most boards. 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.
Values
Value
Meaning
0
Internal
1
External
2
ForcedExternal
COMPASS_DIA_X: COMPASS SOFT-IRON DIAGONAL X COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_DIA_Y: COMPASS SOFT-IRON DIAGONAL Y COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_DIA_Z: COMPASS SOFT-IRON DIAGONAL Z COMPONENT¶
Note: This parameter is for advanced users
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]]
COMPASS_ODI_X: COMPASS SOFT-IRON OFF-DIAGONAL X COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_ODI_Y: COMPASS SOFT-IRON OFF-DIAGONAL Y COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_ODI_Z: COMPASS SOFT-IRON OFF-DIAGONAL Z COMPONENT¶
Note: This parameter is for advanced users
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]]
COMPASS_DIA2_X: COMPASS2 SOFT-IRON DIAGONAL X COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_DIA2_Y: COMPASS2 SOFT-IRON DIAGONAL Y COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_DIA2_Z: COMPASS2 SOFT-IRON DIAGONAL Z COMPONENT¶
Note: This parameter is for advanced users
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]]
COMPASS_ODI2_X: COMPASS2 SOFT-IRON OFF-DIAGONAL X COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_ODI2_Y: COMPASS2 SOFT-IRON OFF-DIAGONAL Y COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_ODI2_Z: COMPASS2 SOFT-IRON OFF-DIAGONAL Z COMPONENT¶
Note: This parameter is for advanced users
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]]
COMPASS_DIA3_X: COMPASS3 SOFT-IRON DIAGONAL X COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_DIA3_Y: COMPASS3 SOFT-IRON DIAGONAL Y COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_DIA3_Z: COMPASS3 SOFT-IRON DIAGONAL Z COMPONENT¶
Note: This parameter is for advanced users
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]]
COMPASS_ODI3_X: COMPASS3 SOFT-IRON OFF-DIAGONAL X COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_ODI3_Y: COMPASS3 SOFT-IRON OFF-DIAGONAL Y COMPONENT¶
Note: This parameter is for advanced users
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]]
Calibration
1
COMPASS_ODI3_Z: COMPASS3 SOFT-IRON OFF-DIAGONAL Z COMPONENT¶
Note: This parameter is for advanced users
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]]
COMPASS_CAL_FIT: COMPASS CALIBRATION FITNESS¶
Note: This parameter is for advanced users
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.
Increment
Range
Values
0.1
4 to 32
Value
Meaning
4
Very Strict
8
Strict
16
Default
32
Relaxed
COMPASS_OFFS_MAX: COMPASS MAXIMUM OFFSET¶
Note: This parameter is for advanced users
This sets the maximum allowed compass offset in calibration and arming checks
Increment
Range
1
500 to 3000
COMPASS_DISBLMSK: COMPASS DISABLE DRIVER TYPE MASK¶
Note: This parameter is for advanced users
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
Bitmask
Bit
Meaning
0
HMC5883
1
LSM303D
2
AK8963
3
BMM150
4
LSM9DS1
5
LIS3MDL
6
AK09916
7
IST8310
8
ICM20948
9
MMC3416
11
DroneCAN
12
QMC5883
14
MAG3110
15
IST8308
16
RM3100
17
MSP
18
ExternalAHRS
COMPASS_FLTR_RNG: RANGE IN WHICH SAMPLE IS ACCEPTED¶
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.
Increment
Range
Units
1
0 to 100
percent
COMPASS_AUTO_ROT: AUTOMATICALLY CHECK ORIENTATION¶
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.
Values
Value
Meaning
0
Disabled
1
CheckOnly
2
CheckAndFix
3
use same tolerance to auto rotate 45 deg rotations
COMPASS_PRIO1_ID: COMPASS DEVICE ID WITH 1ST ORDER PRIORITY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Compass device id with 1st order priority, set automatically if 0. Reboot
required after change.
COMPASS_PRIO2_ID: COMPASS DEVICE ID WITH 2ND ORDER PRIORITY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Compass device id with 2nd order priority, set automatically if 0. Reboot
required after change.
COMPASS_PRIO3_ID: COMPASS DEVICE ID WITH 3RD ORDER PRIORITY¶
Note: This parameter is for advanced users
Note: Reboot required after change
Compass device id with 3rd order priority, set automatically if 0. Reboot
required after change.
COMPASS_ENABLE: ENABLE COMPASS¶
Note: 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.
Values
Value
Meaning
0
Disabled
1
Enabled
COMPASS_SCALE: COMPASS1 SCALE FACTOR¶
Scaling factor for first compass to compensate for sensor scaling errors. If
this is 0 then no scaling is done
Range
0 to 1.3
COMPASS_SCALE2: COMPASS2 SCALE FACTOR¶
Scaling factor for 2nd compass to compensate for sensor scaling errors. If this
is 0 then no scaling is done
Range
0 to 1.3
COMPASS_SCALE3: COMPASS3 SCALE FACTOR¶
Scaling factor for 3rd compass to compensate for sensor scaling errors. If this
is 0 then no scaling is done
Range
0 to 1.3
COMPASS_OPTIONS: COMPASS OPTIONS¶
Note: This parameter is for advanced users
This sets options to change the behaviour of the compass
Bitmask
Bit
Meaning
0
CalRequireGPS
1
Allow missing DroneCAN compasses to be automaticaly replaced (calibration still
required)
COMPASS_DEV_ID4: COMPASS4 DEVICE ID¶
Note: This parameter is for advanced users
Extra 4th compass's device id. Automatically detected, do not set manually
ReadOnly
True
COMPASS_DEV_ID5: COMPASS5 DEVICE ID¶
Note: This parameter is for advanced users
Extra 5th compass's device id. Automatically detected, do not set manually
ReadOnly
True
COMPASS_DEV_ID6: COMPASS6 DEVICE ID¶
Note: This parameter is for advanced users
Extra 6th compass's device id. Automatically detected, do not set manually
ReadOnly
True
COMPASS_DEV_ID7: COMPASS7 DEVICE ID¶
Note: This parameter is for advanced users
Extra 7th compass's device id. Automatically detected, do not set manually
ReadOnly
True
COMPASS_DEV_ID8: COMPASS8 DEVICE ID¶
Note: This parameter is for advanced users
Extra 8th compass's device id. Automatically detected, do not set manually
ReadOnly
True
COMPASS_CUS_ROLL: CUSTOM ORIENTATION ROLL OFFSET¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
Range
Units
1
-180 to 180
degrees
COMPASS_CUS_PIT: CUSTOM ORIENTATION PITCH OFFSET¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
Range
Units
1
-180 to 180
degrees
COMPASS_CUS_YAW: CUSTOM ORIENTATION YAW OFFSET¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
Range
Units
1
-180 to 180
degrees
COMPASS_PMOT PARAMETERS¶
COMPASS_PMOT_EN: PER-MOTOR COMPASS CORRECTION ENABLE¶
Note: This parameter is for advanced users
This enables per-motor compass corrections
Values
Value
Meaning
0
Disabled
1
Enabled
COMPASS_PMOT_EXP: PER-MOTOR EXPONENTIAL CORRECTION¶
Note: This parameter is for advanced users
This is the exponential correction for the power output of the motor for
per-motor compass correction
Increment
Range
0.01
0 to 2
COMPASS_PMOT1_X: COMPASS PER-MOTOR1 X¶
Note: This parameter is for advanced users
Compensation for X axis of motor1
COMPASS_PMOT1_Y: COMPASS PER-MOTOR1 Y¶
Note: This parameter is for advanced users
Compensation for Y axis of motor1
COMPASS_PMOT1_Z: COMPASS PER-MOTOR1 Z¶
Note: This parameter is for advanced users
Compensation for Z axis of motor1
COMPASS_PMOT2_X: COMPASS PER-MOTOR2 X¶
Note: This parameter is for advanced users
Compensation for X axis of motor2
COMPASS_PMOT2_Y: COMPASS PER-MOTOR2 Y¶
Note: This parameter is for advanced users
Compensation for Y axis of motor2
COMPASS_PMOT2_Z: COMPASS PER-MOTOR2 Z¶
Note: This parameter is for advanced users
Compensation for Z axis of motor2
COMPASS_PMOT3_X: COMPASS PER-MOTOR3 X¶
Note: This parameter is for advanced users
Compensation for X axis of motor3
COMPASS_PMOT3_Y: COMPASS PER-MOTOR3 Y¶
Note: This parameter is for advanced users
Compensation for Y axis of motor3
COMPASS_PMOT3_Z: COMPASS PER-MOTOR3 Z¶
Note: This parameter is for advanced users
Compensation for Z axis of motor3
COMPASS_PMOT4_X: COMPASS PER-MOTOR4 X¶
Note: This parameter is for advanced users
Compensation for X axis of motor4
COMPASS_PMOT4_Y: COMPASS PER-MOTOR4 Y¶
Note: This parameter is for advanced users
Compensation for Y axis of motor4
COMPASS_PMOT4_Z: COMPASS PER-MOTOR4 Z¶
Note: This parameter is for advanced users
Compensation for Z axis of motor4
CUST_ROT PARAMETERS¶
CUST_ROT_ENABLE: ENABLE CUSTOM ROTATIONS¶
Note: Reboot required after change
This enables custom rotations
Values
Value
Meaning
0
Disable
1
Enable
CUST_ROT1_ PARAMETERS¶
CUST_ROT1_ROLL: CUSTOM ROLL¶
Note: Reboot required after change
Custom euler roll, euler 321 (yaw, pitch, roll) ordering
Units
degrees
CUST_ROT1_PITCH: CUSTOM PITCH¶
Note: Reboot required after change
Custom euler pitch, euler 321 (yaw, pitch, roll) ordering
Units
degrees
CUST_ROT1_YAW: CUSTOM YAW¶
Note: Reboot required after change
Custom euler yaw, euler 321 (yaw, pitch, roll) ordering
Units
degrees
CUST_ROT2_ PARAMETERS¶
CUST_ROT2_ROLL: CUSTOM ROLL¶
Note: Reboot required after change
Custom euler roll, euler 321 (yaw, pitch, roll) ordering
Units
degrees
CUST_ROT2_PITCH: CUSTOM PITCH¶
Note: Reboot required after change
Custom euler pitch, euler 321 (yaw, pitch, roll) ordering
Units
degrees
CUST_ROT2_YAW: CUSTOM YAW¶
Note: Reboot required after change
Custom euler yaw, euler 321 (yaw, pitch, roll) ordering
Units
degrees
DDS PARAMETERS¶
DDS_ENABLE: DDS ENABLE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enable DDS subsystem
Values
Value
Meaning
0
Disabled
1
Enabled
DDS_UDP_PORT: DDS UDP PORT¶
Note: Reboot required after change
UDP port number for DDS
Range
1 to 65535
DDS_IP PARAMETERS¶
DDS_IP0: IPV4 ADDRESS 1ST BYTE¶
Note: Reboot required after change
IPv4 address. Example: 192.xxx.xxx.xxx
Range
0 to 255
DDS_IP1: IPV4 ADDRESS 2ND BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.168.xxx.xxx
Range
0 to 255
DDS_IP2: IPV4 ADDRESS 3RD BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.13.xxx
Range
0 to 255
DDS_IP3: IPV4 ADDRESS 4TH BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.xxx.14
Range
0 to 255
DID_ PARAMETERS¶
DID_ENABLE: ENABLE ODID SUBSYSTEM¶
Enable ODID subsystem
Values
Value
Meaning
0
Disabled
1
Enabled
DID_MAVPORT: MAVLINK SERIAL PORT¶
Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using
DroneCAN.
Values
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
DID_CANDRIVER: DRONECAN DRIVER NUMBER¶
DroneCAN driver index, 0 to disable DroneCAN
Values
Value
Meaning
0
Disabled
1
Driver1
2
Driver2
DID_OPTIONS: OPENDRONEID OPTIONS¶
Options for OpenDroneID subsystem
Bitmask
Bit
Meaning
0
EnforceArming
1
AllowNonGPSPosition
2
LockUASIDOnFirstBasicIDRx
DID_BARO_ACC: BAROMETER VERTICAL ACCURAACY¶
Note: This parameter is for advanced users
Barometer Vertical Accuracy when installed in the vehicle. Note this is
dependent upon installation conditions and thus disabled by default
Units
meters
EAHRS PARAMETERS¶
EAHRS_TYPE: AHRS TYPE¶
Type of AHRS device
Values
Value
Meaning
0
None
1
VectorNav
2
MicroStrain5
5
InertialLabs
7
MicroStrain7
EAHRS_RATE: AHRS DATA RATE¶
Requested rate for AHRS device
Units
hertz
EAHRS_OPTIONS: EXTERNAL AHRS OPTIONS¶
External AHRS options bitmask
Bitmask
Bit
Meaning
0
Vector Nav use uncompensated values for accel gyro and mag.
EAHRS_SENSORS: EXTERNAL AHRS SENSORS¶
Note: This parameter is for advanced users
External AHRS sensors bitmask
Bitmask
Bit
Meaning
0
GPS
1
IMU
2
Baro
3
Compass
EAHRS_LOG_RATE: AHRS LOGGING RATE¶
Logging rate for EARHS devices
Units
hertz
EFI PARAMETERS¶
EFI_TYPE: EFI COMMUNICATION TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
What method of communication is used for EFI #1
Values
Value
Meaning
0
None
1
Serial-MS
2
NWPMU
3
Serial-Lutan
5
DroneCAN
6
Currawong-ECU
7
Scripting
8
Hirth
9
MAVLink
EFI_COEF1: EFI CALIBRATION COEFFICIENT 1¶
Note: This parameter is for advanced users
Used to calibrate fuel flow for MS protocol (Slope). This should be calculated
from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get
the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 =
fuel_usage_cm3permin / duty_cycle
Range
0 to 1
EFI_COEF2: EFI CALIBRATION COEFFICIENT 2¶
Note: This parameter is for advanced users
Used to calibrate fuel flow for MS protocol (Offset). This can be used to
correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1
Range
0 to 10
EFI_FUEL_DENS: ECU FUEL DENSITY¶
Note: This parameter is for advanced users
Used to calculate fuel consumption
Range
Units
0 to 10000
kilograms per cubic meter
EFI_THRLIN PARAMETERS¶
EFI_THRLIN_EN: ENABLE THROTTLE LINEARISATION¶
Note: This parameter is for advanced users
Enable EFI throttle linearisation
Values
Value
Meaning
0
Disabled
1
Enabled
EFI_THRLIN_COEF1: THROTTLE LINEARISATION - FIRST ORDER¶
Note: This parameter is for advanced users
Note: Reboot required after change
First Order Polynomial Coefficient. (=1, if throttle is first order polynomial
trendline)
Range
-1 to 1
EFI_THRLIN_COEF2: THROTTLE LINEARISATION - SECOND ORDER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Second Order Polynomial Coefficient (=0, if throttle is second order polynomial
trendline)
Range
-1 to 1
EFI_THRLIN_COEF3: THROTTLE LINEARISATION - THIRD ORDER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial
trendline)
Range
-1 to 1
EFI_THRLIN_OFS: THROTTLE LINEARIZATION OFFSET¶
Note: This parameter is for advanced users
Note: Reboot required after change
Offset for throttle linearization
Range
0 to 100
EK2_ PARAMETERS¶
EK2_ENABLE: ENABLE EKF2¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Values
Value
Meaning
0
Disabled
1
Enabled
EK2_GPS_TYPE: GPS MODE CONTROL¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
GPS 3D Vel and 2D Pos
1
GPS 2D vel and 2D pos
2
GPS 2D pos
3
No GPS
EK2_VELNE_M_NSE: GPS HORIZONTAL VELOCITY MEASUREMENT NOISE (M/S)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.05
0.05 to 5.0
meters per second
EK2_VELD_M_NSE: GPS VERTICAL VELOCITY MEASUREMENT NOISE (M/S)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.05
0.05 to 5.0
meters per second
EK2_VEL_I_GATE: GPS VELOCITY INNOVATION GATE SIZE¶
Note: This parameter is for advanced users
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 will be rejected. Increasing it makes it more
likely that bad measurements will be accepted.
Increment
Range
25
100 to 1000
EK2_POSNE_M_NSE: GPS HORIZONTAL POSITION MEASUREMENT NOISE (M)¶
Note: This parameter is for advanced users
This sets the GPS horizontal position observation noise. Increasing it reduces
the weighting of GPS horizontal position measurements.
Increment
Range
Units
0.1
0.1 to 10.0
meters
EK2_POS_I_GATE: GPS POSITION MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK2_GLITCH_RAD: GPS GLITCH RADIUS GATE SIZE (M)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
5
10 to 100
meters
EK2_ALT_SOURCE: PRIMARY ALTITUDE SENSOR SOURCE¶
Note: This parameter is for advanced users
Note: Reboot required after change
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).
Values
Value
Meaning
0
Use Baro
1
Use Range Finder
2
Use GPS
3
Use Range Beacon
EK2_ALT_M_NSE: ALTITUDE MEASUREMENT NOISE (M)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.1
0.1 to 10.0
meters
EK2_HGT_I_GATE: HEIGHT MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK2_HGT_DELAY: HEIGHT MEASUREMENT DELAY (MSEC)¶
Note: This parameter is for advanced users
Note: Reboot required after change
This is the number of msec that the Height measurements lag behind the inertial
measurements.
Increment
Range
Units
10
0 to 250
milliseconds
EK2_MAG_M_NSE: MAGNETOMETER MEASUREMENT NOISE (GAUSS)¶
Note: This parameter is for advanced users
This is the RMS value of noise in magnetometer measurements. Increasing it
reduces the weighting on these measurements.
Increment
Range
Units
0.01
0.01 to 0.5
gauss
EK2_MAG_CAL: MAGNETOMETER DEFAULT FUSION MODE¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
When flying
1
When manoeuvring
2
Never
3
After first climb yaw reset
4
Always
EK2_MAG_I_GATE: MAGNETOMETER MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK2_EAS_M_NSE: EQUIVALENT AIRSPEED MEASUREMENT NOISE (M/S)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.1
0.5 to 5.0
meters per second
EK2_EAS_I_GATE: AIRSPEED MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK2_RNG_M_NSE: RANGE FINDER MEASUREMENT NOISE (M)¶
Note: This parameter is for advanced users
This is the RMS value of noise in the range finder measurement. Increasing it
reduces the weighting on this measurement.
Increment
Range
Units
0.1
0.1 to 10.0
meters
EK2_RNG_I_GATE: RANGE FINDER MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK2_MAX_FLOW: MAXIMUM VALID OPTICAL FLOW RATE¶
Note: This parameter is for advanced users
This sets the magnitude maximum optical flow rate in rad/sec that will be
accepted by the filter
Increment
Range
Units
0.1
1.0 to 4.0
radians per second
EK2_FLOW_M_NSE: OPTICAL FLOW MEASUREMENT NOISE (RAD/S)¶
Note: This parameter is for advanced users
This is the RMS value of noise and errors in optical flow measurements.
Increasing it reduces the weighting on these measurements.
Increment
Range
Units
0.05
0.05 to 1.0
radians per second
EK2_FLOW_I_GATE: OPTICAL FLOW MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK2_FLOW_DELAY: OPTICAL FLOW MEASUREMENT DELAY (MSEC)¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
Range
Units
10
0 to 127
milliseconds
EK2_GYRO_P_NSE: RATE GYRO NOISE (RAD/S)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.0001
0.0001 to 0.1
radians per second
EK2_ACC_P_NSE: ACCELEROMETER NOISE (M/S^2)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
0.01 to 1.0
meters per square second
EK2_GBIAS_P_NSE: RATE GYRO BIAS STABILITY (RAD/S/S)¶
Note: This parameter is for advanced users
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.
Range
Units
0.00001 to 0.001
radians per square second
EK2_GSCL_P_NSE: RATE GYRO SCALE FACTOR STABILITY (1/S)¶
Note: This parameter is for advanced users
This noise controls the rate of gyro scale factor learning. Increasing it makes
rate gyro scale factor estimation faster and noisier.
Range
Units
0.000001 to 0.001
hertz
EK2_ABIAS_P_NSE: ACCELEROMETER BIAS STABILITY (M/S^3)¶
Note: This parameter is for advanced users
This noise controls the growth of the vertical accelerometer delta velocity bias
state error estimate. Increasing it makes accelerometer bias estimation faster
and noisier.
Range
Units
0.00001 to 0.005
meters per cubic second
EK2_WIND_P_NSE: WIND VELOCITY PROCESS NOISE (M/S^2)¶
Note: This parameter is for advanced users
This state process noise controls the growth of wind state error estimates.
Increasing it makes wind estimation faster and noisier.
Increment
Range
Units
0.1
0.01 to 1.0
meters per square second
EK2_WIND_PSCALE: HEIGHT RATE TO WIND PROCESS NOISE SCALER¶
Note: This parameter is for advanced users
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.
Increment
Range
0.1
0.0 to 1.0
EK2_GPS_CHECK: GPS PREFLIGHT CHECK¶
Note: This parameter is for advanced users
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.
Bitmask
Bit
Meaning
0
NSats
1
HDoP
2
speed error
3
position error
4
yaw error
5
pos drift
6
vert speed
7
horiz speed
EK2_IMU_MASK: BITMASK OF ACTIVE IMUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
FirstIMU
1
SecondIMU
2
ThirdIMU
3
FourthIMU
4
FifthIMU
5
SixthIMU
EK2_CHECK_SCALE: GPS ACCURACY CHECK SCALER (%)¶
Note: This parameter is for advanced users
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.
Range
Units
50 to 200
percent
EK2_NOAID_M_NSE: NON-GPS OPERATION POSITION UNCERTAINTY (M)¶
Note: This parameter is for advanced users
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.
Range
Units
0.5 to 50.0
meters
EK2_YAW_M_NSE: YAW MEASUREMENT NOISE (RAD)¶
Note: This parameter is for advanced users
This is the RMS value of noise in yaw measurements from the magnetometer.
Increasing it reduces the weighting on these measurements.
Increment
Range
Units
0.05
0.05 to 1.0
radians
EK2_YAW_I_GATE: YAW MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK2_TAU_OUTPUT: OUTPUT COMPLEMENTARY FILTER TIME CONSTANT (CENTI-SEC)¶
Note: This parameter is for advanced users
Sets the time constant of the output complementary filter/predictor in
centi-seconds.
Increment
Range
Units
5
10 to 50
centiseconds
EK2_MAGE_P_NSE: EARTH MAGNETIC FIELD PROCESS NOISE (GAUSS/S)¶
Note: This parameter is for advanced users
This state process noise controls the growth of earth magnetic field state error
estimates. Increasing it makes earth magnetic field estimation faster and
noisier.
Range
Units
0.00001 to 0.01
gauss per second
EK2_MAGB_P_NSE: BODY MAGNETIC FIELD PROCESS NOISE (GAUSS/S)¶
Note: This parameter is for advanced users
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
Units
0.00001 to 0.01
gauss per second
EK2_RNG_USE_HGT: RANGE FINDER SWITCH HEIGHT PERCENTAGE¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
-1 to 70
percent
EK2_TERR_GRAD: MAXIMUM TERRAIN GRADIENT¶
Note: This parameter is for advanced users
Specifies the maximum gradient of the terrain below the vehicle assumed when it
is fusing range finder or optical flow to estimate terrain height.
Increment
Range
0.01
0 to 0.2
EK2_BCN_M_NSE: RANGE BEACON MEASUREMENT NOISE (M)¶
Note: This parameter is for advanced users
This is the RMS value of noise in the range beacon measurement. Increasing it
reduces the weighting on this measurement.
Increment
Range
Units
0.1
0.1 to 10.0
meters
EK2_BCN_I_GTE: RANGE BEACON MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK2_BCN_DELAY: RANGE BEACON MEASUREMENT DELAY (MSEC)¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
Range
Units
10
0 to 127
milliseconds
EK2_RNG_USE_SPD: RANGE FINDER MAX GROUND SPEED¶
Note: This parameter is for advanced users
The range finder will not be used as the primary height source when the
horizontal ground speed is greater than this value.
Increment
Range
Units
0.5
2.0 to 6.0
meters per second
EK2_MAG_MASK: BITMASK OF ACTIVE EKF CORES THAT WILL ALWAYS USE HEADING FUSION¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
FirstEKF
1
SecondEKF
2
ThirdEKF
3
FourthEKF
4
FifthEKF
5
SixthEKF
EK2_OGN_HGT_MASK: BITMASK CONTROL OF EKF REFERENCE HEIGHT CORRECTION¶
Note: This parameter is for advanced users
Note: Reboot required after change
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).
Bitmask
Bit
Meaning
0
Correct when using Baro height
1
Correct when using range finder height
2
Apply corrections to local position
EK2_FLOW_USE: OPTICAL FLOW USE BITMASK¶
Note: This parameter is for advanced users
Note: Reboot required after change
Controls if the optical flow data is fused into the 24-state navigation
estimator OR the 1-state terrain height estimator.
Values
Value
Meaning
0
None
1
Navigation
2
Terrain
EK2_MAG_EF_LIM: EARTHFIELD ERROR LIMIT¶
Note: This parameter is for advanced users
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.
Range
Units
0 to 500
milligauss
EK2_HRT_FILT: HEIGHT RATE FILTER CROSSOVER FREQUENCY¶
Specifies the crossover frequency of the complementary filter used to calculate
the output predictor height rate derivative.
Range
Units
0.1 to 30.0
hertz
EK2_GSF_RUN_MASK: BITMASK OF WHICH EKF-GSF YAW ESTIMATORS RUN¶
Note: This parameter is for advanced users
Note: Reboot required after change
A bitmask 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_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw
estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0.
Bitmask
Bit
Meaning
0
FirstEKF
1
SecondEKF
2
ThirdEKF
3
FourthEKF
4
FifthEKF
5
SixthEKF
EK2_GSF_USE_MASK: BITMASK OF WHICH EKF-GSF YAW ESTIMATORS ARE USED¶
Note: This parameter is for advanced users
Note: Reboot required after change
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_MASK 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.
Bitmask
Bit
Meaning
0
FirstEKF
1
SecondEKF
2
ThirdEKF
3
FourthEKF
4
FifthEKF
5
SixthEKF
EK2_GSF_RST_MAX: MAXIMUM NUMBER OF RESETS TO THE EKF-GSF YAW ESTIMATE ALLOWED¶
Note: This parameter is for advanced users
Note: Reboot required after change
Sets the maximum number of times the EKF2 will be allowed to reset its 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_MASK
parameter.
Increment
Range
1
1 to 10
EK3_ PARAMETERS¶
EK3_ENABLE: ENABLE EKF3¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Values
Value
Meaning
0
Disabled
1
Enabled
EK3_VELNE_M_NSE: GPS HORIZONTAL VELOCITY MEASUREMENT NOISE (M/S)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.05
0.05 to 5.0
meters per second
EK3_VELD_M_NSE: GPS VERTICAL VELOCITY MEASUREMENT NOISE (M/S)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.05
0.05 to 5.0
meters per second
EK3_VEL_I_GATE: GPS VELOCITY INNOVATION GATE SIZE¶
Note: This parameter is for advanced users
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 will be rejected. Increasing it makes it more
likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the
velocity innovations will be clipped instead of rejected if they exceed the gate
size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to
limit the effect of GPS transient errors.
Increment
Range
25
100 to 1000
EK3_POSNE_M_NSE: GPS HORIZONTAL POSITION MEASUREMENT NOISE (M)¶
Note: This parameter is for advanced users
This sets the GPS horizontal position observation noise. Increasing it reduces
the weighting of GPS horizontal position measurements.
Increment
Range
Units
0.1
0.1 to 10.0
meters
EK3_POS_I_GATE: GPS POSITION MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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. If EK3_GLITCH_RAD has been set to
0 the horizontal position innovations will be clipped instead of rejected if
they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300
is recommended to limit the effect of GPS transient errors.
Increment
Range
25
100 to 1000
EK3_GLITCH_RAD: GPS GLITCH RADIUS GATE SIZE (M)¶
Note: This parameter is for advanced users
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. If EK3_GLITCH_RAD set to 0 the GPS
innovations will be clipped instead of rejected if they exceed the gate size set
by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor
data is causing GPS rejection and loss of navigation but does make the EKF more
susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to
reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.
Increment
Range
Units
5
10 to 100
meters
EK3_ALT_M_NSE: ALTITUDE MEASUREMENT NOISE (M)¶
Note: This parameter is for advanced users
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. A larger value for EK3_ALT_M_NSE may be required when
operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the
'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.
Increment
Range
Units
0.1
0.1 to 100.0
meters
EK3_HGT_I_GATE: HEIGHT MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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. If EK3_GLITCH_RAD set to 0 the vertical
position innovations will be clipped instead of rejected if they exceed the gate
size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to
limit the effect of height sensor transient errors.
Increment
Range
25
100 to 1000
EK3_HGT_DELAY: HEIGHT MEASUREMENT DELAY (MSEC)¶
Note: This parameter is for advanced users
Note: Reboot required after change
This is the number of msec that the Height measurements lag behind the inertial
measurements.
Increment
Range
Units
10
0 to 250
milliseconds
EK3_MAG_M_NSE: MAGNETOMETER MEASUREMENT NOISE (GAUSS)¶
Note: This parameter is for advanced users
This is the RMS value of noise in magnetometer measurements. Increasing it
reduces the weighting on these measurements.
Increment
Range
Units
0.01
0.01 to 0.5
gauss
EK3_MAG_CAL: MAGNETOMETER DEFAULT FUSION MODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Values
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)
EK3_MAG_I_GATE: MAGNETOMETER MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK3_EAS_M_NSE: EQUIVALENT AIRSPEED MEASUREMENT NOISE (M/S)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.1
0.5 to 5.0
meters per second
EK3_EAS_I_GATE: AIRSPEED MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK3_RNG_M_NSE: RANGE FINDER MEASUREMENT NOISE (M)¶
Note: This parameter is for advanced users
This is the RMS value of noise in the range finder measurement. Increasing it
reduces the weighting on this measurement.
Increment
Range
Units
0.1
0.1 to 10.0
meters
EK3_RNG_I_GATE: RANGE FINDER MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK3_MAX_FLOW: MAXIMUM VALID OPTICAL FLOW RATE¶
Note: This parameter is for advanced users
This sets the magnitude maximum optical flow rate in rad/sec that will be
accepted by the filter
Increment
Range
Units
0.1
1.0 to 4.0
radians per second
EK3_FLOW_M_NSE: OPTICAL FLOW MEASUREMENT NOISE (RAD/S)¶
Note: This parameter is for advanced users
This is the RMS value of noise and errors in optical flow measurements.
Increasing it reduces the weighting on these measurements.
Increment
Range
Units
0.05
0.05 to 1.0
radians per second
EK3_FLOW_I_GATE: OPTICAL FLOW MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK3_FLOW_DELAY: OPTICAL FLOW MEASUREMENT DELAY (MSEC)¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
Range
Units
10
0 to 250
milliseconds
EK3_GYRO_P_NSE: RATE GYRO NOISE (RAD/S)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.0001
0.0001 to 0.1
radians per second
EK3_ACC_P_NSE: ACCELEROMETER NOISE (M/S^2)¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
0.01 to 1.0
meters per square second
EK3_GBIAS_P_NSE: RATE GYRO BIAS STABILITY (RAD/S/S)¶
Note: This parameter is for advanced users
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.
Range
Units
0.00001 to 0.001
radians per square second
EK3_ABIAS_P_NSE: ACCELEROMETER BIAS STABILITY (M/S^3)¶
Note: This parameter is for advanced users
This noise controls the growth of the vertical accelerometer delta velocity bias
state error estimate. Increasing it makes accelerometer bias estimation faster
and noisier.
Range
Units
0.00001 to 0.02
meters per cubic second
EK3_WIND_P_NSE: WIND VELOCITY PROCESS NOISE (M/S^2)¶
Note: This parameter is for advanced users
This state process noise controls the growth of wind state error estimates.
Increasing it makes wind estimation faster and noisier.
Increment
Range
Units
0.1
0.01 to 2.0
meters per square second
EK3_WIND_PSCALE: HEIGHT RATE TO WIND PROCESS NOISE SCALER¶
Note: This parameter is for advanced users
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.
Increment
Range
0.1
0.0 to 2.0
EK3_GPS_CHECK: GPS PREFLIGHT CHECK¶
Note: This parameter is for advanced users
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.
Bitmask
Bit
Meaning
0
NSats
1
HDoP
2
speed error
3
position error
4
yaw error
5
pos drift
6
vert speed
7
horiz speed
EK3_IMU_MASK: BITMASK OF ACTIVE IMUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
FirstIMU
1
SecondIMU
2
ThirdIMU
3
FourthIMU
4
FifthIMU
5
SixthIMU
EK3_CHECK_SCALE: GPS ACCURACY CHECK SCALER (%)¶
Note: This parameter is for advanced users
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.
Range
Units
50 to 200
percent
EK3_NOAID_M_NSE: NON-GPS OPERATION POSITION UNCERTAINTY (M)¶
Note: This parameter is for advanced users
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.
Range
Units
0.5 to 50.0
meters
EK3_BETA_MASK: BITMASK CONTROLLING SIDELIP ANGLE FUSION¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
Always
1
WhenNoYawSensor
EK3_YAW_M_NSE: YAW MEASUREMENT NOISE (RAD)¶
Note: This parameter is for advanced users
This is the RMS value of noise in yaw measurements from the magnetometer.
Increasing it reduces the weighting on these measurements.
Increment
Range
Units
0.05
0.05 to 1.0
radians
EK3_YAW_I_GATE: YAW MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK3_TAU_OUTPUT: OUTPUT COMPLEMENTARY FILTER TIME CONSTANT (CENTI-SEC)¶
Note: This parameter is for advanced users
Sets the time constant of the output complementary filter/predictor in
centi-seconds.
Increment
Range
Units
5
10 to 50
centiseconds
EK3_MAGE_P_NSE: EARTH MAGNETIC FIELD PROCESS NOISE (GAUSS/S)¶
Note: This parameter is for advanced users
This state process noise controls the growth of earth magnetic field state error
estimates. Increasing it makes earth magnetic field estimation faster and
noisier.
Range
Units
0.00001 to 0.01
gauss per second
EK3_MAGB_P_NSE: BODY MAGNETIC FIELD PROCESS NOISE (GAUSS/S)¶
Note: This parameter is for advanced users
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
Units
0.00001 to 0.01
gauss per second
EK3_RNG_USE_HGT: RANGE FINDER SWITCH HEIGHT PERCENTAGE¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
1
-1 to 70
percent
EK3_TERR_GRAD: MAXIMUM TERRAIN GRADIENT¶
Note: This parameter is for advanced users
Specifies the maximum gradient of the terrain below the vehicle when it is using
range finder as a height reference
Increment
Range
0.01
0 to 0.2
EK3_BCN_M_NSE: RANGE BEACON MEASUREMENT NOISE (M)¶
Note: This parameter is for advanced users
This is the RMS value of noise in the range beacon measurement. Increasing it
reduces the weighting on this measurement.
Increment
Range
Units
0.1
0.1 to 10.0
meters
EK3_BCN_I_GTE: RANGE BEACON MEASUREMENT GATE SIZE¶
Note: This parameter is for advanced users
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.
Increment
Range
25
100 to 1000
EK3_BCN_DELAY: RANGE BEACON MEASUREMENT DELAY (MSEC)¶
Note: This parameter is for advanced users
Note: Reboot required after change
This is the number of msec that the range beacon measurements lag behind the
inertial measurements.
Increment
Range
Units
10
0 to 250
milliseconds
EK3_RNG_USE_SPD: RANGE FINDER MAX GROUND SPEED¶
Note: This parameter is for advanced users
The range finder will not be used as the primary height source when the
horizontal ground speed is greater than this value.
Increment
Range
Units
0.5
2.0 to 6.0
meters per second
EK3_ACC_BIAS_LIM: ACCELEROMETER BIAS LIMIT¶
Note: This parameter is for advanced users
The accelerometer bias state will be limited to +- this value
Increment
Range
Units
0.1
0.5 to 2.5
meters per square second
EK3_MAG_MASK: BITMASK OF ACTIVE EKF CORES THAT WILL ALWAYS USE HEADING FUSION¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
FirstEKF
1
SecondEKF
2
ThirdEKF
3
FourthEKF
4
FifthEKF
5
SixthEKF
EK3_OGN_HGT_MASK: BITMASK CONTROL OF EKF REFERENCE HEIGHT CORRECTION¶
Note: This parameter is for advanced users
Note: Reboot required after change
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).
Bitmask
Bit
Meaning
0
Correct when using Baro height
1
Correct when using range finder height
2
Apply corrections to local position
EK3_VIS_VERR_MIN: VISUAL ODOMETRY MINIMUM VELOCITY ERROR¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.05
0.05 to 0.5
meters per second
EK3_VIS_VERR_MAX: VISUAL ODOMETRY MAXIMUM VELOCITY ERROR¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.1
0.5 to 5.0
meters per second
EK3_WENC_VERR: WHEEL ODOMETRY VELOCITY ERROR¶
Note: This parameter is for advanced users
This is the 1-STD odometry velocity observation error that will be assumed when
wheel encoder data is being fused.
Increment
Range
Units
0.1
0.01 to 1.0
meters per second
EK3_FLOW_USE: OPTICAL FLOW USE BITMASK¶
Note: This parameter is for advanced users
Note: Reboot required after change
Controls if the optical flow data is fused into the 24-state navigation
estimator OR the 1-state terrain height estimator.
Values
Value
Meaning
0
None
1
Navigation
2
Terrain
EK3_HRT_FILT: HEIGHT RATE FILTER CROSSOVER FREQUENCY¶
Specifies the crossover frequency of the complementary filter used to calculate
the output predictor height rate derivative.
Range
Units
0.1 to 30.0
hertz
EK3_MAG_EF_LIM: EARTHFIELD ERROR LIMIT¶
Note: This parameter is for advanced users
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.
Range
Units
0 to 500
milligauss
EK3_GSF_RUN_MASK: BITMASK OF WHICH EKF-GSF YAW ESTIMATORS RUN¶
Note: This parameter is for advanced users
Note: Reboot required after change
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_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw
estimator in ride-along and logging only, set EK3_GSF_USE to 0.
Bitmask
Bit
Meaning
0
FirstEKF
1
SecondEKF
2
ThirdEKF
3
FourthEKF
4
FifthEKF
5
SixthEKF
EK3_GSF_USE_MASK: BITMASK OF WHICH EKF-GSF YAW ESTIMATORS ARE USED¶
Note: This parameter is for advanced users
Note: Reboot required after change
A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw
estimator that has been turned on by the EK3_GSF_RUN_MASK 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.
Bitmask
Bit
Meaning
0
FirstEKF
1
SecondEKF
2
ThirdEKF
3
FourthEKF
4
FifthEKF
5
SixthEKF
EK3_GSF_RST_MAX: MAXIMUM NUMBER OF RESETS TO THE EKF-GSF YAW ESTIMATE ALLOWED¶
Note: This parameter is for advanced users
Note: Reboot required after change
Sets the maximum number of times the EKF3 will be allowed to reset its 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_MASK
parameter.
Increment
Range
1
1 to 10
EK3_ERR_THRESH: EKF3 LANE RELATIVE ERROR SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Increment
Range
0.05
0.05 to 1
EK3_AFFINITY: EKF3 SENSOR AFFINITY OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
These options control the affinity between sensor instances and EKF cores
Bitmask
Bit
Meaning
0
EnableGPSAffinity
1
EnableBaroAffinity
2
EnableCompassAffinity
3
EnableAirspeedAffinity
EK3_DRAG_BCOEF_X: BALLISTIC COEFFICIENT FOR X AXIS DRAG¶
Note: This parameter is for advanced users
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_DRAG_MCOEF
parameter.
Range
Units
0.0 to 1000.0
kilograms per square meter
EK3_DRAG_BCOEF_Y: BALLISTIC COEFFICIENT FOR Y AXIS DRAG¶
Note: This parameter is for advanced users
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_DRAG_MCOEF
parameter.
Range
Units
50.0 to 1000.0
kilograms per square meter
EK3_DRAG_M_NSE: OBSERVATION NOISE FOR DRAG ACCELERATION¶
Note: This parameter is for advanced users
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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters
Increment
Range
Units
0.1
0.1 to 2.0
meters per square second
EK3_DRAG_MCOEF: MOMENTUM COEFFICIENT FOR PROPELLER DRAG¶
Note: This parameter is for advanced users
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_DRAG_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_DRAG_BCOEF_X
and EK3_DRAG_BCOEF_Y parameters.
Increment
Range
Units
0.01
0.0 to 1.0
per second
EK3_OGNM_TEST_SF: ON GROUND NOT MOVING TEST SCALE FACTOR¶
Note: This parameter is for advanced users
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.
Increment
Range
0.5
1.0 to 10.0
EK3_GND_EFF_DZ: BARO HEIGHT GROUND EFFECT DEAD ZONE¶
Note: This parameter is for advanced users
This parameter sets the size of the dead zone that is applied to negative baro
height spikes that can occur when taking 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.
Increment
Range
0.5
0.0 to 10.0
EK3_PRIMARY: PRIMARY CORE NUMBER¶
Note: This parameter is for advanced users
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.
Increment
Range
1
0 to 2
EK3_LOG_LEVEL: LOGGING LEVEL¶
Note: This parameter is for advanced users
Determines how verbose the EKF3 streaming logging is. A value of 0 provides full
logging(default), a value of 1 only XKF4 scaled innovations are logged, a value
of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming
logging of EKF3.
Increment
Range
1
0 to 3
EK3_GPS_VACC_MAX: GPS VERTICAL ACCURACY THRESHOLD¶
Note: This parameter is for advanced users
Vertical accuracy threshold for GPS as the altitude source. The GPS will not be
used as an altitude source if the reported vertical accuracy of the GPS is
larger than this threshold, falling back to baro instead. Set to zero to
deactivate the threshold check.
Increment
Range
Units
0.1
0.0 to 10.0
meters
EK3_OPTIONS: OPTIONAL EKF BEHAVIOUR¶
Note: This parameter is for advanced users
This controls optional EKF behaviour. Setting JammingExpected will change the
EKF nehaviour such that if dead reckoning navigation is possible it will require
the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and
EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more
than 2 seconds to prevent bad
Bitmask
Bit
Meaning
0
JammingExpected
EK3_SRC PARAMETERS¶
EK3_SRC1_POSXY: POSITION HORIZONTAL SOURCE (PRIMARY)¶
Note: This parameter is for advanced users
Position Horizontal Source (Primary)
Values
Value
Meaning
0
None
3
GPS
4
Beacon
6
ExternalNav
EK3_SRC1_VELXY: VELOCITY HORIZONTAL SOURCE¶
Note: This parameter is for advanced users
Velocity Horizontal Source
Values
Value
Meaning
0
None
3
GPS
4
Beacon
5
OpticalFlow
6
ExternalNav
7
WheelEncoder
EK3_SRC1_POSZ: POSITION VERTICAL SOURCE¶
Note: This parameter is for advanced users
Position Vertical Source
Values
Value
Meaning
0
None
1
Baro
2
RangeFinder
3
GPS
4
Beacon
6
ExternalNav
EK3_SRC1_VELZ: VELOCITY VERTICAL SOURCE¶
Note: This parameter is for advanced users
Velocity Vertical Source
Values
Value
Meaning
0
None
3
GPS
4
Beacon
6
ExternalNav
EK3_SRC1_YAW: YAW SOURCE¶
Note: This parameter is for advanced users
Yaw Source
Values
Value
Meaning
0
None
1
Compass
2
GPS
3
GPS with Compass Fallback
6
ExternalNav
8
GSF
EK3_SRC2_POSXY: POSITION HORIZONTAL SOURCE (SECONDARY)¶
Note: This parameter is for advanced users
Position Horizontal Source (Secondary)
Values
Value
Meaning
0
None
3
GPS
4
Beacon
6
ExternalNav
EK3_SRC2_VELXY: VELOCITY HORIZONTAL SOURCE (SECONDARY)¶
Note: This parameter is for advanced users
Velocity Horizontal Source (Secondary)
Values
Value
Meaning
0
None
3
GPS
4
Beacon
5
OpticalFlow
6
ExternalNav
7
WheelEncoder
EK3_SRC2_POSZ: POSITION VERTICAL SOURCE (SECONDARY)¶
Note: This parameter is for advanced users
Position Vertical Source (Secondary)
Values
Value
Meaning
0
None
1
Baro
2
RangeFinder
3
GPS
4
Beacon
6
ExternalNav
EK3_SRC2_VELZ: VELOCITY VERTICAL SOURCE (SECONDARY)¶
Note: This parameter is for advanced users
Velocity Vertical Source (Secondary)
Values
Value
Meaning
0
None
3
GPS
4
Beacon
6
ExternalNav
EK3_SRC2_YAW: YAW SOURCE (SECONDARY)¶
Note: This parameter is for advanced users
Yaw Source (Secondary)
Values
Value
Meaning
0
None
1
Compass
2
GPS
3
GPS with Compass Fallback
6
ExternalNav
8
GSF
EK3_SRC3_POSXY: POSITION HORIZONTAL SOURCE (TERTIARY)¶
Note: This parameter is for advanced users
Position Horizontal Source (Tertiary)
Values
Value
Meaning
0
None
3
GPS
4
Beacon
6
ExternalNav
EK3_SRC3_VELXY: VELOCITY HORIZONTAL SOURCE (TERTIARY)¶
Note: This parameter is for advanced users
Velocity Horizontal Source (Tertiary)
Values
Value
Meaning
0
None
3
GPS
4
Beacon
5
OpticalFlow
6
ExternalNav
7
WheelEncoder
EK3_SRC3_POSZ: POSITION VERTICAL SOURCE (TERTIARY)¶
Note: This parameter is for advanced users
Position Vertical Source (Tertiary)
Values
Value
Meaning
0
None
1
Baro
2
RangeFinder
3
GPS
4
Beacon
6
ExternalNav
EK3_SRC3_VELZ: VELOCITY VERTICAL SOURCE (TERTIARY)¶
Note: This parameter is for advanced users
Velocity Vertical Source (Tertiary)
Values
Value
Meaning
0
None
3
GPS
4
Beacon
6
ExternalNav
EK3_SRC3_YAW: YAW SOURCE (TERTIARY)¶
Note: This parameter is for advanced users
Yaw Source (Tertiary)
Values
Value
Meaning
0
None
1
Compass
2
GPS
3
GPS with Compass Fallback
6
ExternalNav
8
GSF
EK3_SRC_OPTIONS: EKF SOURCE OPTIONS¶
Note: This parameter is for advanced users
EKF Source Options
Bitmask
Bit
Meaning
0
FuseAllVelocities
ESC_TLM PARAMETERS¶
ESC_TLM_MAV_OFS: ESC TELEMETRY MAVLINK OFFSET¶
Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over
MAVLink. This allows high numbered motors to be displayed as low numbered ESCs
for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC
number 1 in ESC_TELEMETRY packets
Increment
Range
1
0 to 31
FENCE_ PARAMETERS¶
FENCE_ENABLE: FENCE ENABLE/DISABLE¶
Allows you to enable (1) or disable (0) the fence functionality
Values
Value
Meaning
0
Disabled
1
Enabled
FENCE_TYPE: FENCE TYPE¶
Enabled fence types held as bitmask
Bitmask
Bit
Meaning
0
Max altitude
1
Circle Centered on Home
2
Inclusion/Exclusion Circles+Polygons
3
Min altitude
FENCE_ACTION: FENCE ACTION¶
What action should be taken when fence is breached
Values
Value
Meaning
0
Report Only
1
RTL
6
Guided
7
GuidedThrottlePass
FENCE_ALT_MAX: FENCE MAXIMUM ALTITUDE¶
Maximum altitude allowed before geofence triggers
Increment
Range
Units
1
10 to 1000
meters
FENCE_RADIUS: CIRCULAR FENCE RADIUS¶
Circle fence radius which when breached will cause an RTL
Range
Units
30 to 10000
meters
FENCE_MARGIN: FENCE MARGIN¶
Distance that autopilot's should maintain from the fence to avoid a breach
Range
Units
1 to 10
meters
FENCE_TOTAL: FENCE POLYGON POINT TOTAL¶
Number of polygon points saved in eeprom (do not update manually)
Range
1 to 20
FENCE_ALT_MIN: FENCE MINIMUM ALTITUDE¶
Minimum altitude allowed before geofence triggers
Increment
Range
Units
1
-100 to 100
meters
FENCE_RET_RALLY: FENCE RETURN TO RALLY¶
Should the vehicle return to fence return point or rally point
Increment
Range
Values
1
0 to 1
Value
Meaning
0
Fence Return Point
1
Nearest Rally Point
FENCE_RET_ALT: FENCE RETURN ALTITUDE¶
Altitude the vehicle will transit to when a fence breach occurs
Increment
Range
Units
1
0 to 32767
meters
FENCE_AUTOENABLE: FENCE AUTO-ENABLE¶
Auto-enable of fences. AutoEnableOnTakeoff enables all configured fences after
autotakeoffs reach altitude. During autolandings the fences will be disabled.
AutoEnableDisableFloorOnLanding enables all configured fences after autotakeoffs
reach altitude. During autolandings only the Minimum Altitude fence will be
disabled. AutoEnableOnlyWhenArmed enables all configured fences, but no fences
are disabled during autolandings. However, fence breaches are ignored while
executing prior breach recovery actions which may include autolandings.
Increment
Range
Values
1
0 to 3
Value
Meaning
0
AutoEnableOff
1
AutoEnableOnTakeoff
2
AutoEnableDisableFloorOnLanding
3
AutoEnableOnlyWhenArmed
FENCE_OPTIONS: FENCE OPTIONS¶
0:Disable mode change following fence action until fence breach is cleared. When
bit 1 is set the allowable flight areas is the union of all polygon and circle
fence areas instead of the intersection, which means a fence breach occurs only
if you are outside all of the fence areas.
Bitmask
Bit
Meaning
0
Disable mode change following fence action until fence breach is cleared
1
Allow union of inclusion areas
FFT_ PARAMETERS¶
FFT_ENABLE: ENABLE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enable Gyro FFT analyser
Values
Value
Meaning
0
Disabled
1
Enabled
FFT_MINHZ: MINIMUM FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
Units
20 to 400
hertz
FFT_MAXHZ: MAXIMUM FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
Units
20 to 495
hertz
FFT_SAMPLE_MODE: SAMPLE MODE¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Range
0 to 4
FFT_WINDOW_SIZE: FFT WINDOW SIZE¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Range
32 to 1024
FFT_WINDOW_OLAP: FFT WINDOW OVERLAP¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Range
0 to 0.9
FFT_FREQ_HOVER: FFT LEARNED HOVER FREQUENCY¶
Note: This parameter is for advanced users
The learned hover noise frequency
Range
0 to 250
FFT_THR_REF: FFT LEARNED THRUST REFERENCE¶
Note: This parameter is for advanced users
FFT learned thrust reference for the hover frequency and FFT minimum frequency.
Range
0.01 to 0.9
FFT_SNR_REF: FFT SNR REFERENCE THRESHOLD¶
Note: This parameter is for advanced users
FFT SNR reference threshold in dB at which a signal is determined to be present.
Range
0.0 to 100.0
FFT_ATT_REF: FFT ATTENUATION FOR BANDWIDTH CALCULATION¶
Note: This parameter is for advanced users
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.
Range
0 to 100
FFT_BW_HOVER: FFT LEARNED BANDWIDTH AT HOVER¶
Note: This parameter is for advanced users
FFT learned bandwidth at hover for the attenuation frequencies.
Range
0 to 200
FFT_HMNC_FIT: FFT HARMONIC FIT FREQUENCY THRESHOLD¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Range
0 to 100
FFT_HMNC_PEAK: FFT HARMONIC PEAK TARGET¶
Note: This parameter is for advanced users
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).
Values
Value
Meaning
0
Auto
1
Center Frequency
2
Lower-Shoulder Frequency
3
Upper-Shoulder Frequency
4
Roll-Axis
5
Pitch-Axis
FFT_NUM_FRAMES: FFT OUTPUT FRAMES TO RETAIN AND AVERAGE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Number of output frequency frames to retain and average in order to calculate
final frequencies. Averaging output frames can drastically reduce noise and
jitter at the cost of latency as long as the input is stable. The default is to
perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft)
fewer frames should be averaged.
Range
0 to 8
FFT_OPTIONS: FFT OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
FFT configuration options. Values: 1:Apply the FFT *after* the filter
bank,2:Check noise at the motor frequencies using ESC data as a reference
Bitmask
Bit
Meaning
0
Enable post-filter FFT
1
Check motor noise
FILT1_ PARAMETERS¶
FILT1_TYPE: FILTER TYPE¶
Note: Reboot required after change
Filter Type
Values
Value
Meaning
0
Disable
1
Notch Filter
FILT1_NOTCH_FREQ: NOTCH FILTER CENTER FREQUENCY¶
Note: This parameter is for advanced users
Notch Filter center frequency in Hz.
Range
Units
10 to 495
hertz
FILT1_NOTCH_Q: NOTCH FILTER QUALITY FACTOR¶
Note: This parameter is for advanced users
Notch Filter quality factor given by the notch centre frequency divided by its
bandwidth.
Range
1 to 10
FILT1_NOTCH_ATT: NOTCH FILTER ATTENUATION¶
Note: This parameter is for advanced users
Notch Filter attenuation in dB.
Range
Units
5 to 50
decibel
FILT2_ PARAMETERS¶
FILT2_TYPE: FILTER TYPE¶
Note: Reboot required after change
Filter Type
Values
Value
Meaning
0
Disable
1
Notch Filter
FILT2_NOTCH_FREQ: NOTCH FILTER CENTER FREQUENCY¶
Note: This parameter is for advanced users
Notch Filter center frequency in Hz.
Range
Units
10 to 495
hertz
FILT2_NOTCH_Q: NOTCH FILTER QUALITY FACTOR¶
Note: This parameter is for advanced users
Notch Filter quality factor given by the notch centre frequency divided by its
bandwidth.
Range
1 to 10
FILT2_NOTCH_ATT: NOTCH FILTER ATTENUATION¶
Note: This parameter is for advanced users
Notch Filter attenuation in dB.
Range
Units
5 to 50
decibel
FILT3_ PARAMETERS¶
FILT3_TYPE: FILTER TYPE¶
Note: Reboot required after change
Filter Type
Values
Value
Meaning
0
Disable
1
Notch Filter
FILT3_NOTCH_FREQ: NOTCH FILTER CENTER FREQUENCY¶
Note: This parameter is for advanced users
Notch Filter center frequency in Hz.
Range
Units
10 to 495
hertz
FILT3_NOTCH_Q: NOTCH FILTER QUALITY FACTOR¶
Note: This parameter is for advanced users
Notch Filter quality factor given by the notch centre frequency divided by its
bandwidth.
Range
1 to 10
FILT3_NOTCH_ATT: NOTCH FILTER ATTENUATION¶
Note: This parameter is for advanced users
Notch Filter attenuation in dB.
Range
Units
5 to 50
decibel
FILT4_ PARAMETERS¶
FILT4_TYPE: FILTER TYPE¶
Note: Reboot required after change
Filter Type
Values
Value
Meaning
0
Disable
1
Notch Filter
FILT4_NOTCH_FREQ: NOTCH FILTER CENTER FREQUENCY¶
Note: This parameter is for advanced users
Notch Filter center frequency in Hz.
Range
Units
10 to 495
hertz
FILT4_NOTCH_Q: NOTCH FILTER QUALITY FACTOR¶
Note: This parameter is for advanced users
Notch Filter quality factor given by the notch centre frequency divided by its
bandwidth.
Range
1 to 10
FILT4_NOTCH_ATT: NOTCH FILTER ATTENUATION¶
Note: This parameter is for advanced users
Notch Filter attenuation in dB.
Range
Units
5 to 50
decibel
FILT5_ PARAMETERS¶
FILT5_TYPE: FILTER TYPE¶
Note: Reboot required after change
Filter Type
Values
Value
Meaning
0
Disable
1
Notch Filter
FILT5_NOTCH_FREQ: NOTCH FILTER CENTER FREQUENCY¶
Note: This parameter is for advanced users
Notch Filter center frequency in Hz.
Range
Units
10 to 495
hertz
FILT5_NOTCH_Q: NOTCH FILTER QUALITY FACTOR¶
Note: This parameter is for advanced users
Notch Filter quality factor given by the notch centre frequency divided by its
bandwidth.
Range
1 to 10
FILT5_NOTCH_ATT: NOTCH FILTER ATTENUATION¶
Note: This parameter is for advanced users
Notch Filter attenuation in dB.
Range
Units
5 to 50
decibel
FILT6_ PARAMETERS¶
FILT6_TYPE: FILTER TYPE¶
Note: Reboot required after change
Filter Type
Values
Value
Meaning
0
Disable
1
Notch Filter
FILT6_NOTCH_FREQ: NOTCH FILTER CENTER FREQUENCY¶
Note: This parameter is for advanced users
Notch Filter center frequency in Hz.
Range
Units
10 to 495
hertz
FILT6_NOTCH_Q: NOTCH FILTER QUALITY FACTOR¶
Note: This parameter is for advanced users
Notch Filter quality factor given by the notch centre frequency divided by its
bandwidth.
Range
1 to 10
FILT6_NOTCH_ATT: NOTCH FILTER ATTENUATION¶
Note: This parameter is for advanced users
Notch Filter attenuation in dB.
Range
Units
5 to 50
decibel
FILT7_ PARAMETERS¶
FILT7_TYPE: FILTER TYPE¶
Note: Reboot required after change
Filter Type
Values
Value
Meaning
0
Disable
1
Notch Filter
FILT7_NOTCH_FREQ: NOTCH FILTER CENTER FREQUENCY¶
Note: This parameter is for advanced users
Notch Filter center frequency in Hz.
Range
Units
10 to 495
hertz
FILT7_NOTCH_Q: NOTCH FILTER QUALITY FACTOR¶
Note: This parameter is for advanced users
Notch Filter quality factor given by the notch centre frequency divided by its
bandwidth.
Range
1 to 10
FILT7_NOTCH_ATT: NOTCH FILTER ATTENUATION¶
Note: This parameter is for advanced users
Notch Filter attenuation in dB.
Range
Units
5 to 50
decibel
FILT8_ PARAMETERS¶
FILT8_TYPE: FILTER TYPE¶
Note: Reboot required after change
Filter Type
Values
Value
Meaning
0
Disable
1
Notch Filter
FILT8_NOTCH_FREQ: NOTCH FILTER CENTER FREQUENCY¶
Note: This parameter is for advanced users
Notch Filter center frequency in Hz.
Range
Units
10 to 495
hertz
FILT8_NOTCH_Q: NOTCH FILTER QUALITY FACTOR¶
Note: This parameter is for advanced users
Notch Filter quality factor given by the notch centre frequency divided by its
bandwidth.
Range
1 to 10
FILT8_NOTCH_ATT: NOTCH FILTER ATTENUATION¶
Note: This parameter is for advanced users
Notch Filter attenuation in dB.
Range
Units
5 to 50
decibel
FLOW PARAMETERS¶
FLOW_TYPE: OPTICAL FLOW SENSOR TYPE¶
Note: Reboot required after change
Optical flow sensor type
Values
Value
Meaning
0
None
1
PX4Flow
2
Pixart
3
Bebop
4
CXOF
5
MAVLink
6
DroneCAN
7
MSP
8
UPFLOW
FLOW_FXSCALER: X AXIS OPTICAL FLOW SCALE FACTOR CORRECTION¶
This sets the parts per thousand scale factor correction applied to the flow
sensor X axis optical rate. It can be used to correct for variations in
effective focal length. Each positive increment of 1 increases the scale factor
applied to the X axis optical flow reading by 0.1%. Negative values reduce the
scale factor.
Increment
Range
1
-800 to +800
FLOW_FYSCALER: Y AXIS OPTICAL FLOW SCALE FACTOR CORRECTION¶
This sets the parts per thousand scale factor correction applied to the flow
sensor Y axis optical rate. It can be used to correct for variations in
effective focal length. Each positive increment of 1 increases the scale factor
applied to the Y axis optical flow reading by 0.1%. Negative values reduce the
scale factor.
Increment
Range
1
-800 to +800
FLOW_ORIENT_YAW: FLOW SENSOR YAW ALIGNMENT¶
Specifies the number of centi-degrees that the flow sensor is yawed relative to
the vehicle. A sensor with its X-axis pointing to the right of the vehicle X
axis has a positive yaw angle.
Increment
Range
Units
10
-17999 to +18000
centidegrees
FLOW_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the optical flow sensor focal point in body frame. Positive X is
forward of the origin.
Increment
Range
Units
0.01
-5 to 5
meters
FLOW_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
Y position of the optical flow sensor focal point in body frame. Positive Y is
to the right of the origin.
Increment
Range
Units
0.01
-5 to 5
meters
FLOW_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the optical flow sensor focal point in body frame. Positive Z is
down from the origin.
Increment
Range
Units
0.01
-5 to 5
meters
FLOW_ADDR: ADDRESS ON THE BUS¶
Note: This parameter is for advanced users
This is used to select between multiple possible I2C addresses for some sensor
types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C
bus.
Range
0 to 127
FLOW_HGT_OVR: HEIGHT OVERRIDE OF SENSOR ABOVE GROUND¶
Note: This parameter is for advanced users
This is used in rover vehicles, where the sensor is a fixed height above the
ground
Increment
Range
Units
0.01
0 to 2
meters
FOLL PARAMETERS¶
FOLL_ENABLE: FOLLOW ENABLE/DISABLE¶
Enabled/disable following a target
Values
Value
Meaning
0
Disabled
1
Enabled
FOLL_SYSID: FOLLOW TARGET'S MAVLINK SYSTEM ID¶
Follow target's mavlink system id
Range
0 to 255
FOLL_DIST_MAX: FOLLOW DISTANCE MAXIMUM¶
Follow distance maximum. targets further than this will be ignored
Range
Units
1 to 1000
meters
FOLL_OFS_TYPE: FOLLOW OFFSET TYPE¶
Follow offset type
Values
Value
Meaning
0
North-East-Down
1
Relative to lead vehicle heading
FOLL_OFS_X: FOLLOW OFFSETS IN METERS NORTH/FORWARD¶
Follow offsets in meters north/forward. If positive, this vehicle fly ahead or
north of lead vehicle. Depends on FOLL_OFS_TYPE
Increment
Range
Units
1
-100 to 100
meters
FOLL_OFS_Y: FOLLOW OFFSETS IN METERS EAST/RIGHT¶
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
Increment
Range
Units
1
-100 to 100
meters
FOLL_OFS_Z: FOLLOW OFFSETS IN METERS DOWN¶
Follow offsets in meters down. If positive, this vehicle will fly below the lead
vehicle
Increment
Range
Units
1
-100 to 100
meters
FOLL_YAW_BEHAVE: FOLLOW YAW BEHAVIOUR¶
Follow yaw behaviour
Values
Value
Meaning
0
None
1
Face Lead Vehicle
2
Same as Lead vehicle
3
Direction of Flight
FOLL_POS_P: FOLLOW POSITION ERROR P GAIN¶
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
Increment
Range
0.01
0.01 to 1.00
FOLL_ALT_TYPE: FOLLOW ALTITUDE TYPE¶
Follow altitude type
Values
Value
Meaning
0
absolute
1
relative
FOLL_OPTIONS: FOLLOW OPTIONS¶
Follow options bitmask
Values
Value
Meaning
0
None
1
Mount Follows lead vehicle on mode enter
FRSKY_ PARAMETERS¶
FRSKY_UPLINK_ID: UPLINK SENSOR ID¶
Note: This parameter is for advanced users
Change the uplink sensor id (SPort only)
Values
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
FRSKY_DNLINK1_ID: FIRST DOWNLINK SENSOR ID¶
Note: This parameter is for advanced users
Change the first extra downlink sensor id (SPort only)
Values
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
FRSKY_DNLINK2_ID: SECOND DOWNLINK SENSOR ID¶
Note: This parameter is for advanced users
Change the second extra downlink sensor id (SPort only)
Values
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
FRSKY_DNLINK_ID: DEFAULT DOWNLINK SENSOR ID¶
Note: This parameter is for advanced users
Change the default downlink sensor id (SPort only)
Values
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
FRSKY_OPTIONS: FRSKY TELEMETRY OPTIONS¶
A bitmask to set some FRSky Telemetry specific options
Bitmask
Bit
Meaning
0
EnableAirspeedAndGroundspeed
GEN_ PARAMETERS¶
GEN_TYPE: GENERATOR TYPE¶
Note: Reboot required after change
Generator type
Values
Value
Meaning
0
Disabled
1
IE 650w 800w Fuel Cell
2
IE 2.4kW Fuel Cell
3
Richenpower
GEN_OPTIONS: GENERATOR OPTIONS¶
Bitmask of options for generators
Bitmask
Bit
Meaning
0
Suppress Maintenance-Required Warnings
GPS PARAMETERS¶
GPS_NAVFILTER: NAVIGATION FILTER SETTING¶
Note: This parameter is for advanced users
Navigation filter engine setting
Values
Value
Meaning
0
Portable
2
Stationary
3
Pedestrian
4
Automotive
5
Sea
6
Airborne1G
7
Airborne2G
8
Airborne4G
GPS_AUTO_SWITCH: AUTOMATIC SWITCHOVER SETTING¶
Note: This parameter is for advanced users
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
Values
Value
Meaning
0
Use primary
1
UseBest
2
Blend
4
Use primary if 3D fix or better
GPS_SBAS_MODE: SBAS MODE¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
Disabled
1
Enabled
2
NoChange
GPS_MIN_ELEV: MINIMUM ELEVATION¶
Note: This parameter is for advanced users
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.
Range
Units
-100 to 90
degrees
GPS_INJECT_TO: DESTINATION FOR GPS_INJECT_DATA MAVLINK PACKETS¶
Note: This parameter is for advanced users
The GGS can send raw serial packets to inject data to multiple GPSes.
Values
Value
Meaning
0
send to first GPS
1
send to 2nd GPS
127
send to all
GPS_SBP_LOGMASK: SWIFT BINARY PROTOCOL LOGGING MASK¶
Note: This parameter is for advanced users
Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
Values
Value
Meaning
0
None (0x0000)
-1
All (0xFFFF)
-256
External only (0xFF00)
GPS_RAW_DATA: RAW DATA LOGGING¶
Note: This parameter is for advanced users
Note: Reboot required after change
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
Values
Value
Meaning
0
Ignore
1
Always log
2
Stop logging when disarmed (SBF only)
5
Only log every five samples (uBlox only)
GPS_SAVE_CFG: SAVE GPS CONFIGURATION¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
Do not save config
1
Save config
2
Save only when needed
GPS_AUTO_CONFIG: AUTOMATIC GPS CONFIGURATION¶
Note: This parameter is for advanced users
Controls if the autopilot should automatically configure the GPS based on the
parameters and default settings
Values
Value
Meaning
0
Disables automatic configuration
1
Enable automatic configuration for Serial GPSes only
2
Enable automatic configuration for DroneCAN as well
GPS_BLEND_MASK: MULTI GPS BLENDING MASK¶
Note: This parameter is for advanced users
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)
Bitmask
Bit
Meaning
0
Horiz Pos
1
Vert Pos
2
Speed
GPS_DRV_OPTIONS: DRIVER OPTIONS¶
Note: This parameter is for advanced users
Additional backend specific options
Bitmask
Bit
Meaning
0
Use UART2 for moving baseline on ublox
1
Use base station for GPS yaw on SBF
2
Use baudrate 115200
3
Use dedicated CAN port b/w GPSes for moving baseline
4
Use ellipsoid height instead of AMSL
5
Override GPS satellite health of L5 band from L1 health
6
Enable RTCM full parse even for a single channel
7
Disable automatic full RTCM parsing when RTCM seen on more than one channel
GPS_PRIMARY: PRIMARY GPS¶
Note: This parameter is for advanced users
This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with
GPS_AUTO_SWITCH = 4.
Increment
Values
1
Value
Meaning
0
FirstGPS
1
SecondGPS
GPS_TYPE: 1ST GPS TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
GPS type of 1st GPS
Values
Value
Meaning
0
None
1
AUTO
2
uBlox
5
NMEA
6
SiRF
7
HIL
8
SwiftNav
9
DroneCAN
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
22
DroneCAN-MovingBaseline-Base
23
DroneCAN-MovingBaseline-Rover
24
UnicoreNMEA
25
UnicoreMovingBaselineNMEA
26
SBF-DualAntenna
GPS_TYPE2: 2ND GPS TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
GPS type of 2nd GPS
Values
Value
Meaning
0
None
1
AUTO
2
uBlox
5
NMEA
6
SiRF
7
HIL
8
SwiftNav
9
DroneCAN
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
22
DroneCAN-MovingBaseline-Base
23
DroneCAN-MovingBaseline-Rover
24
UnicoreNMEA
25
UnicoreMovingBaselineNMEA
26
SBF-DualAntenna
GPS_GNSS_MODE: GNSS SYSTEM CONFIGURATION¶
Note: This parameter is for advanced users
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to
leave GPS as configured)
Bitmask
Bit
Meaning
0
GPS
1
SBAS
2
Galileo
3
Beidou
4
IMES
5
QZSS
6
GLONASS
GPS_GNSS_MODE2: GNSS SYSTEM CONFIGURATION¶
Note: This parameter is for advanced users
Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to
leave GPS as configured)
Bitmask
Bit
Meaning
0
GPS
1
SBAS
2
Galileo
3
Beidou
4
IMES
5
QZSS
6
GLONASS
GPS_RATE_MS: GPS UPDATE RATE IN MILLISECONDS¶
Note: This parameter is for advanced users
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.
Range
Units
Values
50 to 200
milliseconds
Value
Meaning
100
10Hz
125
8Hz
200
5Hz
GPS_RATE_MS2: GPS 2 UPDATE RATE IN MILLISECONDS¶
Note: This parameter is for advanced users
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.
Range
Units
Values
50 to 200
milliseconds
Value
Meaning
100
10Hz
125
8Hz
200
5Hz
GPS_POS1_X: ANTENNA X POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_POS1_Y: ANTENNA Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_POS1_Z: ANTENNA Z POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_POS2_X: ANTENNA X POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_POS2_Y: ANTENNA Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_POS2_Z: ANTENNA Z POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_DELAY_MS: GPS DELAY IN MILLISECONDS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Range
Units
0 to 250
milliseconds
GPS_DELAY_MS2: GPS 2 DELAY IN MILLISECONDS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Range
Units
0 to 250
milliseconds
GPS_COM_PORT: GPS PHYSICAL COM PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
The physical COM port on the connected device, currently only applies to SBF and
GSOF GPS
Increment
Range
Values
1
0 to 10
Value
Meaning
0
COM1(RS232) on GSOF
1
COM2(TTL) on GSOF
GPS_COM_PORT2: GPS PHYSICAL COM PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
The physical COM port on the connected device, currently only applies to SBF and
GSOF GPS
Increment
Range
1
0 to 10
GPS_CAN_NODEID1: GPS NODE ID 1¶
Note: This parameter is for advanced users
GPS Node id for first-discovered GPS.
ReadOnly
True
GPS_CAN_NODEID2: GPS NODE ID 2¶
Note: This parameter is for advanced users
GPS Node id for second-discovered GPS.
ReadOnly
True
GPS1_ PARAMETERS¶
GPS1_TYPE: GPS TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
GPS type
Values
Value
Meaning
0
None
1
AUTO
2
uBlox
5
NMEA
6
SiRF
7
HIL
8
SwiftNav
9
DroneCAN
10
SBF
11
GSOF
13
ERB
14
MAVLink
15
NOVA
16
HemisphereNMEA
17
uBlox-MovingBaseline-Base
18
uBlox-MovingBaseline-Rover
19
MSP
20
AllyStar
21
ExternalAHRS
22
DroneCAN-MovingBaseline-Base
23
DroneCAN-MovingBaseline-Rover
24
UnicoreNMEA
25
UnicoreMovingBaselineNMEA
26
SBF-DualAntenna
GPS1_GNSS_MODE: GNSS SYSTEM CONFIGURATION¶
Note: This parameter is for advanced users
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to
leave GPS as configured)
Bitmask
Bit
Meaning
0
GPS
1
SBAS
2
Galileo
3
Beidou
4
IMES
5
QZSS
6
GLONASS
GPS1_RATE_MS: GPS UPDATE RATE IN MILLISECONDS¶
Note: This parameter is for advanced users
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.
Range
Units
Values
50 to 200
milliseconds
Value
Meaning
100
10Hz
125
8Hz
200
5Hz
GPS1_POS_X: ANTENNA X POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS1_POS_Y: ANTENNA Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS1_POS_Z: ANTENNA Z POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS1_DELAY_MS: GPS DELAY IN MILLISECONDS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Range
Units
0 to 250
milliseconds
GPS1_COM_PORT: GPS PHYSICAL COM PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
The physical COM port on the connected device, currently only applies to SBF and
GSOF GPS
Increment
Range
Values
1
0 to 10
Value
Meaning
0
COM1(RS232) on GSOF
1
COM2(TTL) on GSOF
GPS1_CAN_NODEID: DETECTED CAN NODE ID FOR GPS¶
Note: This parameter is for advanced users
GPS Node id for GPS. Detected node unless CAN_OVRIDE is set
ReadOnly
True
GPS1_CAN_OVRIDE: DRONECAN GPS NODE ID¶
Note: This parameter is for advanced users
GPS Node id for GPS. If 0 the gps will be automatically selected on a
first-come-first-GPS basis.
GPS1_MB_ PARAMETERS¶
GPS1_MB_TYPE: MOVING BASE TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Controls the type of moving base used if using moving base.
Values
Value
Meaning
0
Relative to alternate GPS instance
1
RelativeToCustomBase
GPS1_MB_OFS_X: BASE ANTENNA X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase
centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS1_MB_OFS_Y: BASE ANTENNA Y POSITION OFFSET¶
Note: This parameter is for advanced users
Y position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna
phase centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS1_MB_OFS_Z: BASE ANTENNA Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase
centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS2_ PARAMETERS¶
GPS2_TYPE: GPS TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
GPS type
Values
Value
Meaning
0
None
1
AUTO
2
uBlox
5
NMEA
6
SiRF
7
HIL
8
SwiftNav
9
DroneCAN
10
SBF
11
GSOF
13
ERB
14
MAVLink
15
NOVA
16
HemisphereNMEA
17
uBlox-MovingBaseline-Base
18
uBlox-MovingBaseline-Rover
19
MSP
20
AllyStar
21
ExternalAHRS
22
DroneCAN-MovingBaseline-Base
23
DroneCAN-MovingBaseline-Rover
24
UnicoreNMEA
25
UnicoreMovingBaselineNMEA
26
SBF-DualAntenna
GPS2_GNSS_MODE: GNSS SYSTEM CONFIGURATION¶
Note: This parameter is for advanced users
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to
leave GPS as configured)
Bitmask
Bit
Meaning
0
GPS
1
SBAS
2
Galileo
3
Beidou
4
IMES
5
QZSS
6
GLONASS
GPS2_RATE_MS: GPS UPDATE RATE IN MILLISECONDS¶
Note: This parameter is for advanced users
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.
Range
Units
Values
50 to 200
milliseconds
Value
Meaning
100
10Hz
125
8Hz
200
5Hz
GPS2_POS_X: ANTENNA X POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS2_POS_Y: ANTENNA Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS2_POS_Z: ANTENNA Z POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
GPS2_DELAY_MS: GPS DELAY IN MILLISECONDS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Range
Units
0 to 250
milliseconds
GPS2_COM_PORT: GPS PHYSICAL COM PORT¶
Note: This parameter is for advanced users
Note: Reboot required after change
The physical COM port on the connected device, currently only applies to SBF and
GSOF GPS
Increment
Range
Values
1
0 to 10
Value
Meaning
0
COM1(RS232) on GSOF
1
COM2(TTL) on GSOF
GPS2_CAN_NODEID: DETECTED CAN NODE ID FOR GPS¶
Note: This parameter is for advanced users
GPS Node id for GPS. Detected node unless CAN_OVRIDE is set
ReadOnly
True
GPS2_CAN_OVRIDE: DRONECAN GPS NODE ID¶
Note: This parameter is for advanced users
GPS Node id for GPS. If 0 the gps will be automatically selected on a
first-come-first-GPS basis.
GPS2_MB_ PARAMETERS¶
GPS2_MB_TYPE: MOVING BASE TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Controls the type of moving base used if using moving base.
Values
Value
Meaning
0
Relative to alternate GPS instance
1
RelativeToCustomBase
GPS2_MB_OFS_X: BASE ANTENNA X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase
centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS2_MB_OFS_Y: BASE ANTENNA Y POSITION OFFSET¶
Note: This parameter is for advanced users
Y position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna
phase centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS2_MB_OFS_Z: BASE ANTENNA Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase
centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_MB1_ PARAMETERS¶
GPS_MB1_TYPE: MOVING BASE TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Controls the type of moving base used if using moving base.
Values
Value
Meaning
0
Relative to alternate GPS instance
1
RelativeToCustomBase
GPS_MB1_OFS_X: BASE ANTENNA X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase
centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_MB1_OFS_Y: BASE ANTENNA Y POSITION OFFSET¶
Note: This parameter is for advanced users
Y position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna
phase centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_MB1_OFS_Z: BASE ANTENNA Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase
centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_MB2_ PARAMETERS¶
GPS_MB2_TYPE: MOVING BASE TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Controls the type of moving base used if using moving base.
Values
Value
Meaning
0
Relative to alternate GPS instance
1
RelativeToCustomBase
GPS_MB2_OFS_X: BASE ANTENNA X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase
centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_MB2_OFS_Y: BASE ANTENNA Y POSITION OFFSET¶
Note: This parameter is for advanced users
Y position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna
phase centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GPS_MB2_OFS_Z: BASE ANTENNA Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the base (primary) GPS antenna in body frame from the position of
the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase
centroid location if provided by the manufacturer.
Increment
Range
Units
0.01
-5 to 5
meters
GRIP_ PARAMETERS¶
GRIP_ENABLE: GRIPPER ENABLE/DISABLE¶
Gripper enable/disable
Values
Value
Meaning
0
Disabled
1
Enabled
GRIP_TYPE: GRIPPER TYPE¶
Gripper enable/disable
Values
Value
Meaning
0
None
1
Servo
2
EPM
GRIP_GRAB: GRIPPER GRAB PWM¶
Note: This parameter is for advanced users
PWM value in microseconds sent to Gripper to initiate grabbing the cargo
Range
Units
1000 to 2000
PWM in microseconds
GRIP_RELEASE: GRIPPER RELEASE PWM¶
Note: This parameter is for advanced users
PWM value in microseconds sent to Gripper to release the cargo
Range
Units
1000 to 2000
PWM in microseconds
GRIP_NEUTRAL: NEUTRAL PWM¶
Note: This parameter is for advanced users
PWM value in microseconds sent to grabber when not grabbing or releasing
Range
Units
1000 to 2000
PWM in microseconds
GRIP_REGRAB: EPM GRIPPER REGRAB INTERVAL¶
Note: This parameter is for advanced users
Time in seconds that EPM gripper will regrab the cargo to ensure grip has not
weakened; 0 to disable
Range
Units
0 to 255
seconds
GRIP_CAN_ID: EPM UAVCAN HARDPOINT ID¶
Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface
Range
0 to 255
GRIP_AUTOCLOSE: GRIPPER AUTOCLOSE TIME¶
Note: This parameter is for advanced users
Time in seconds that gripper close the gripper after opening; 0 to disable
Range
Units
0.25 to 255
seconds
GUIDED_ PARAMETERS¶
GUIDED_P: PID PROPORTIONAL GAIN¶
P Gain which produces an output value that is proportional to the current error
value
GUIDED_I: PID INTEGRAL GAIN¶
I Gain which produces an output that is proportional to both the magnitude and
the duration of the error
GUIDED_D: PID DERIVATIVE GAIN¶
D Gain which produces an output that is proportional to the rate of change of
the error
GUIDED_FF: FF FEEDFORWARD GAIN¶
FF Gain which produces an output value that is proportional to the demanded
input
GUIDED_IMAX: PID INTEGRAL MAXIMUM¶
The maximum/minimum value that the I term can output
GUIDED_FLTT: PID TARGET FILTER FREQUENCY IN HZ¶
Target filter frequency in Hz
Units
hertz
GUIDED_FLTE: PID ERROR FILTER FREQUENCY IN HZ¶
Error filter frequency in Hz
Units
hertz
GUIDED_FLTD: PID DERIVATIVE TERM FILTER FREQUENCY IN HZ¶
Derivative filter frequency in Hz
Units
hertz
GUIDED_SMAX: SLEW RATE LIMIT¶
Note: This parameter is for advanced users
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.
Increment
Range
0.5
0 to 200
GUIDED_PDMX: PD SUM MAXIMUM¶
Note: This parameter is for advanced users
The maximum/minimum value that the sum of the P and D term can output
GUIDED_D_FF: PID DERIVATIVE FEEDFORWARD GAIN¶
Note: This parameter is for advanced users
FF D Gain which produces an output that is proportional to the rate of change of
the target
Increment
Range
0.0001
0 to 0.02
GUIDED_NTF: PID TARGET NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
PID Target notch filter index
Range
1 to 8
GUIDED_NEF: PID ERROR NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
PID Error notch filter index
Range
1 to 8
ICE_ PARAMETERS¶
ICE_ENABLE: ENABLE ICENGINE CONTROL¶
Note: This parameter is for advanced users
This enables internal combustion engine control
Values
Value
Meaning
0
Disabled
1
Enabled
ICE_START_CHAN: INPUT CHANNEL FOR ENGINE START¶
This is an RC input channel for requesting engine start. Engine will try to
start when channel is at or above 1700. Engine will stop when channel is at or
below 1300. Between 1301 and 1699 the engine will not change state unless a
MAVLink command or mission item commands a state change, or the vehicle is
disarmed. See ICE_STARTCHN_MIN parameter to change engine stop PWM value and/or
to enable debouncing of the START_CH to avoid accidental engine kills due to
noise on channel.
Values
Value
Meaning
0
None
1
Chan1
2
Chan2
3
Chan3
4
Chan4
5
Chan5
6
Chan6
7
Chan7
8
Chan8
9
Chan9
10
Chan10
11
Chan11
12
Chan12
13
Chan13
14
Chan14
15
Chan15
16
Chan16
ICE_STARTER_TIME: TIME TO RUN STARTER¶
This is the number of seconds to run the starter when trying to start the engine
Range
Units
0.1 to 5
seconds
ICE_START_DELAY: TIME TO WAIT BETWEEN STARTS¶
Delay between start attempts
Range
Units
1 to 10
seconds
ICE_RPM_THRESH: RPM THRESHOLD¶
This is the measured RPM above which the engine is considered to be running
Range
100 to 100000
ICE_PWM_IGN_ON: PWM VALUE FOR IGNITION ON¶
This is the value sent to the ignition channel when on
Range
1000 to 2000
ICE_PWM_IGN_OFF: PWM VALUE FOR IGNITION OFF¶
This is the value sent to the ignition channel when off
Range
1000 to 2000
ICE_PWM_STRT_ON: PWM VALUE FOR STARTER ON¶
This is the value sent to the starter channel when on
Range
1000 to 2000
ICE_PWM_STRT_OFF: PWM VALUE FOR STARTER OFF¶
This is the value sent to the starter channel when off
Range
1000 to 2000
ICE_RPM_CHAN: RPM INSTANCE CHANNEL TO USE¶
This is which of the RPM instances to use for detecting the RPM of the engine
Values
Value
Meaning
0
None
1
RPM1
2
RPM2
ICE_START_PCT: THROTTLE PERCENTAGE FOR ENGINE START¶
This is the percentage throttle output for engine start
Range
0 to 100
ICE_IDLE_PCT: THROTTLE PERCENTAGE FOR ENGINE IDLE¶
This is the minimum percentage throttle output while running, this includes
being disarmed, but not safe
Range
0 to 100
ICE_IDLE_RPM: RPM SETPOINT FOR IDLE GOVERNOR¶
Note: This parameter is for advanced users
This configures the RPM that will be commanded by the idle governor. Set to -1
to disable
ICE_IDLE_DB: DEADBAND FOR IDLE GOVERNOR¶
This configures the deadband that is tolerated before adjusting the idle
setpoint
ICE_IDLE_SLEW: SLEW RATE FOR IDLE CONTROL¶
This configures the slewrate used to adjust the idle setpoint in percentage
points per second
ICE_OPTIONS: ICE OPTIONS¶
Options for ICE control. The Disable ignition in RC failsafe option will cause
the ignition to be set off on any R/C failsafe. If Throttle while disarmed is
set then throttle control will be allowed while disarmed for planes when in
MANUAL mode. If disable while disarmed is set the engine will not start while
the vehicle is disarmed unless overriden by the MAVLink DO_ENGINE_CONTROL
command.
Bitmask
Bit
Meaning
0
Disable ignition in RC failsafe
1
Disable redline governor
2
Throttle while disarmed
3
Disable while disarmed
ICE_STARTCHN_MIN: INPUT CHANNEL FOR ENGINE START MINIMUM PWM¶
This is a minimum PWM value for engine start channel for an engine stop to be
commanded. Setting this value will avoid RC input glitches with low PWM values
from causing an unwanted engine stop. A value of zero means any PWM below 1300
triggers an engine stop.
Range
0 to 1300
ICE_REDLINE_RPM: RPM OF THE REDLINE LIMIT FOR THE ENGINE¶
Note: This parameter is for advanced users
Maximum RPM for the engine provided by the manufacturer. A value of 0 disables
this feature. See ICE_OPTIONS to enable or disable the governor.
Range
Units
0 to 2000000
Revolutions Per Minute
INS PARAMETERS¶
INS_GYROFFS_X: GYRO OFFSETS OF X AXIS¶
Note: This parameter is for advanced users
Gyro sensor offsets of X axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS_GYROFFS_Y: GYRO OFFSETS OF Y AXIS¶
Note: This parameter is for advanced users
Gyro sensor offsets of Y axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS_GYROFFS_Z: GYRO OFFSETS OF Z AXIS¶
Note: This parameter is for advanced users
Gyro sensor offsets of Z axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS_GYR2OFFS_X: GYRO2 OFFSETS OF X AXIS¶
Note: This parameter is for advanced users
Gyro2 sensor offsets of X axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS_GYR2OFFS_Y: GYRO2 OFFSETS OF Y AXIS¶
Note: This parameter is for advanced users
Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS_GYR2OFFS_Z: GYRO2 OFFSETS OF Z AXIS¶
Note: This parameter is for advanced users
Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS_GYR3OFFS_X: GYRO3 OFFSETS OF X AXIS¶
Note: This parameter is for advanced users
Gyro3 sensor offsets of X axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS_GYR3OFFS_Y: GYRO3 OFFSETS OF Y AXIS¶
Note: This parameter is for advanced users
Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS_GYR3OFFS_Z: GYRO3 OFFSETS OF Z AXIS¶
Note: This parameter is for advanced users
Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS_ACCSCAL_X: ACCELEROMETER SCALING OF X AXIS¶
Note: This parameter is for advanced users
Accelerometer scaling of X axis. Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS_ACCSCAL_Y: ACCELEROMETER SCALING OF Y AXIS¶
Note: This parameter is for advanced users
Accelerometer scaling of Y axis Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS_ACCSCAL_Z: ACCELEROMETER SCALING OF Z AXIS¶
Note: This parameter is for advanced users
Accelerometer scaling of Z axis Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS_ACCOFFS_X: ACCELEROMETER OFFSETS OF X AXIS¶
Note: This parameter is for advanced users
Accelerometer offsets of X axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS_ACCOFFS_Y: ACCELEROMETER OFFSETS OF Y AXIS¶
Note: This parameter is for advanced users
Accelerometer offsets of Y axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS_ACCOFFS_Z: ACCELEROMETER OFFSETS OF Z AXIS¶
Note: This parameter is for advanced users
Accelerometer offsets of Z axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS_ACC2SCAL_X: ACCELEROMETER2 SCALING OF X AXIS¶
Note: This parameter is for advanced users
Accelerometer2 scaling of X axis. Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS_ACC2SCAL_Y: ACCELEROMETER2 SCALING OF Y AXIS¶
Note: This parameter is for advanced users
Accelerometer2 scaling of Y axis Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS_ACC2SCAL_Z: ACCELEROMETER2 SCALING OF Z AXIS¶
Note: This parameter is for advanced users
Accelerometer2 scaling of Z axis Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS_ACC2OFFS_X: ACCELEROMETER2 OFFSETS OF X AXIS¶
Note: This parameter is for advanced users
Accelerometer2 offsets of X axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS_ACC2OFFS_Y: ACCELEROMETER2 OFFSETS OF Y AXIS¶
Note: This parameter is for advanced users
Accelerometer2 offsets of Y axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS_ACC2OFFS_Z: ACCELEROMETER2 OFFSETS OF Z AXIS¶
Note: This parameter is for advanced users
Accelerometer2 offsets of Z axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS_ACC3SCAL_X: ACCELEROMETER3 SCALING OF X AXIS¶
Note: This parameter is for advanced users
Accelerometer3 scaling of X axis. Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS_ACC3SCAL_Y: ACCELEROMETER3 SCALING OF Y AXIS¶
Note: This parameter is for advanced users
Accelerometer3 scaling of Y axis Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS_ACC3SCAL_Z: ACCELEROMETER3 SCALING OF Z AXIS¶
Note: This parameter is for advanced users
Accelerometer3 scaling of Z axis Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS_ACC3OFFS_X: ACCELEROMETER3 OFFSETS OF X AXIS¶
Note: This parameter is for advanced users
Accelerometer3 offsets of X axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS_ACC3OFFS_Y: ACCELEROMETER3 OFFSETS OF Y AXIS¶
Note: This parameter is for advanced users
Accelerometer3 offsets of Y axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS_ACC3OFFS_Z: ACCELEROMETER3 OFFSETS OF Z AXIS¶
Note: This parameter is for advanced users
Accelerometer3 offsets of Z axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS_GYRO_FILTER: GYRO FILTER CUTOFF FREQUENCY¶
Note: This parameter is for advanced users
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!)
Range
Units
0 to 256
hertz
INS_ACCEL_FILTER: ACCEL FILTER CUTOFF FREQUENCY¶
Note: This parameter is for advanced users
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!)
Range
Units
0 to 256
hertz
INS_USE: USE FIRST IMU FOR ATTITUDE, VELOCITY AND POSITION ESTIMATES¶
Note: This parameter is for advanced users
Use first IMU for attitude, velocity and position estimates
Values
Value
Meaning
0
Disabled
1
Enabled
INS_USE2: USE SECOND IMU FOR ATTITUDE, VELOCITY AND POSITION ESTIMATES¶
Note: This parameter is for advanced users
Use second IMU for attitude, velocity and position estimates
Values
Value
Meaning
0
Disabled
1
Enabled
INS_USE3: USE THIRD IMU FOR ATTITUDE, VELOCITY AND POSITION ESTIMATES¶
Note: This parameter is for advanced users
Use third IMU for attitude, velocity and position estimates
Values
Value
Meaning
0
Disabled
1
Enabled
INS_STILL_THRESH: STILLNESS THRESHOLD FOR DETECTING IF WE ARE MOVING¶
Note: This parameter is for advanced users
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
Range
0.05 to 50
INS_GYR_CAL: GYRO CALIBRATION SCHEME¶
Note: This parameter is for advanced users
Conrols when automatic gyro calibration is performed
Values
Value
Meaning
0
Never
1
Start-up only
INS_TRIM_OPTION: ACCEL CAL TRIM OPTION¶
Note: This parameter is for advanced users
Specifies how the accel cal routine determines the trims
Values
Value
Meaning
0
Don’t adjust the trims
1
Assume first orientation was level
2
Assume ACC_BODYFIX is perfectly aligned to the vehicle
INS_ACC_BODYFIX: BODY-FIXED ACCELEROMETER¶
Note: This parameter is for advanced users
The body-fixed accelerometer to be used for trim calculation
Values
Value
Meaning
1
IMU 1
2
IMU 2
3
IMU 3
INS_POS1_X: IMU ACCELEROMETER X POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS_POS1_Y: IMU ACCELEROMETER Y POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS_POS1_Z: IMU ACCELEROMETER Z POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS_POS2_X: IMU ACCELEROMETER X POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS_POS2_Y: IMU ACCELEROMETER Y POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS_POS2_Z: IMU ACCELEROMETER Z POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS_POS3_X: IMU ACCELEROMETER X POSITION¶
Note: This parameter is for advanced users
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.
Range
Units
-10 to 10
meters
INS_POS3_Y: IMU ACCELEROMETER Y POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS_POS3_Z: IMU ACCELEROMETER Z POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS_GYR_ID: GYRO ID¶
Note: This parameter is for advanced users
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly
True
INS_GYR2_ID: GYRO2 ID¶
Note: This parameter is for advanced users
Gyro2 sensor ID, taking into account its type, bus and instance
ReadOnly
True
INS_GYR3_ID: GYRO3 ID¶
Note: This parameter is for advanced users
Gyro3 sensor ID, taking into account its type, bus and instance
ReadOnly
True
INS_ACC_ID: ACCELEROMETER ID¶
Note: This parameter is for advanced users
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly
True
INS_ACC2_ID: ACCELEROMETER2 ID¶
Note: This parameter is for advanced users
Accelerometer2 sensor ID, taking into account its type, bus and instance
ReadOnly
True
INS_ACC3_ID: ACCELEROMETER3 ID¶
Note: This parameter is for advanced users
Accelerometer3 sensor ID, taking into account its type, bus and instance
ReadOnly
True
INS_FAST_SAMPLE: FAST SAMPLING MASK¶
Note: This parameter is for advanced users
Mask of IMUs to enable fast sampling on, if available
Bitmask
Bit
Meaning
0
FirstIMU
1
SecondIMU
2
ThirdIMU
INS_ENABLE_MASK: IMU ENABLE MASK¶
Note: This parameter is for advanced users
Bitmask of IMUs to enable. It can be used to prevent startup of specific
detected IMUs
Bitmask
Bit
Meaning
0
FirstIMU
1
SecondIMU
2
ThirdIMU
3
FourthIMU
4
FifthIMU
5
SixthIMU
6
SeventhIMU
INS_GYRO_RATE: GYRO RATE FOR IMUS WITH FAST SAMPLING ENABLED¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Values
Value
Meaning
0
1kHz
1
2kHz
2
4kHz
3
8kHz
INS_ACC1_CALTEMP: CALIBRATION TEMPERATURE FOR 1ST ACCELEROMETER¶
Note: This parameter is for advanced users
Temperature that the 1st accelerometer was calibrated at
Calibration
Units
1
degrees Celsius
INS_GYR1_CALTEMP: CALIBRATION TEMPERATURE FOR 1ST GYROSCOPE¶
Note: This parameter is for advanced users
Temperature that the 1st gyroscope was calibrated at
Calibration
Units
1
degrees Celsius
INS_ACC2_CALTEMP: CALIBRATION TEMPERATURE FOR 2ND ACCELEROMETER¶
Note: This parameter is for advanced users
Temperature that the 2nd accelerometer was calibrated at
Calibration
Units
1
degrees Celsius
INS_GYR2_CALTEMP: CALIBRATION TEMPERATURE FOR 2ND GYROSCOPE¶
Note: This parameter is for advanced users
Temperature that the 2nd gyroscope was calibrated at
Calibration
Units
1
degrees Celsius
INS_ACC3_CALTEMP: CALIBRATION TEMPERATURE FOR 3RD ACCELEROMETER¶
Note: This parameter is for advanced users
Temperature that the 3rd accelerometer was calibrated at
Calibration
Units
1
degrees Celsius
INS_GYR3_CALTEMP: CALIBRATION TEMPERATURE FOR 3RD GYROSCOPE¶
Note: This parameter is for advanced users
Temperature that the 3rd gyroscope was calibrated at
Calibration
Units
1
degrees Celsius
INS_TCAL_OPTIONS: OPTIONS FOR TEMPERATURE CALIBRATION¶
Note: This parameter is for advanced users
This enables optional temperature calibration features. Setting of the Persist
bits will save the temperature and/or accelerometer calibration parameters in
the bootloader sector on the next update of the bootloader.
Bitmask
Bit
Meaning
0
PersistTemps
1
PersistAccels
INS_RAW_LOG_OPT: RAW LOGGING OPTIONS¶
Note: This parameter is for advanced users
Raw logging options bitmask
Bitmask
Bit
Meaning
0
Log primary gyro only
1
Log all gyros
2
Post filter
3
Pre and post filter
INS4_ PARAMETERS¶
INS4_USE: USE FIRST IMU FOR ATTITUDE, VELOCITY AND POSITION ESTIMATES¶
Note: This parameter is for advanced users
Use first IMU for attitude, velocity and position estimates
Values
Value
Meaning
0
Disabled
1
Enabled
INS4_ACC_ID: ACCELEROMETER ID¶
Note: This parameter is for advanced users
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly
True
INS4_ACCSCAL_X: ACCELEROMETER SCALING OF X AXIS¶
Note: This parameter is for advanced users
Accelerometer scaling of X axis. Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS4_ACCSCAL_Y: ACCELEROMETER SCALING OF Y AXIS¶
Note: This parameter is for advanced users
Accelerometer scaling of Y axis Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS4_ACCSCAL_Z: ACCELEROMETER SCALING OF Z AXIS¶
Note: This parameter is for advanced users
Accelerometer scaling of Z axis Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS4_ACCOFFS_X: ACCELEROMETER OFFSETS OF X AXIS¶
Note: This parameter is for advanced users
Accelerometer offsets of X axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS4_ACCOFFS_Y: ACCELEROMETER OFFSETS OF Y AXIS¶
Note: This parameter is for advanced users
Accelerometer offsets of Y axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS4_ACCOFFS_Z: ACCELEROMETER OFFSETS OF Z AXIS¶
Note: This parameter is for advanced users
Accelerometer offsets of Z axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS4_POS_X: IMU ACCELEROMETER X POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS4_POS_Y: IMU ACCELEROMETER Y POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS4_POS_Z: IMU ACCELEROMETER Z POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS4_ACC_CALTEMP: CALIBRATION TEMPERATURE FOR ACCELEROMETER¶
Note: This parameter is for advanced users
Temperature that the accelerometer was calibrated at
Calibration
Units
1
degrees Celsius
INS4_GYR_ID: GYRO ID¶
Note: This parameter is for advanced users
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly
True
INS4_GYROFFS_X: GYRO OFFSETS OF X AXIS¶
Note: This parameter is for advanced users
Gyro sensor offsets of X axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS4_GYROFFS_Y: GYRO OFFSETS OF Y AXIS¶
Note: This parameter is for advanced users
Gyro sensor offsets of Y axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS4_GYROFFS_Z: GYRO OFFSETS OF Z AXIS¶
Note: This parameter is for advanced users
Gyro sensor offsets of Z axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS4_GYR_CALTEMP: CALIBRATION TEMPERATURE FOR GYROSCOPE¶
Note: This parameter is for advanced users
Temperature that the gyroscope was calibrated at
Calibration
Units
1
degrees Celsius
INS4_TCAL_ PARAMETERS¶
INS4_TCAL_ENABLE: ENABLE TEMPERATURE CALIBRATION¶
Note: This parameter is for advanced users
Note: Reboot required after change
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
Values
Value
Meaning
0
Disabled
1
Enabled
2
LearnCalibration
INS4_TCAL_TMIN: TEMPERATURE CALIBRATION MIN¶
Note: This parameter is for advanced users
The minimum temperature that the calibration is valid for
Calibration
Range
Units
1
-70 to 80
degrees Celsius
INS4_TCAL_TMAX: TEMPERATURE CALIBRATION MAX¶
Note: This parameter is for advanced users
The maximum temperature that the calibration is valid for. This must be at least
10 degrees above TMIN for calibration
Calibration
Range
Units
1
-70 to 80
degrees Celsius
INS4_TCAL_ACC1_X: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_ACC1_Y: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_ACC1_Z: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_ACC2_X: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_ACC2_Y: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_ACC2_Z: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_ACC3_X: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_ACC3_Y: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_ACC3_Z: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_GYR1_X: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_GYR1_Y: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_GYR1_Z: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_GYR2_X: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_GYR2_Y: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_GYR2_Z: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_GYR3_X: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_GYR3_Y: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS4_TCAL_GYR3_Z: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS5_ PARAMETERS¶
INS5_USE: USE FIRST IMU FOR ATTITUDE, VELOCITY AND POSITION ESTIMATES¶
Note: This parameter is for advanced users
Use first IMU for attitude, velocity and position estimates
Values
Value
Meaning
0
Disabled
1
Enabled
INS5_ACC_ID: ACCELEROMETER ID¶
Note: This parameter is for advanced users
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly
True
INS5_ACCSCAL_X: ACCELEROMETER SCALING OF X AXIS¶
Note: This parameter is for advanced users
Accelerometer scaling of X axis. Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS5_ACCSCAL_Y: ACCELEROMETER SCALING OF Y AXIS¶
Note: This parameter is for advanced users
Accelerometer scaling of Y axis Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS5_ACCSCAL_Z: ACCELEROMETER SCALING OF Z AXIS¶
Note: This parameter is for advanced users
Accelerometer scaling of Z axis Calculated during acceleration calibration
routine
Calibration
Range
1
0.8 to 1.2
INS5_ACCOFFS_X: ACCELEROMETER OFFSETS OF X AXIS¶
Note: This parameter is for advanced users
Accelerometer offsets of X axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS5_ACCOFFS_Y: ACCELEROMETER OFFSETS OF Y AXIS¶
Note: This parameter is for advanced users
Accelerometer offsets of Y axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS5_ACCOFFS_Z: ACCELEROMETER OFFSETS OF Z AXIS¶
Note: This parameter is for advanced users
Accelerometer offsets of Z axis. This is setup using the acceleration
calibration or level operations
Calibration
Range
Units
1
-3.5 to 3.5
meters per square second
INS5_POS_X: IMU ACCELEROMETER X POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS5_POS_Y: IMU ACCELEROMETER Y POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS5_POS_Z: IMU ACCELEROMETER Z POSITION¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
INS5_ACC_CALTEMP: CALIBRATION TEMPERATURE FOR ACCELEROMETER¶
Note: This parameter is for advanced users
Temperature that the accelerometer was calibrated at
Calibration
Units
1
degrees Celsius
INS5_GYR_ID: GYRO ID¶
Note: This parameter is for advanced users
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly
True
INS5_GYROFFS_X: GYRO OFFSETS OF X AXIS¶
Note: This parameter is for advanced users
Gyro sensor offsets of X axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS5_GYROFFS_Y: GYRO OFFSETS OF Y AXIS¶
Note: This parameter is for advanced users
Gyro sensor offsets of Y axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS5_GYROFFS_Z: GYRO OFFSETS OF Z AXIS¶
Note: This parameter is for advanced users
Gyro sensor offsets of Z axis. This is setup on each boot during gyro
calibrations
Calibration
Units
1
radians per second
INS5_GYR_CALTEMP: CALIBRATION TEMPERATURE FOR GYROSCOPE¶
Note: This parameter is for advanced users
Temperature that the gyroscope was calibrated at
Calibration
Units
1
degrees Celsius
INS5_TCAL_ PARAMETERS¶
INS5_TCAL_ENABLE: ENABLE TEMPERATURE CALIBRATION¶
Note: This parameter is for advanced users
Note: Reboot required after change
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
Values
Value
Meaning
0
Disabled
1
Enabled
2
LearnCalibration
INS5_TCAL_TMIN: TEMPERATURE CALIBRATION MIN¶
Note: This parameter is for advanced users
The minimum temperature that the calibration is valid for
Calibration
Range
Units
1
-70 to 80
degrees Celsius
INS5_TCAL_TMAX: TEMPERATURE CALIBRATION MAX¶
Note: This parameter is for advanced users
The maximum temperature that the calibration is valid for. This must be at least
10 degrees above TMIN for calibration
Calibration
Range
Units
1
-70 to 80
degrees Celsius
INS5_TCAL_ACC1_X: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_ACC1_Y: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_ACC1_Z: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_ACC2_X: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_ACC2_Y: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_ACC2_Z: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_ACC3_X: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_ACC3_Y: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_ACC3_Z: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_GYR1_X: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_GYR1_Y: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_GYR1_Z: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_GYR2_X: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_GYR2_Y: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_GYR2_Z: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_GYR3_X: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_GYR3_Y: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS5_TCAL_GYR3_Z: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_HNTC2_ PARAMETERS¶
INS_HNTC2_ENABLE: HARMONIC NOTCH FILTER ENABLE¶
Note: This parameter is for advanced users
Harmonic Notch Filter enable
Values
Value
Meaning
0
Disabled
1
Enabled
INS_HNTC2_FREQ: HARMONIC NOTCH FILTER BASE FREQUENCY¶
Note: This parameter is for advanced users
Harmonic Notch Filter base center frequency in Hz. This is the center frequency
for static notches, the center frequency for Throttle based notches at the
reference thrust value, and the minimum limit of center frequency variation for
all other notch types. This should always be set lower than half the backend
gyro rate (which is typically 1Khz).
Range
Units
10 to 495
hertz
INS_HNTC2_BW: HARMONIC NOTCH FILTER BANDWIDTH¶
Note: This parameter is for advanced users
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.
Range
Units
5 to 250
hertz
INS_HNTC2_ATT: HARMONIC NOTCH FILTER ATTENUATION¶
Note: This parameter is for advanced users
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically
produce a hard notch rather than a modest attenuation of motor noise.
Range
Units
5 to 50
decibel
INS_HNTC2_HMNCS: HARMONIC NOTCH FILTER HARMONICS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option
takes effect on the next reboot. A value of 0 disables this filter. The first
harmonic refers to the base frequency.
Bitmask
Bit
Meaning
0
1st harmonic
1
2nd harmonic
2
3rd harmonic
3
4th harmonic
4
5th harmonic
5
6th harmonic
6
7th harmonic
7
8th harmonic
8
9th harmonic
9
10th harmonic
10
11th harmonic
11
12th harmonic
12
13th harmonic
13
14th harmonic
14
15th harmonic
15
16th harmonic
INS_HNTC2_REF: HARMONIC NOTCH FILTER REFERENCE VALUE¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Range
0.0 to 1.0
INS_HNTC2_MODE: HARMONIC NOTCH FILTER DYNAMIC FREQUENCY TRACKING MODE¶
Note: This parameter is for advanced users
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be
throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based
harmonic notch cannot be used on fixed wing only planes. It can for Copters,
QuaadPlane(while in VTOL modes), and Rovers.
Range
Values
0 to 5
Value
Meaning
0
Fixed
1
Throttle
2
RPM Sensor
3
ESC Telemetry
4
Dynamic FFT
5
Second RPM Sensor
INS_HNTC2_OPTS: HARMONIC NOTCH FILTER OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Harmonic Notch Filter options. Triple and double-notches can provide deeper
attenuation across a wider bandwidth with reduced latency than single notches
and are suitable for larger aircraft. Multi-Source 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. If both double and triple notches
are specified only double notches will take effect.
Bitmask
Bit
Meaning
0
Double notch
1
Multi-Source
2
Update at loop rate
3
EnableOnAllIMUs
4
Triple notch
5
Use min freq on RPM failure
INS_HNTC2_FM_RAT: THROTTLE NOTCH MIN FREQENCY RATIO¶
Note: This parameter is for advanced users
The minimum ratio below the configured frequency to take throttle based notch
filters when flying at a throttle level below the reference throttle. Note that
lower frequency notch filters will have more phase lag. If you want throttle
based notch filtering to be effective at a throttle up to 30% below the
configured notch frequency then set this parameter to 0.7. The default of 1.0
means the notch will not go below the frequency in the FREQ parameter.
Range
0.1 to 1.0
INS_HNTCH_ PARAMETERS¶
INS_HNTCH_ENABLE: HARMONIC NOTCH FILTER ENABLE¶
Note: This parameter is for advanced users
Harmonic Notch Filter enable
Values
Value
Meaning
0
Disabled
1
Enabled
INS_HNTCH_FREQ: HARMONIC NOTCH FILTER BASE FREQUENCY¶
Note: This parameter is for advanced users
Harmonic Notch Filter base center frequency in Hz. This is the center frequency
for static notches, the center frequency for Throttle based notches at the
reference thrust value, and the minimum limit of center frequency variation for
all other notch types. This should always be set lower than half the backend
gyro rate (which is typically 1Khz).
Range
Units
10 to 495
hertz
INS_HNTCH_BW: HARMONIC NOTCH FILTER BANDWIDTH¶
Note: This parameter is for advanced users
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.
Range
Units
5 to 250
hertz
INS_HNTCH_ATT: HARMONIC NOTCH FILTER ATTENUATION¶
Note: This parameter is for advanced users
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically
produce a hard notch rather than a modest attenuation of motor noise.
Range
Units
5 to 50
decibel
INS_HNTCH_HMNCS: HARMONIC NOTCH FILTER HARMONICS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option
takes effect on the next reboot. A value of 0 disables this filter. The first
harmonic refers to the base frequency.
Bitmask
Bit
Meaning
0
1st harmonic
1
2nd harmonic
2
3rd harmonic
3
4th harmonic
4
5th harmonic
5
6th harmonic
6
7th harmonic
7
8th harmonic
8
9th harmonic
9
10th harmonic
10
11th harmonic
11
12th harmonic
12
13th harmonic
13
14th harmonic
14
15th harmonic
15
16th harmonic
INS_HNTCH_REF: HARMONIC NOTCH FILTER REFERENCE VALUE¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Range
0.0 to 1.0
INS_HNTCH_MODE: HARMONIC NOTCH FILTER DYNAMIC FREQUENCY TRACKING MODE¶
Note: This parameter is for advanced users
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be
throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based
harmonic notch cannot be used on fixed wing only planes. It can for Copters,
QuaadPlane(while in VTOL modes), and Rovers.
Range
Values
0 to 5
Value
Meaning
0
Fixed
1
Throttle
2
RPM Sensor
3
ESC Telemetry
4
Dynamic FFT
5
Second RPM Sensor
INS_HNTCH_OPTS: HARMONIC NOTCH FILTER OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Harmonic Notch Filter options. Triple and double-notches can provide deeper
attenuation across a wider bandwidth with reduced latency than single notches
and are suitable for larger aircraft. Multi-Source 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. If both double and triple notches
are specified only double notches will take effect.
Bitmask
Bit
Meaning
0
Double notch
1
Multi-Source
2
Update at loop rate
3
EnableOnAllIMUs
4
Triple notch
5
Use min freq on RPM failure
INS_HNTCH_FM_RAT: THROTTLE NOTCH MIN FREQENCY RATIO¶
Note: This parameter is for advanced users
The minimum ratio below the configured frequency to take throttle based notch
filters when flying at a throttle level below the reference throttle. Note that
lower frequency notch filters will have more phase lag. If you want throttle
based notch filtering to be effective at a throttle up to 30% below the
configured notch frequency then set this parameter to 0.7. The default of 1.0
means the notch will not go below the frequency in the FREQ parameter.
Range
0.1 to 1.0
INS_LOG_ PARAMETERS¶
INS_LOG_BAT_CNT: SAMPLE COUNT PER BATCH¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
32
INS_LOG_BAT_MASK: SENSOR BITMASK¶
Note: This parameter is for advanced users
Note: Reboot required after change
Bitmap of which IMUs to log batch data for. This option takes effect on the next
reboot.
Bitmask
Bit
Meaning
0
IMU1
1
IMU2
2
IMU3
INS_LOG_BAT_OPT: BATCH LOGGING OPTIONS MASK¶
Note: This parameter is for advanced users
Options for the BatchSampler.
Bitmask
Bit
Meaning
0
Sensor-Rate Logging (sample at full sensor rate seen by AP)
1
Sample post-filtering
2
Sample pre- and post-filter
INS_LOG_BAT_LGIN: LOGGING INTERVAL¶
Interval between pushing samples to the AP_Logger log
Increment
Units
10
milliseconds
INS_LOG_BAT_LGCT: LOGGING COUNT¶
Number of samples to push to count every INS_LOG_BAT_LGIN
Increment
1
INS_TCAL1_ PARAMETERS¶
INS_TCAL1_ENABLE: ENABLE TEMPERATURE CALIBRATION¶
Note: This parameter is for advanced users
Note: Reboot required after change
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
Values
Value
Meaning
0
Disabled
1
Enabled
2
LearnCalibration
INS_TCAL1_TMIN: TEMPERATURE CALIBRATION MIN¶
Note: This parameter is for advanced users
The minimum temperature that the calibration is valid for
Calibration
Range
Units
1
-70 to 80
degrees Celsius
INS_TCAL1_TMAX: TEMPERATURE CALIBRATION MAX¶
Note: This parameter is for advanced users
The maximum temperature that the calibration is valid for. This must be at least
10 degrees above TMIN for calibration
Calibration
Range
Units
1
-70 to 80
degrees Celsius
INS_TCAL1_ACC1_X: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_ACC1_Y: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_ACC1_Z: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_ACC2_X: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_ACC2_Y: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_ACC2_Z: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_ACC3_X: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_ACC3_Y: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_ACC3_Z: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_GYR1_X: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_GYR1_Y: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_GYR1_Z: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_GYR2_X: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_GYR2_Y: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_GYR2_Z: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_GYR3_X: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_GYR3_Y: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL1_GYR3_Z: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_ PARAMETERS¶
INS_TCAL2_ENABLE: ENABLE TEMPERATURE CALIBRATION¶
Note: This parameter is for advanced users
Note: Reboot required after change
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
Values
Value
Meaning
0
Disabled
1
Enabled
2
LearnCalibration
INS_TCAL2_TMIN: TEMPERATURE CALIBRATION MIN¶
Note: This parameter is for advanced users
The minimum temperature that the calibration is valid for
Calibration
Range
Units
1
-70 to 80
degrees Celsius
INS_TCAL2_TMAX: TEMPERATURE CALIBRATION MAX¶
Note: This parameter is for advanced users
The maximum temperature that the calibration is valid for. This must be at least
10 degrees above TMIN for calibration
Calibration
Range
Units
1
-70 to 80
degrees Celsius
INS_TCAL2_ACC1_X: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_ACC1_Y: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_ACC1_Z: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_ACC2_X: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_ACC2_Y: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_ACC2_Z: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_ACC3_X: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_ACC3_Y: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_ACC3_Z: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_GYR1_X: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_GYR1_Y: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_GYR1_Z: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_GYR2_X: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_GYR2_Y: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_GYR2_Z: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_GYR3_X: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_GYR3_Y: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL2_GYR3_Z: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_ PARAMETERS¶
INS_TCAL3_ENABLE: ENABLE TEMPERATURE CALIBRATION¶
Note: This parameter is for advanced users
Note: Reboot required after change
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
Values
Value
Meaning
0
Disabled
1
Enabled
2
LearnCalibration
INS_TCAL3_TMIN: TEMPERATURE CALIBRATION MIN¶
Note: This parameter is for advanced users
The minimum temperature that the calibration is valid for
Calibration
Range
Units
1
-70 to 80
degrees Celsius
INS_TCAL3_TMAX: TEMPERATURE CALIBRATION MAX¶
Note: This parameter is for advanced users
The maximum temperature that the calibration is valid for. This must be at least
10 degrees above TMIN for calibration
Calibration
Range
Units
1
-70 to 80
degrees Celsius
INS_TCAL3_ACC1_X: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_ACC1_Y: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_ACC1_Z: ACCELEROMETER 1ST ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_ACC2_X: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_ACC2_Y: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_ACC2_Z: ACCELEROMETER 2ND ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_ACC3_X: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_ACC3_Y: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_ACC3_Z: ACCELEROMETER 3RD ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_GYR1_X: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_GYR1_Y: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_GYR1_Z: GYROSCOPE 1ST ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 1st order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_GYR2_X: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_GYR2_Y: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_GYR2_Z: GYROSCOPE 2ND ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 2nd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_GYR3_X: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT X AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_GYR3_Y: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT Y AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
INS_TCAL3_GYR3_Z: GYROSCOPE 3RD ORDER TEMPERATURE COEFFICIENT Z AXIS¶
Note: This parameter is for advanced users
This is the 3rd order temperature coefficient from a temperature calibration
Calibration
1
KDE_ PARAMETERS¶
KDE_NPOLE: NUMBER OF MOTOR POLES¶
Sets the number of motor poles to calculate the correct RPM value
LAND_ PARAMETERS¶
LAND_SLOPE_RCALC: LANDING SLOPE RE-CALC THRESHOLD¶
Note: This parameter is for advanced users
This parameter is used when using a rangefinder during landing for altitude
correction from baro drift (RNGFND_LANDING=1) and the altitude correction
indicates your altitude is lower than the intended slope path. This value is the
threshold of the correction to re-calculate the landing approach slope. Set to
zero to keep the original slope all the way down and any detected baro drift
will be corrected by pitching/throttling up to snap back to resume the original
slope path. Otherwise, when a rangefinder altitude correction exceeds this
threshold it will trigger a slope re-calculate to give a shallower slope. This
also smoothes out the approach when flying over objects such as trees. Recommend
a value of 2m.
Increment
Range
Units
0.5
0 to 5
meters
LAND_ABORT_DEG: LANDING AUTO-ABORT SLOPE THRESHOLD¶
Note: This parameter is for advanced users
This parameter is used when using a rangefinder during landing for altitude
correction from baro drift (RNGFND_LANDING=1) and the altitude correction
indicates your actual altitude is higher than the intended slope path. Normally
it would pitch down steeply but that can result in a crash with high airspeed so
this allows remembering the baro offset and self-abort the landing and come
around for another landing with the correct baro offset applied for a perfect
slope. An auto-abort go-around will only happen once, next attempt will not
auto-abort again. This operation happens entirely automatically in AUTO mode.
This value is the delta degrees threshold to trigger the go-around compared to
the original slope. Example: if set to 5 deg and the mission planned slope is 15
deg then if the new slope is 21 then it will go-around. Set to 0 to disable.
Requires LAND_SLOPE_RCALC > 0.
Increment
Range
Units
0.1
0 to 90
degrees
LAND_PITCH_DEG: LANDING PITCH¶
Note: This parameter is for advanced users
Used in autoland to give the minimum pitch in the final stage of landing (after
the flare). This parameter can be used to ensure that the final landing attitude
is appropriate for the type of undercarriage on the aircraft. Note that it is a
minimum pitch only - the landing code will control pitch above this value to try
to achieve the configured landing sink rate.
Increment
Range
Units
10
-20 to 20
degrees
LAND_FLARE_ALT: LANDING FLARE ALTITUDE¶
Note: This parameter is for advanced users
Altitude in autoland at which to lock heading and flare to the LAND_PITCH_DEG
pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing
it preferable that the flare is triggered by LAND_FLARE_SEC.
Increment
Range
Units
0.1
0 to 30
meters
LAND_FLARE_SEC: LANDING FLARE TIME¶
Note: This parameter is for advanced users
Vertical time before landing point at which to lock heading and flare with the
motor stopped. This is vertical time, and is calculated based solely on the
current height above the ground and the current descent rate. Set to 0 if you
only wish to flare based on altitude (see LAND_FLARE_ALT).
Increment
Range
Units
0.1
0 to 10
seconds
LAND_PF_ALT: LANDING PRE-FLARE ALTITUDE¶
Note: This parameter is for advanced users
Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls
airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but
higher. Disabled when LAND_PF_ARSPD is 0.
Increment
Range
Units
0.1
0 to 30
meters
LAND_PF_SEC: LANDING PRE-FLARE TIME¶
Note: This parameter is for advanced users
Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD
controls airspeed. This pre-flare flight stage trigger works just like
LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0.
Increment
Range
Units
0.1
0 to 10
seconds
LAND_PF_ARSPD: LANDING PRE-FLARE AIRSPEED¶
Note: This parameter is for advanced users
Desired airspeed during pre-flare flight stage. This is useful to reduce
airspeed just before the flare. Use 0 to disable.
Increment
Range
Units
0.1
0 to 30
meters per second
LAND_THR_SLEW: LANDING THROTTLE SLEW RATE¶
This parameter sets the slew rate for the throttle during auto landing. When
this is zero the THR_SLEWRATE parameter is used during landing. The value is a
percentage throttle change per second, so a value of 20 means to advance the
throttle over 5 seconds on landing. Values below 50 are not recommended as it
may cause a stall when airspeed is low and you can not throttle up fast enough.
Increment
Range
Units
1
0 to 127
percent
LAND_DISARMDELAY: LANDING DISARM DELAY¶
Note: This parameter is for advanced users
After a landing has completed using a LAND waypoint, automatically disarm after
this many seconds have passed. Use 0 to not disarm.
Increment
Range
Units
1
0 to 127
seconds
LAND_THEN_NEUTRL: SET SERVOS TO NEUTRAL AFTER LANDING¶
Note: This parameter is for advanced users
When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens
then set all servos to neutral. This is helpful when an aircraft has a rough
landing upside down or a crazy angle causing the servos to strain.
Values
Value
Meaning
0
Disabled
1
Servos to Neutral
2
Servos to Zero PWM
LAND_ABORT_THR: LANDING ABORT USING THROTTLE¶
Note: This parameter is for advanced users
Allow a landing abort to trigger with an input throttle >= 90%. This works with
or without stick-mixing enabled.
Values
Value
Meaning
0
Disabled
1
Enabled
LAND_FLAP_PERCNT: LANDING FLAP PERCENTAGE¶
Note: This parameter is for advanced users
The amount of flaps (as a percentage) to apply in the landing approach and flare
of an automatic landing
Increment
Range
Units
1
0 to 100
percent
LAND_OPTIONS: LANDING OPTIONS BITMASK¶
Note: This parameter is for advanced users
Bitmask of options to use with landing.
Bitmask
Bit
Meaning
0
honor min throttle during landing flare
1
Increase Target landing airspeed constraint From Trim Airspeed to AIRSPEED_MAX
LAND_FLARE_AIM: FLARE AIM POINT ADJUSTMENT PERCENTAGE.¶
Note: This parameter is for advanced users
This parameter controls how much the aim point is moved to allow for the time
spent in the flare manoeuvre. When set to 100% the aim point is adjusted on the
assumption that the flare sink rate controller instantly achieves the sink rate
set by TECS_LAND_SINK. when set to 0%, no aim point adjustment is made. If the
plane consistently touches down short of the aim point reduce the parameter and
vice verse.
Increment
Range
Units
1
0 to 100
percent
LAND_WIND_COMP: HEADWIND COMPENSATION WHEN LANDING¶
Note: This parameter is for advanced users
This param controls how much headwind compensation is used when landing.
Headwind speed component multiplied by this parameter is added to
TECS_LAND_ARSPD command. Set to Zero to disable. Note: The target landing
airspeed command is still limited to AIRSPEED_MAX.
Increment
Range
Units
1
0 to 100
percent
LAND_TYPE: AUTO-LANDING TYPE¶
Specifies the auto-landing type to use
Values
Value
Meaning
0
Standard Glide Slope
1
Deepstall
LAND_DS_ PARAMETERS¶
LAND_DS_V_FWD: DEEPSTALL FORWARD VELOCITY¶
Note: This parameter is for advanced users
The forward velocity of the aircraft while stalled
Range
Units
0 to 20
meters per second
LAND_DS_SLOPE_A: DEEPSTALL SLOPE A¶
Note: This parameter is for advanced users
The a component of distance = a*wind + b
LAND_DS_SLOPE_B: DEEPSTALL SLOPE B¶
Note: This parameter is for advanced users
The a component of distance = a*wind + b
LAND_DS_APP_EXT: DEEPSTALL APPROACH EXTENSION¶
Note: This parameter is for advanced users
The horizontal distance from which the aircraft will approach before the stall
Range
Units
10 to 200
meters
LAND_DS_V_DWN: DEEPSTALL VELOCITY DOWN¶
Note: This parameter is for advanced users
The downward velocity of the aircraft while stalled
Range
Units
0 to 20
meters per second
LAND_DS_SLEW_SPD: DEEPSTALL SLEW SPEED¶
Note: This parameter is for advanced users
The speed at which the elevator slews to deepstall
Range
Units
0 to 2
seconds
LAND_DS_ELEV_PWM: DEEPSTALL ELEVATOR PWM¶
Note: This parameter is for advanced users
The PWM value in microseconds for the elevator at full deflection in deepstall
Range
Units
900 to 2100
PWM in microseconds
LAND_DS_ARSP_MAX: DEEPSTALL ENABLED AIRSPEED¶
Note: This parameter is for advanced users
The maximum aispeed where the deepstall steering controller is allowed to have
control
Range
Units
5 to 20
meters per second
LAND_DS_ARSP_MIN: DEEPSTALL MINIMUM DERATING AIRSPEED¶
Note: This parameter is for advanced users
Deepstall lowest airspeed where the deepstall controller isn't allowed full
control
Range
Units
5 to 20
meters per second
LAND_DS_L1: DEEPSTALL L1 PERIOD¶
Note: This parameter is for advanced users
Deepstall L1 navigational controller period
Range
Units
5 to 50
seconds
LAND_DS_L1_I: DEEPSTALL L1 I GAIN¶
Note: This parameter is for advanced users
Deepstall L1 integratior gain
Range
0 to 1
LAND_DS_YAW_LIM: DEEPSTALL YAW RATE LIMIT¶
Note: This parameter is for advanced users
The yaw rate limit while navigating in deepstall
Range
Units
0 to 90
degrees per second
LAND_DS_L1_TCON: DEEPSTALL L1 TIME CONSTANT¶
Note: This parameter is for advanced users
Time constant for deepstall L1 control
Range
Units
0 to 1
seconds
LAND_DS_P: P GAIN¶
P gain
LAND_DS_I: I GAIN¶
I gain
LAND_DS_D: D GAIN¶
D gain
LAND_DS_IMAX: IMAX¶
Maximum integrator value
LAND_DS_ABORTALT: DEEPSTALL MINIMUM ABORT ALTITUDE¶
Note: This parameter is for advanced users
The minimum altitude which the aircraft must be above to abort a deepstall
landing
Range
Units
0 to 50
meters
LAND_DS_AIL_SCL: AILERON LANDING GAIN SCALAING¶
Note: This parameter is for advanced users
A scalar to reduce or increase the aileron control
Range
0 to 2.0
LGR_ PARAMETERS¶
LGR_ENABLE: ENABLE LANDING GEAR¶
Enable landing gear control
Values
Value
Meaning
0
Disabled
1
Enabled
LGR_STARTUP: LANDING GEAR STARTUP POSITION¶
Landing Gear Startup behaviour control
Values
Value
Meaning
0
WaitForPilotInput
1
Retract
2
Deploy
LGR_DEPLOY_PIN: CHASSIS DEPLOYMENT FEEDBACK PIN¶
Note: Reboot required after change
Pin number to use for detection of gear deployment. If set to -1 feedback is
disabled. Some common values are given, but see the Wiki's "GPIOs" page for how
to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Disabled
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
LGR_DEPLOY_POL: CHASSIS DEPLOYMENT FEEDBACK PIN POLARITY¶
Polarity for feedback pin. If this is 1 then the pin should be high when gear
are deployed. If set to 0 then then deployed gear level is low.
Values
Value
Meaning
0
Low
1
High
LGR_WOW_PIN: WEIGHT ON WHEELS FEEDBACK PIN¶
Note: Reboot required after change
Pin number to use for feedback of weight on wheels condition. If set to -1
feedback is disabled. Some common values are given, but see the Wiki's "GPIOs"
page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Disabled
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
LGR_WOW_POL: WEIGHT ON WHEELS FEEDBACK PIN POLARITY¶
Polarity for feedback pin. If this is 1 then the pin should be high when there
is weight on wheels. If set to 0 then then weight on wheels level is low.
Values
Value
Meaning
0
Low
1
High
LGR_DEPLOY_ALT: LANDING GEAR DEPLOYMENT ALTITUDE¶
Altitude where the landing gear will be deployed. This should be lower than the
RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only
applies when vehicle is armed.
Increment
Range
Units
1
0 to 1000
meters
LGR_RETRACT_ALT: LANDING GEAR RETRACT ALTITUDE¶
Altitude where the landing gear will be retracted. This should be higher than
the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear.
Only applies when vehicle is armed.
Increment
Range
Units
1
0 to 1000
meters
LGR_OPTIONS: LANDING GEAR AUTO RETRACT/DEPLOY OPTIONS¶
Options to retract or deploy landing gear in Auto or Guided mode
Bitmask
Bit
Meaning
0
Retract after Takeoff
1
Deploy during Land
LOG PARAMETERS¶
LOG_BACKEND_TYPE: AP_LOGGER BACKEND STORAGE TYPE¶
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.
Bitmask
Bit
Meaning
0
File
1
MAVLink
2
Block
LOG_FILE_BUFSIZE: MAXIMUM AP_LOGGER FILE AND BLOCK BACKEND BUFFER SIZE (IN
KILOBYTES)¶
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.
LOG_DISARMED: ENABLE LOGGING WHILE DISARMED¶
If LOG_DISARMED is set to 1 then logging will be enabled at all times including
when disarmed. Logging before arming can make for very large logfiles but can
help a lot when tracking down startup issues and is necessary if logging of EKF
replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to
2, then logging will be enabled when disarmed, but not if a USB connection is
detected. This can be used to prevent unwanted data logs being generated when
the vehicle is connected via USB for log downloading or parameter changes. If
LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the
vehicle never arms then the logs using the filesystem backend will be discarded
on the next boot.
Values
Value
Meaning
0
Disabled
1
Enabled
2
Disabled on USB connection
3
Discard log on reboot if never armed
LOG_REPLAY: ENABLE LOGGING OF INFORMATION NEEDED FOR REPLAY¶
If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log
detailed information needed for diagnosing problems with the Kalman filter.
LOG_DISARMED must be set to 1 or 2 or else the log will not contain the
pre-flight data required for replay testing of the EKF's. 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.
Values
Value
Meaning
0
Disabled
1
Enabled
LOG_FILE_DSRMROT: STOP LOGGING TO CURRENT FILE ON DISARM¶
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.
Values
Value
Meaning
0
Disabled
1
Enabled
LOG_MAV_BUFSIZE: MAXIMUM AP_LOGGER MAVLINK BACKEND BUFFER SIZE¶
Note: This parameter is for advanced users
Maximum amount of memory to allocate to AP_Logger-over-mavlink
Units
kilobytes
LOG_FILE_TIMEOUT: TIMEOUT BEFORE GIVING UP ON FILE WRITES¶
This controls the amount of time before failing writes to a log file cause the
file to be closed and logging stopped.
Units
seconds
LOG_FILE_MB_FREE: OLD LOGS ON THE SD CARD WILL BE DELETED TO MAINTAIN THIS
AMOUNT OF FREE SPACE¶
Set this such that the free space is larger than your largest typical flight log
Range
Units
10 to 1000
megabyte
LOG_FILE_RATEMAX: MAXIMUM LOGGING RATE FOR FILE BACKEND¶
This sets the maximum rate that streaming log messages will be logged to the
file backend. A value of zero means that rate limiting is disabled.
Increment
Range
Units
0.1
0 to 1000
hertz
LOG_MAV_RATEMAX: MAXIMUM LOGGING RATE FOR MAVLINK BACKEND¶
This sets the maximum rate that streaming log messages will be logged to the
mavlink backend. A value of zero means that rate limiting is disabled.
Increment
Range
Units
0.1
0 to 1000
hertz
LOG_BLK_RATEMAX: MAXIMUM LOGGING RATE FOR BLOCK BACKEND¶
This sets the maximum rate that streaming log messages will be logged to the
block backend. A value of zero means that rate limiting is disabled.
Increment
Range
Units
0.1
0 to 1000
hertz
LOG_DARM_RATEMAX: MAXIMUM LOGGING RATE WHEN DISARMED¶
This sets the maximum rate that streaming log messages will be logged to any
backend when disarmed. A value of zero means that the normal backend rate limit
is applied.
Increment
Range
Units
0.1
0 to 1000
hertz
LOG_MAX_FILES: MAXIMUM NUMBER OF LOG FILES¶
Note: This parameter is for advanced users
Note: Reboot required after change
This sets the maximum number of log file that will be written on dataflash or sd
card before starting to rotate log number. Limit is capped at 500 logs.
Increment
Range
1
2 to 500
MIS_ PARAMETERS¶
MIS_TOTAL: TOTAL MISSION COMMANDS¶
Note: This parameter is for advanced users
The number of mission mission items that has been loaded by the ground station.
Do not change this manually.
Increment
Range
ReadOnly
1
0 to 32766
True
MIS_RESTART: MISSION RESTART WHEN ENTERING AUTO MODE¶
Note: This parameter is for advanced users
Controls mission starting point when entering Auto mode (either restart from
beginning of mission or resume from last command run)
Values
Value
Meaning
0
Resume Mission
1
Restart Mission
MIS_OPTIONS: MISSION OPTIONS BITMASK¶
Note: This parameter is for advanced users
Bitmask of what options to use in missions.
Bitmask
Bit
Meaning
0
Clear Mission on reboot
1
Use distance to land calc on battery failsafe
2
ContinueAfterLand
MNT1 PARAMETERS¶
MNT1_TYPE: MOUNT TYPE¶
Note: Reboot required after change
Mount Type
Values
Value
Meaning
0
None
1
Servo
2
3DR Solo
3
Alexmos Serial
4
SToRM32 MAVLink
5
SToRM32 Serial
6
Gremsy
7
BrushlessPWM
8
Siyi
9
Scripting
10
Xacti
11
Viewpro
MNT1_DEFLT_MODE: MOUNT DEFAULT OPERATING MODE¶
Mount default operating mode on startup and after control is returned from
autopilot
Values
Value
Meaning
0
Retracted
1
Neutral
2
MavLink Targeting
3
RC Targeting
4
GPS Point
5
SysID Target
6
Home Location
MNT1_RC_RATE: MOUNT RC RATE¶
Pilot rate control's maximum rate. Set to zero to use angle control
Increment
Range
Units
1
0 to 90
degrees per second
MNT1_ROLL_MIN: MOUNT ROLL ANGLE MINIMUM¶
Mount Roll angle minimum
Increment
Range
Units
1
-180 to 180
degrees
MNT1_ROLL_MAX: MOUNT ROLL ANGLE MAXIMUM¶
Mount Roll angle maximum
Increment
Range
Units
1
-180 to 180
degrees
MNT1_PITCH_MIN: MOUNT PITCH ANGLE MINIMUM¶
Mount Pitch angle minimum
Increment
Range
Units
1
-90 to 90
degrees
MNT1_PITCH_MAX: MOUNT PITCH ANGLE MAXIMUM¶
Mount Pitch angle maximum
Increment
Range
Units
1
-90 to 90
degrees
MNT1_YAW_MIN: MOUNT YAW ANGLE MINIMUM¶
Mount Yaw angle minimum
Increment
Range
Units
1
-180 to 180
degrees
MNT1_YAW_MAX: MOUNT YAW ANGLE MAXIMUM¶
Mount Yaw angle maximum
Increment
Range
Units
1
-180 to 180
degrees
MNT1_RETRACT_X: MOUNT ROLL ANGLE WHEN IN RETRACTED POSITION¶
Mount roll angle when in retracted position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT1_RETRACT_Y: MOUNT PITCH ANGLE WHEN IN RETRACTED POSITION¶
Mount pitch angle when in retracted position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT1_RETRACT_Z: MOUNT YAW ANGLE WHEN IN RETRACTED POSITION¶
Mount yaw angle when in retracted position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT1_NEUTRAL_X: MOUNT ROLL ANGLE WHEN IN NEUTRAL POSITION¶
Mount roll angle when in neutral position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT1_NEUTRAL_Y: MOUNT PITCH ANGLE WHEN IN NEUTRAL POSITION¶
Mount pitch angle when in neutral position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT1_NEUTRAL_Z: MOUNT YAW ANGLE WHEN IN NEUTRAL POSITION¶
Mount yaw angle when in neutral position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT1_LEAD_RLL: MOUNT ROLL STABILIZATION LEAD TIME¶
Servo mount roll angle output leads the vehicle angle by this amount of time
based on current roll rate. Increase until the servo is responsive but does not
overshoot
Increment
Range
Units
.005
0.0 to 0.2
seconds
MNT1_LEAD_PTCH: MOUNT PITCH STABILIZATION LEAD TIME¶
Servo mount pitch angle output leads the vehicle angle by this amount of time
based on current pitch rate. Increase until the servo is responsive but does not
overshoot
Increment
Range
Units
.005
0.0 to 0.2
seconds
MNT1_SYSID_DFLT: MOUNT TARGET SYSID¶
Note: Reboot required after change
Default Target sysID for the mount to point to
MNT1_DEVID: MOUNT DEVICE ID¶
Note: This parameter is for advanced users
Mount device ID, taking into account its type, bus and instance
MNT1_OPTIONS: MOUNT OPTIONS¶
Mount options bitmask
Bitmask
Bit
Meaning
0
RC lock state from previous mode
MNT2 PARAMETERS¶
MNT2_TYPE: MOUNT TYPE¶
Note: Reboot required after change
Mount Type
Values
Value
Meaning
0
None
1
Servo
2
3DR Solo
3
Alexmos Serial
4
SToRM32 MAVLink
5
SToRM32 Serial
6
Gremsy
7
BrushlessPWM
8
Siyi
9
Scripting
10
Xacti
11
Viewpro
MNT2_DEFLT_MODE: MOUNT DEFAULT OPERATING MODE¶
Mount default operating mode on startup and after control is returned from
autopilot
Values
Value
Meaning
0
Retracted
1
Neutral
2
MavLink Targeting
3
RC Targeting
4
GPS Point
5
SysID Target
6
Home Location
MNT2_RC_RATE: MOUNT RC RATE¶
Pilot rate control's maximum rate. Set to zero to use angle control
Increment
Range
Units
1
0 to 90
degrees per second
MNT2_ROLL_MIN: MOUNT ROLL ANGLE MINIMUM¶
Mount Roll angle minimum
Increment
Range
Units
1
-180 to 180
degrees
MNT2_ROLL_MAX: MOUNT ROLL ANGLE MAXIMUM¶
Mount Roll angle maximum
Increment
Range
Units
1
-180 to 180
degrees
MNT2_PITCH_MIN: MOUNT PITCH ANGLE MINIMUM¶
Mount Pitch angle minimum
Increment
Range
Units
1
-90 to 90
degrees
MNT2_PITCH_MAX: MOUNT PITCH ANGLE MAXIMUM¶
Mount Pitch angle maximum
Increment
Range
Units
1
-90 to 90
degrees
MNT2_YAW_MIN: MOUNT YAW ANGLE MINIMUM¶
Mount Yaw angle minimum
Increment
Range
Units
1
-180 to 180
degrees
MNT2_YAW_MAX: MOUNT YAW ANGLE MAXIMUM¶
Mount Yaw angle maximum
Increment
Range
Units
1
-180 to 180
degrees
MNT2_RETRACT_X: MOUNT ROLL ANGLE WHEN IN RETRACTED POSITION¶
Mount roll angle when in retracted position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT2_RETRACT_Y: MOUNT PITCH ANGLE WHEN IN RETRACTED POSITION¶
Mount pitch angle when in retracted position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT2_RETRACT_Z: MOUNT YAW ANGLE WHEN IN RETRACTED POSITION¶
Mount yaw angle when in retracted position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT2_NEUTRAL_X: MOUNT ROLL ANGLE WHEN IN NEUTRAL POSITION¶
Mount roll angle when in neutral position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT2_NEUTRAL_Y: MOUNT PITCH ANGLE WHEN IN NEUTRAL POSITION¶
Mount pitch angle when in neutral position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT2_NEUTRAL_Z: MOUNT YAW ANGLE WHEN IN NEUTRAL POSITION¶
Mount yaw angle when in neutral position
Increment
Range
Units
1
-180.0 to 180.0
degrees
MNT2_LEAD_RLL: MOUNT ROLL STABILIZATION LEAD TIME¶
Servo mount roll angle output leads the vehicle angle by this amount of time
based on current roll rate. Increase until the servo is responsive but does not
overshoot
Increment
Range
Units
.005
0.0 to 0.2
seconds
MNT2_LEAD_PTCH: MOUNT PITCH STABILIZATION LEAD TIME¶
Servo mount pitch angle output leads the vehicle angle by this amount of time
based on current pitch rate. Increase until the servo is responsive but does not
overshoot
Increment
Range
Units
.005
0.0 to 0.2
seconds
MNT2_SYSID_DFLT: MOUNT TARGET SYSID¶
Note: Reboot required after change
Default Target sysID for the mount to point to
MNT2_DEVID: MOUNT DEVICE ID¶
Note: This parameter is for advanced users
Mount device ID, taking into account its type, bus and instance
MNT2_OPTIONS: MOUNT OPTIONS¶
Mount options bitmask
Bitmask
Bit
Meaning
0
RC lock state from previous mode
MSP PARAMETERS¶
MSP_OSD_NCELLS: CELL COUNT OVERRIDE¶
Used for average cell voltage calculation
Values
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
MSP_OPTIONS: MSP OSD OPTIONS¶
A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push"
mode telemetry when only rx line of OSD ic connected to autopilot,
EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those
instead of ArduPilot fonts.
Bitmask
Bit
Meaning
0
EnableTelemetryMode
1
unused
2
EnableBTFLFonts
NAVL1_ PARAMETERS¶
NAVL1_PERIOD: L1 CONTROL PERIOD¶
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.
Increment
Range
Units
1
1 to 60
seconds
NAVL1_DAMPING: L1 CONTROL DAMPING RATIO¶
Note: This parameter is for advanced users
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.
Increment
Range
0.05
0.6 to 1.0
NAVL1_XTRACK_I: L1 CONTROL CROSSTRACK INTEGRATOR GAIN¶
Note: This parameter is for advanced users
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.
Increment
Range
0.01
0 to 0.1
NAVL1_LIM_BANK: LOITER RADIUS BANK ANGLE LIMIT¶
Note: This parameter is for advanced users
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
Range
Units
0 to 89
degrees
NET_ PARAMETERS¶
NET_ENABLE: NETWORKING ENABLE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Networking Enable
Values
Value
Meaning
0
Disable
1
Enable
NET_NETMASK: IP SUBNET MASK¶
Note: This parameter is for advanced users
Note: Reboot required after change
Allows setting static subnet mask. The value is a count of consecutive bits.
Examples: 24 = 255.255.255.0, 16 = 255.255.0.0
Range
0 to 32
NET_DHCP: DHCP CLIENT¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enable/Disable DHCP client
Values
Value
Meaning
0
Disable
1
Enable
NET_TESTS: TEST ENABLE FLAGS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Enable/Disable networking tests
Bitmask
Bit
Meaning
0
UDP echo test
1
TCP echo test
2
TCP discard test
NET_OPTIONS: NETWORKING OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Networking options
Bitmask
Bit
Meaning
0
EnablePPP Ethernet gateway
NET_GWADDR PARAMETERS¶
NET_GWADDR0: IPV4 ADDRESS 1ST BYTE¶
Note: Reboot required after change
IPv4 address. Example: 192.xxx.xxx.xxx
Range
0 to 255
NET_GWADDR1: IPV4 ADDRESS 2ND BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.168.xxx.xxx
Range
0 to 255
NET_GWADDR2: IPV4 ADDRESS 3RD BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.13.xxx
Range
0 to 255
NET_GWADDR3: IPV4 ADDRESS 4TH BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.xxx.14
Range
0 to 255
NET_IPADDR PARAMETERS¶
NET_IPADDR0: IPV4 ADDRESS 1ST BYTE¶
Note: Reboot required after change
IPv4 address. Example: 192.xxx.xxx.xxx
Range
0 to 255
NET_IPADDR1: IPV4 ADDRESS 2ND BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.168.xxx.xxx
Range
0 to 255
NET_IPADDR2: IPV4 ADDRESS 3RD BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.13.xxx
Range
0 to 255
NET_IPADDR3: IPV4 ADDRESS 4TH BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.xxx.14
Range
0 to 255
NET_MACADDR PARAMETERS¶
NET_MACADDR0: MAC ADDRESS 1ST BYTE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAC address 1st byte
Range
0 to 255
NET_MACADDR1: MAC ADDRESS 2ND BYTE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAC address 2nd byte
Range
0 to 255
NET_MACADDR2: MAC ADDRESS 3RD BYTE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAC address 3rd byte
Range
0 to 255
NET_MACADDR3: MAC ADDRESS 4TH BYTE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAC address 4th byte
Range
0 to 255
NET_MACADDR4: MAC ADDRESS 5TH BYTE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAC address 5th byte
Range
0 to 255
NET_MACADDR5: MAC ADDRESS 6TH BYTE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAC address 6th byte
Range
0 to 255
NET_P1_ PARAMETERS¶
NET_P1_TYPE: PORT TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Port type for network serial port. For the two client types a valid destination
IP address must be set. For the two server types either 0.0.0.0 or a local
address can be used. The UDP client type will use broadcast if the IP is set to
255.255.255.255 and will use UDP multicast if the IP is in the multicast address
range.
Values
Value
Meaning
0
Disabled
1
UDP client
2
UDP server
3
TCP client
4
TCP server
NET_P1_PROTOCOL: PROTOCOL¶
Note: This parameter is for advanced users
Note: Reboot required after change
Networked serial port protocol
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
NET_P1_PORT: PORT NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Port number
Range
0 to 65535
NET_P1_IP PARAMETERS¶
NET_P1_IP0: IPV4 ADDRESS 1ST BYTE¶
Note: Reboot required after change
IPv4 address. Example: 192.xxx.xxx.xxx
Range
0 to 255
NET_P1_IP1: IPV4 ADDRESS 2ND BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.168.xxx.xxx
Range
0 to 255
NET_P1_IP2: IPV4 ADDRESS 3RD BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.13.xxx
Range
0 to 255
NET_P1_IP3: IPV4 ADDRESS 4TH BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.xxx.14
Range
0 to 255
NET_P2_ PARAMETERS¶
NET_P2_TYPE: PORT TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Port type for network serial port. For the two client types a valid destination
IP address must be set. For the two server types either 0.0.0.0 or a local
address can be used. The UDP client type will use broadcast if the IP is set to
255.255.255.255 and will use UDP multicast if the IP is in the multicast address
range.
Values
Value
Meaning
0
Disabled
1
UDP client
2
UDP server
3
TCP client
4
TCP server
NET_P2_PROTOCOL: PROTOCOL¶
Note: This parameter is for advanced users
Note: Reboot required after change
Networked serial port protocol
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
NET_P2_PORT: PORT NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Port number
Range
0 to 65535
NET_P2_IP PARAMETERS¶
NET_P2_IP0: IPV4 ADDRESS 1ST BYTE¶
Note: Reboot required after change
IPv4 address. Example: 192.xxx.xxx.xxx
Range
0 to 255
NET_P2_IP1: IPV4 ADDRESS 2ND BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.168.xxx.xxx
Range
0 to 255
NET_P2_IP2: IPV4 ADDRESS 3RD BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.13.xxx
Range
0 to 255
NET_P2_IP3: IPV4 ADDRESS 4TH BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.xxx.14
Range
0 to 255
NET_P3_ PARAMETERS¶
NET_P3_TYPE: PORT TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Port type for network serial port. For the two client types a valid destination
IP address must be set. For the two server types either 0.0.0.0 or a local
address can be used. The UDP client type will use broadcast if the IP is set to
255.255.255.255 and will use UDP multicast if the IP is in the multicast address
range.
Values
Value
Meaning
0
Disabled
1
UDP client
2
UDP server
3
TCP client
4
TCP server
NET_P3_PROTOCOL: PROTOCOL¶
Note: This parameter is for advanced users
Note: Reboot required after change
Networked serial port protocol
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
NET_P3_PORT: PORT NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Port number
Range
0 to 65535
NET_P3_IP PARAMETERS¶
NET_P3_IP0: IPV4 ADDRESS 1ST BYTE¶
Note: Reboot required after change
IPv4 address. Example: 192.xxx.xxx.xxx
Range
0 to 255
NET_P3_IP1: IPV4 ADDRESS 2ND BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.168.xxx.xxx
Range
0 to 255
NET_P3_IP2: IPV4 ADDRESS 3RD BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.13.xxx
Range
0 to 255
NET_P3_IP3: IPV4 ADDRESS 4TH BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.xxx.14
Range
0 to 255
NET_P4_ PARAMETERS¶
NET_P4_TYPE: PORT TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Port type for network serial port. For the two client types a valid destination
IP address must be set. For the two server types either 0.0.0.0 or a local
address can be used. The UDP client type will use broadcast if the IP is set to
255.255.255.255 and will use UDP multicast if the IP is in the multicast address
range.
Values
Value
Meaning
0
Disabled
1
UDP client
2
UDP server
3
TCP client
4
TCP server
NET_P4_PROTOCOL: PROTOCOL¶
Note: This parameter is for advanced users
Note: Reboot required after change
Networked serial port protocol
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
NET_P4_PORT: PORT NUMBER¶
Note: This parameter is for advanced users
Note: Reboot required after change
Port number
Range
0 to 65535
NET_P4_IP PARAMETERS¶
NET_P4_IP0: IPV4 ADDRESS 1ST BYTE¶
Note: Reboot required after change
IPv4 address. Example: 192.xxx.xxx.xxx
Range
0 to 255
NET_P4_IP1: IPV4 ADDRESS 2ND BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.168.xxx.xxx
Range
0 to 255
NET_P4_IP2: IPV4 ADDRESS 3RD BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.13.xxx
Range
0 to 255
NET_P4_IP3: IPV4 ADDRESS 4TH BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.xxx.14
Range
0 to 255
NET_REMPPP_IP PARAMETERS¶
NET_REMPPP_IP0: IPV4 ADDRESS 1ST BYTE¶
Note: Reboot required after change
IPv4 address. Example: 192.xxx.xxx.xxx
Range
0 to 255
NET_REMPPP_IP1: IPV4 ADDRESS 2ND BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.168.xxx.xxx
Range
0 to 255
NET_REMPPP_IP2: IPV4 ADDRESS 3RD BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.13.xxx
Range
0 to 255
NET_REMPPP_IP3: IPV4 ADDRESS 4TH BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.xxx.14
Range
0 to 255
NET_TEST_IP PARAMETERS¶
NET_TEST_IP0: IPV4 ADDRESS 1ST BYTE¶
Note: Reboot required after change
IPv4 address. Example: 192.xxx.xxx.xxx
Range
0 to 255
NET_TEST_IP1: IPV4 ADDRESS 2ND BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.168.xxx.xxx
Range
0 to 255
NET_TEST_IP2: IPV4 ADDRESS 3RD BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.13.xxx
Range
0 to 255
NET_TEST_IP3: IPV4 ADDRESS 4TH BYTE¶
Note: Reboot required after change
IPv4 address. Example: xxx.xxx.xxx.14
Range
0 to 255
NMEA_ PARAMETERS¶
NMEA_RATE_MS: NMEA OUTPUT RATE¶
NMEA Output rate. This controls the interval at which all the enabled NMEA
messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.
Increment
Range
Units
1
20 to 2000
milliseconds
NMEA_MSG_EN: MESSAGES ENABLE BITMASK¶
This is a bitmask of enabled NMEA messages. All messages will be sent
consecutively at the same rate interval
Bitmask
Bit
Meaning
0
GPGGA
1
GPRMC
2
PASHR
NTF_ PARAMETERS¶
NTF_LED_BRIGHT: LED BRIGHTNESS¶
Note: This parameter is for advanced users
Select the RGB LED brightness level. When USB is connected brightness will never
be higher than low regardless of the setting.
Values
Value
Meaning
0
Off
1
Low
2
Medium
3
High
NTF_BUZZ_TYPES: BUZZER DRIVER TYPES¶
Note: This parameter is for advanced users
Controls what types of Buzzer will be enabled
Bitmask
Bit
Meaning
0
Built-in buzzer
1
DShot
2
DroneCAN
NTF_LED_OVERRIDE: SPECIFIES COLOUR SOURCE FOR THE RGBLED¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
Standard
1
MAVLink/Scripting/AP_Periph
2
OutbackChallenge
3
TrafficLight
NTF_DISPLAY_TYPE: TYPE OF ON-BOARD I2C DISPLAY¶
Note: This parameter is for advanced users
This sets up the type of on-board I2C display. Disabled by default.
Values
Value
Meaning
0
Disable
1
ssd1306
2
sh1106
10
SITL
NTF_OREO_THEME: OREOLED THEME¶
Note: This parameter is for advanced users
Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for
Rover theme
Values
Value
Meaning
0
Disabled
1
Aircraft
2
Rover
NTF_BUZZ_PIN: BUZZER PIN¶
Note: This parameter is for advanced users
Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or
additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin
number for a given autopilot.
Values
Value
Meaning
-1
Disabled
NTF_LED_TYPES: LED DRIVER TYPES¶
Note: This parameter is for advanced users
Controls what types of LEDs will be enabled
Bitmask
Bit
Meaning
0
Built-in LED
1
Internal ToshibaLED
2
External ToshibaLED
3
External PCA9685
4
Oreo LED
5
DroneCAN
6
NCP5623 External
7
NCP5623 Internal
8
NeoPixel
9
ProfiLED
10
Scripting
11
DShot
12
ProfiLED_SPI
13
LP5562 External
14
LP5562 Internal
15
IS31FL3195 External
16
IS31FL3195 Internal
17
DiscreteRGB
18
NeoPixelRGB
NTF_BUZZ_ON_LVL: BUZZER-ON PIN LOGIC LEVEL¶
Note: This parameter is for advanced users
Specifies pin level that indicates buzzer should play
Values
Value
Meaning
0
LowIsOn
1
HighIsOn
NTF_BUZZ_VOLUME: BUZZER VOLUME¶
Control the volume of the buzzer
Range
Units
0 to 100
percent
NTF_LED_LEN: SERIAL LED STRING LENGTH¶
Note: This parameter is for advanced users
Note: Reboot required after change
The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
Range
1 to 32
OSD PARAMETERS¶
OSD_TYPE: OSD TYPE¶
Note: Reboot required after change
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.
Values
Value
Meaning
0
None
1
MAX7456
2
SITL
3
MSP
4
TXONLY
5
MSP_DISPLAYPORT
OSD_CHAN: SCREEN SWITCH TRANSMITTER CHANNEL¶
This sets the channel used to switch different OSD screens.
Values
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
OSD_SW_METHOD: SCREEN SWITCH METHOD¶
This sets the method used to switch different OSD screens.
Values
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
OSD_OPTIONS: OSD OPTIONS¶
This sets options that change the display
Bitmask
Bit
Meaning
0
UseDecimalPack
1
InvertedWindArrow
2
InvertedAHRoll
3
Convert feet to miles at 5280ft instead of 10000ft
4
DisableCrosshair
5
TranslateArrows
6
AviationStyleAH
7
Prefix LQ with RF Mode
OSD_FONT: OSD FONT¶
Note: Reboot required after change
This sets which OSD font to use. It is an integer from 0 to the number of fonts
available
OSD_V_OFFSET: OSD VERTICAL OFFSET¶
Note: Reboot required after change
Sets vertical offset of the osd inside image
Range
0 to 31
OSD_H_OFFSET: OSD HORIZONTAL OFFSET¶
Note: Reboot required after change
Sets horizontal offset of the osd inside image
Range
0 to 63
OSD_W_RSSI: RSSI WARN LEVEL (IN %)¶
Set level at which RSSI item will flash (in positive % or negative dBm values as
applicable). 30% or -100dBm are defaults.
Range
-128 to 100
OSD_W_NSAT: NSAT WARN LEVEL¶
Set level at which NSAT item will flash
Range
1 to 30
OSD_W_BATVOLT: BAT_VOLT WARN LEVEL¶
Set level at which BAT_VOLT item will flash
Range
0 to 100
OSD_UNITS: DISPLAY UNITS¶
Sets the units to use in displaying items
Values
Value
Meaning
0
Metric
1
Imperial
2
SI
3
Aviation
OSD_MSG_TIME: MESSAGE DISPLAY DURATION IN SECONDS¶
Sets message duration seconds
Range
1 to 20
OSD_ARM_SCR: ARM SCREEN¶
Screen to be shown on Arm event. Zero to disable the feature.
Range
0 to 4
OSD_DSARM_SCR: DISARM SCREEN¶
Screen to be shown on disarm event. Zero to disable the feature.
Range
0 to 4
OSD_FS_SCR: FAILSAFE SCREEN¶
Screen to be shown on failsafe event. Zero to disable the feature.
Range
0 to 4
OSD_BTN_DELAY: BUTTON DELAY¶
Note: This parameter is for advanced users
Debounce time in ms for stick commanded parameter navigation.
Range
0 to 3000
OSD_W_TERR: TERRAIN WARN LEVEL¶
Set level below which TER_HGT item will flash. -1 disables.
Range
Units
-1 to 3000
meters
OSD_W_AVGCELLV: AVGCELLV WARN LEVEL¶
Set level at which AVGCELLV item will flash
Range
0 to 100
OSD_CELL_COUNT: BATTERY CELL COUNT¶
Note: This parameter is for advanced users
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.
Increment
1
OSD_W_RESTVOLT: RESTVOLT WARN LEVEL¶
Set level at which RESTVOLT item will flash
Range
0 to 100
OSD_W_ACRVOLT: AVG CELL RESTING VOLT WARN LEVEL¶
Set level at which ACRVOLT item will flash
Range
0 to 100
OSD_W_LQ: RC LINK QUALITY WARN LEVEL (IN %)¶
Set level at which RC_LQ item will flash (%)
Range
0 to 100
OSD_W_SNR: RC LINK SNR WARN LEVEL (IN %)¶
Set level at which RC_SNR item will flash (in db)
Range
-20 to 10
OSD_SB_H_OFS: SIDEBAR HORIZONTAL OFFSET¶
Extends the spacing between the sidebar elements by this amount of columns.
Positive values increases the width to the right of the screen.
Range
0 to 20
OSD_SB_V_EXT: SIDEBAR VERTICAL EXTENSION¶
Increase of vertical length of the sidebar itens by this amount of lines.
Applied equally both above and below the default setting.
Range
0 to 10
OSD_TYPE2: OSD TYPE 2¶
Note: Reboot required after change
OSD type 2. TXONLY makes the OSD parameter selection available to other modules
even if there is no native OSD support on the board, for instance CRSF.
Values
Value
Meaning
0
None
1
MAX7456
2
SITL
3
MSP
4
TXONLY
5
MSP_DISPLAYPORT
OSD1_ PARAMETERS¶
OSD1_ENABLE: ENABLE SCREEN¶
Enable this screen
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_CHAN_MIN: TRANSMITTER SWITCH SCREEN MINIMUM PWM¶
This sets the PWM lower limit for this screen
Range
900 to 2100
OSD1_CHAN_MAX: TRANSMITTER SWITCH SCREEN MAXIMUM PWM¶
This sets the PWM upper limit for this screen
Range
900 to 2100
OSD1_ALTITUDE_EN: ALTITUDE_EN¶
Enables display of altitude AGL
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ALTITUDE_X: ALTITUDE_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ALTITUDE_Y: ALTITUDE_Y¶
Vertical position on screen
Range
0 to 21
OSD1_BAT_VOLT_EN: BATVOLT_EN¶
Displays main battery voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_BAT_VOLT_X: BATVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD1_BAT_VOLT_Y: BATVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD1_RSSI_EN: RSSI_EN¶
Displays RC signal strength
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_RSSI_X: RSSI_X¶
Horizontal position on screen
Range
0 to 59
OSD1_RSSI_Y: RSSI_Y¶
Vertical position on screen
Range
0 to 21
OSD1_CURRENT_EN: CURRENT_EN¶
Displays main battery current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_CURRENT_X: CURRENT_X¶
Horizontal position on screen
Range
0 to 59
OSD1_CURRENT_Y: CURRENT_Y¶
Vertical position on screen
Range
0 to 21
OSD1_BATUSED_EN: BATUSED_EN¶
Displays primary battery mAh consumed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_BATUSED_X: BATUSED_X¶
Horizontal position on screen
Range
0 to 59
OSD1_BATUSED_Y: BATUSED_Y¶
Vertical position on screen
Range
0 to 21
OSD1_SATS_EN: SATS_EN¶
Displays number of acquired satellites
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_SATS_X: SATS_X¶
Horizontal position on screen
Range
0 to 59
OSD1_SATS_Y: SATS_Y¶
Vertical position on screen
Range
0 to 21
OSD1_FLTMODE_EN: FLTMODE_EN¶
Displays flight mode
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_FLTMODE_X: FLTMODE_X¶
Horizontal position on screen
Range
0 to 59
OSD1_FLTMODE_Y: FLTMODE_Y¶
Vertical position on screen
Range
0 to 21
OSD1_MESSAGE_EN: MESSAGE_EN¶
Displays Mavlink messages
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_MESSAGE_X: MESSAGE_X¶
Horizontal position on screen
Range
0 to 59
OSD1_MESSAGE_Y: MESSAGE_Y¶
Vertical position on screen
Range
0 to 21
OSD1_GSPEED_EN: GSPEED_EN¶
Displays GPS ground speed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_GSPEED_X: GSPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD1_GSPEED_Y: GSPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD1_HORIZON_EN: HORIZON_EN¶
Displays artificial horizon
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_HORIZON_X: HORIZON_X¶
Horizontal position on screen
Range
0 to 59
OSD1_HORIZON_Y: HORIZON_Y¶
Vertical position on screen
Range
0 to 21
OSD1_HOME_EN: HOME_EN¶
Displays distance and relative direction to HOME
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_HOME_X: HOME_X¶
Horizontal position on screen
Range
0 to 59
OSD1_HOME_Y: HOME_Y¶
Vertical position on screen
Range
0 to 21
OSD1_HEADING_EN: HEADING_EN¶
Displays heading
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_HEADING_X: HEADING_X¶
Horizontal position on screen
Range
0 to 59
OSD1_HEADING_Y: HEADING_Y¶
Vertical position on screen
Range
0 to 21
OSD1_THROTTLE_EN: THROTTLE_EN¶
Displays actual throttle percentage being sent to motor(s)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_THROTTLE_X: THROTTLE_X¶
Horizontal position on screen
Range
0 to 59
OSD1_THROTTLE_Y: THROTTLE_Y¶
Vertical position on screen
Range
0 to 21
OSD1_COMPASS_EN: COMPASS_EN¶
Enables display of compass rose
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_COMPASS_X: COMPASS_X¶
Horizontal position on screen
Range
0 to 59
OSD1_COMPASS_Y: COMPASS_Y¶
Vertical position on screen
Range
0 to 21
OSD1_WIND_EN: WIND_EN¶
Displays wind speed and relative direction, on Rover this is the apparent wind
speed and direction from the windvane, if fitted
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_WIND_X: WIND_X¶
Horizontal position on screen
Range
0 to 59
OSD1_WIND_Y: WIND_Y¶
Vertical position on screen
Range
0 to 21
OSD1_ASPEED_EN: ASPEED_EN¶
Displays airspeed value being used by TECS (fused value)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ASPEED_X: ASPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ASPEED_Y: ASPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD1_VSPEED_EN: VSPEED_EN¶
Displays climb rate
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_VSPEED_X: VSPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD1_VSPEED_Y: VSPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD1_ESCTEMP_EN: ESCTEMP_EN¶
Displays first esc's temp
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ESCTEMP_X: ESCTEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ESCTEMP_Y: ESCTEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD1_ESCRPM_EN: ESCRPM_EN¶
Displays first esc's rpm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ESCRPM_X: ESCRPM_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ESCRPM_Y: ESCRPM_Y¶
Vertical position on screen
Range
0 to 21
OSD1_ESCAMPS_EN: ESCAMPS_EN¶
Displays first esc's current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ESCAMPS_X: ESCAMPS_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ESCAMPS_Y: ESCAMPS_Y¶
Vertical position on screen
Range
0 to 21
OSD1_GPSLAT_EN: GPSLAT_EN¶
Displays GPS latitude
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_GPSLAT_X: GPSLAT_X¶
Horizontal position on screen
Range
0 to 59
OSD1_GPSLAT_Y: GPSLAT_Y¶
Vertical position on screen
Range
0 to 21
OSD1_GPSLONG_EN: GPSLONG_EN¶
Displays GPS longitude
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_GPSLONG_X: GPSLONG_X¶
Horizontal position on screen
Range
0 to 59
OSD1_GPSLONG_Y: GPSLONG_Y¶
Vertical position on screen
Range
0 to 21
OSD1_ROLL_EN: ROLL_EN¶
Displays degrees of roll from level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ROLL_X: ROLL_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ROLL_Y: ROLL_Y¶
Vertical position on screen
Range
0 to 21
OSD1_PITCH_EN: PITCH_EN¶
Displays degrees of pitch from level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_PITCH_X: PITCH_X¶
Horizontal position on screen
Range
0 to 59
OSD1_PITCH_Y: PITCH_Y¶
Vertical position on screen
Range
0 to 21
OSD1_TEMP_EN: TEMP_EN¶
Displays temperature reported by primary barometer
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_TEMP_X: TEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD1_TEMP_Y: TEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD1_HDOP_EN: HDOP_EN¶
Displays Horizontal Dilution Of Position
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_HDOP_X: HDOP_X¶
Horizontal position on screen
Range
0 to 59
OSD1_HDOP_Y: HDOP_Y¶
Vertical position on screen
Range
0 to 21
OSD1_WAYPOINT_EN: WAYPOINT_EN¶
Displays bearing and distance to next waypoint
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_WAYPOINT_X: WAYPOINT_X¶
Horizontal position on screen
Range
0 to 59
OSD1_WAYPOINT_Y: WAYPOINT_Y¶
Vertical position on screen
Range
0 to 21
OSD1_XTRACK_EN: XTRACK_EN¶
Displays crosstrack error
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_XTRACK_X: XTRACK_X¶
Horizontal position on screen
Range
0 to 59
OSD1_XTRACK_Y: XTRACK_Y¶
Vertical position on screen
Range
0 to 21
OSD1_DIST_EN: DIST_EN¶
Displays total distance flown
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_DIST_X: DIST_X¶
Horizontal position on screen
Range
0 to 59
OSD1_DIST_Y: DIST_Y¶
Vertical position on screen
Range
0 to 21
OSD1_STATS_EN: STATS_EN¶
Displays flight stats
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_STATS_X: STATS_X¶
Horizontal position on screen
Range
0 to 59
OSD1_STATS_Y: STATS_Y¶
Vertical position on screen
Range
0 to 21
OSD1_FLTIME_EN: FLTIME_EN¶
Displays total flight time
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_FLTIME_X: FLTIME_X¶
Horizontal position on screen
Range
0 to 59
OSD1_FLTIME_Y: FLTIME_Y¶
Vertical position on screen
Range
0 to 21
OSD1_CLIMBEFF_EN: CLIMBEFF_EN¶
Displays climb efficiency (climb rate/current)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_CLIMBEFF_X: CLIMBEFF_X¶
Horizontal position on screen
Range
0 to 59
OSD1_CLIMBEFF_Y: CLIMBEFF_Y¶
Vertical position on screen
Range
0 to 21
OSD1_EFF_EN: EFF_EN¶
Displays flight efficiency (mAh/km or /mi)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_EFF_X: EFF_X¶
Horizontal position on screen
Range
0 to 59
OSD1_EFF_Y: EFF_Y¶
Vertical position on screen
Range
0 to 21
OSD1_BTEMP_EN: BTEMP_EN¶
Displays temperature reported by secondary barometer
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_BTEMP_X: BTEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD1_BTEMP_Y: BTEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD1_ATEMP_EN: ATEMP_EN¶
Displays temperature reported by primary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ATEMP_X: ATEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ATEMP_Y: ATEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD1_BAT2_VLT_EN: BAT2VLT_EN¶
Displays battery2 voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_BAT2_VLT_X: BAT2VLT_X¶
Horizontal position on screen
Range
0 to 59
OSD1_BAT2_VLT_Y: BAT2VLT_Y¶
Vertical position on screen
Range
0 to 21
OSD1_BAT2USED_EN: BAT2USED_EN¶
Displays secondary battery mAh consumed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_BAT2USED_X: BAT2USED_X¶
Horizontal position on screen
Range
0 to 59
OSD1_BAT2USED_Y: BAT2USED_Y¶
Vertical position on screen
Range
0 to 21
OSD1_ASPD2_EN: ASPD2_EN¶
Displays airspeed reported directly from secondary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ASPD2_X: ASPD2_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ASPD2_Y: ASPD2_Y¶
Vertical position on screen
Range
0 to 21
OSD1_ASPD1_EN: ASPD1_EN¶
Displays airspeed reported directly from primary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ASPD1_X: ASPD1_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ASPD1_Y: ASPD1_Y¶
Vertical position on screen
Range
0 to 21
OSD1_CLK_EN: CLK_EN¶
Displays a clock panel based on AP_RTC local time
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_CLK_X: CLK_X¶
Horizontal position on screen
Range
0 to 59
OSD1_CLK_Y: CLK_Y¶
Vertical position on screen
Range
0 to 21
OSD1_SIDEBARS_EN: SIDEBARS_EN¶
Displays artificial horizon side bars
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_SIDEBARS_X: SIDEBARS_X¶
Horizontal position on screen
Range
0 to 59
OSD1_SIDEBARS_Y: SIDEBARS_Y¶
Vertical position on screen
Range
0 to 21
OSD1_CRSSHAIR_EN: CRSSHAIR_EN¶
Displays artificial horizon crosshair (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_CRSSHAIR_X: CRSSHAIR_X¶
Horizontal position on screen (MSP OSD only)
Range
0 to 59
OSD1_CRSSHAIR_Y: CRSSHAIR_Y¶
Vertical position on screen (MSP OSD only)
Range
0 to 21
OSD1_HOMEDIST_EN: HOMEDIST_EN¶
Displays distance from HOME (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_HOMEDIST_X: HOMEDIST_X¶
Horizontal position on screen (MSP OSD only)
Range
0 to 59
OSD1_HOMEDIST_Y: HOMEDIST_Y¶
Vertical position on screen (MSP OSD only)
Range
0 to 21
OSD1_HOMEDIR_EN: HOMEDIR_EN¶
Displays relative direction to HOME (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_HOMEDIR_X: HOMEDIR_X¶
Horizontal position on screen
Range
0 to 59
OSD1_HOMEDIR_Y: HOMEDIR_Y¶
Vertical position on screen
Range
0 to 21
OSD1_POWER_EN: POWER_EN¶
Displays power (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_POWER_X: POWER_X¶
Horizontal position on screen
Range
0 to 59
OSD1_POWER_Y: POWER_Y¶
Vertical position on screen
Range
0 to 21
OSD1_CELLVOLT_EN: CELL_VOLT_EN¶
Displays average cell voltage (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_CELLVOLT_X: CELL_VOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD1_CELLVOLT_Y: CELL_VOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD1_BATTBAR_EN: BATT_BAR_EN¶
Displays battery usage bar (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_BATTBAR_X: BATT_BAR_X¶
Horizontal position on screen
Range
0 to 59
OSD1_BATTBAR_Y: BATT_BAR_Y¶
Vertical position on screen
Range
0 to 21
OSD1_ARMING_EN: ARMING_EN¶
Displays arming status (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ARMING_X: ARMING_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ARMING_Y: ARMING_Y¶
Vertical position on screen
Range
0 to 21
OSD1_PLUSCODE_EN: PLUSCODE_EN¶
Displays pluscode (OLC) element
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_PLUSCODE_X: PLUSCODE_X¶
Horizontal position on screen
Range
0 to 59
OSD1_PLUSCODE_Y: PLUSCODE_Y¶
Vertical position on screen
Range
0 to 21
OSD1_CALLSIGN_EN: CALLSIGN_EN¶
Displays callsign from callsign.txt on microSD card
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_CALLSIGN_X: CALLSIGN_X¶
Horizontal position on screen
Range
0 to 59
OSD1_CALLSIGN_Y: CALLSIGN_Y¶
Vertical position on screen
Range
0 to 21
OSD1_CURRENT2_EN: CURRENT2_EN¶
Displays 2nd battery current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_CURRENT2_X: CURRENT2_X¶
Horizontal position on screen
Range
0 to 59
OSD1_CURRENT2_Y: CURRENT2_Y¶
Vertical position on screen
Range
0 to 21
OSD1_VTX_PWR_EN: VTX_PWR_EN¶
Displays VTX Power
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_VTX_PWR_X: VTX_PWR_X¶
Horizontal position on screen
Range
0 to 59
OSD1_VTX_PWR_Y: VTX_PWR_Y¶
Vertical position on screen
Range
0 to 21
OSD1_TER_HGT_EN: TER_HGT_EN¶
Displays Height above terrain
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_TER_HGT_X: TER_HGT_X¶
Horizontal position on screen
Range
0 to 59
OSD1_TER_HGT_Y: TER_HGT_Y¶
Vertical position on screen
Range
0 to 21
OSD1_AVGCELLV_EN: AVGCELLV_EN¶
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).
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_AVGCELLV_X: AVGCELLV_X¶
Horizontal position on screen
Range
0 to 59
OSD1_AVGCELLV_Y: AVGCELLV_Y¶
Vertical position on screen
Range
0 to 21
OSD1_RESTVOLT_EN: RESTVOLT_EN¶
Displays main battery resting voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_RESTVOLT_X: RESTVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD1_RESTVOLT_Y: RESTVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD1_FENCE_EN: FENCE_EN¶
Displays indication of fence enable and breach
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_FENCE_X: FENCE_X¶
Horizontal position on screen
Range
0 to 59
OSD1_FENCE_Y: FENCE_Y¶
Vertical position on screen
Range
0 to 21
OSD1_RNGF_EN: RNGF_EN¶
Displays a rangefinder's distance in cm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_RNGF_X: RNGF_X¶
Horizontal position on screen
Range
0 to 59
OSD1_RNGF_Y: RNGF_Y¶
Vertical position on screen
Range
0 to 21
OSD1_ACRVOLT_EN: ACRVOLT_EN¶
Displays resting voltage for the average cell. 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).
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_ACRVOLT_X: ACRVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD1_ACRVOLT_Y: ACRVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD1_RPM_EN: RPM_EN¶
Displays main rotor revs/min
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_RPM_X: RPM_X¶
Horizontal position on screen
Range
0 to 29
OSD1_RPM_Y: RPM_Y¶
Vertical position on screen
Range
0 to 15
OSD1_LINK_Q_EN: LINK_Q_EN¶
Displays Receiver link quality
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_LINK_Q_X: LINK_Q_X¶
Horizontal position on screen
Range
0 to 59
OSD1_LINK_Q_Y: LINK_Q_Y¶
Vertical position on screen
Range
0 to 21
OSD1_TXT_RES: SETS THE OVERLAY TEXT RESOLUTION (MSP DISPLAYPORT ONLY)¶
Sets the overlay text resolution for this screen to either SD 30x16 or HD
50x18/60x22 (MSP DisplayPort only)
Values
Value
Meaning
0
30x16
1
50x18
2
60x22
OSD1_FONT: SETS THE FONT INDEX FOR THIS SCREEN (MSP DISPLAYPORT ONLY)¶
Sets the font index for this screen (MSP DisplayPort only)
Range
0 to 21
OSD1_RC_PWR_EN: RC_PWR_EN¶
Displays the RC link transmit (TX) power in mW or W, depending on level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_RC_PWR_X: RC_PWR_X¶
Horizontal position on screen
Range
0 to 59
OSD1_RC_PWR_Y: RC_PWR_Y¶
Vertical position on screen
Range
0 to 21
OSD1_RSSIDBM_EN: RSSIDBM_EN¶
Displays RC link signal strength in dBm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_RSSIDBM_X: RSSIDBM_X¶
Horizontal position on screen
Range
0 to 59
OSD1_RSSIDBM_Y: RSSIDBM_Y¶
Vertical position on screen
Range
0 to 21
OSD1_RC_SNR_EN: RC_SNR_EN¶
Displays RC link signal to noise ratio in dB
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_RC_SNR_X: RC_SNR_X¶
Horizontal position on screen
Range
0 to 59
OSD1_RC_SNR_Y: RC_SNR_Y¶
Vertical position on screen
Range
0 to 21
OSD1_RC_ANT_EN: RC_ANT_EN¶
Displays the current RC link active antenna
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_RC_ANT_X: RC_ANT_X¶
Horizontal position on screen
Range
0 to 59
OSD1_RC_ANT_Y: RC_ANT_Y¶
Vertical position on screen
Range
0 to 21
OSD1_RC_LQ_EN: RC_LQ_EN¶
Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of
OSD_OPTIONS is set
Values
Value
Meaning
0
Disabled
1
Enabled
OSD1_RC_LQ_X: RC_LQ_X¶
Horizontal position on screen
Range
0 to 59
OSD1_RC_LQ_Y: RC_LQ_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ PARAMETERS¶
OSD2_ENABLE: ENABLE SCREEN¶
Enable this screen
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_CHAN_MIN: TRANSMITTER SWITCH SCREEN MINIMUM PWM¶
This sets the PWM lower limit for this screen
Range
900 to 2100
OSD2_CHAN_MAX: TRANSMITTER SWITCH SCREEN MAXIMUM PWM¶
This sets the PWM upper limit for this screen
Range
900 to 2100
OSD2_ALTITUDE_EN: ALTITUDE_EN¶
Enables display of altitude AGL
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ALTITUDE_X: ALTITUDE_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ALTITUDE_Y: ALTITUDE_Y¶
Vertical position on screen
Range
0 to 21
OSD2_BAT_VOLT_EN: BATVOLT_EN¶
Displays main battery voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_BAT_VOLT_X: BATVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD2_BAT_VOLT_Y: BATVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD2_RSSI_EN: RSSI_EN¶
Displays RC signal strength
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_RSSI_X: RSSI_X¶
Horizontal position on screen
Range
0 to 59
OSD2_RSSI_Y: RSSI_Y¶
Vertical position on screen
Range
0 to 21
OSD2_CURRENT_EN: CURRENT_EN¶
Displays main battery current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_CURRENT_X: CURRENT_X¶
Horizontal position on screen
Range
0 to 59
OSD2_CURRENT_Y: CURRENT_Y¶
Vertical position on screen
Range
0 to 21
OSD2_BATUSED_EN: BATUSED_EN¶
Displays primary battery mAh consumed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_BATUSED_X: BATUSED_X¶
Horizontal position on screen
Range
0 to 59
OSD2_BATUSED_Y: BATUSED_Y¶
Vertical position on screen
Range
0 to 21
OSD2_SATS_EN: SATS_EN¶
Displays number of acquired satellites
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_SATS_X: SATS_X¶
Horizontal position on screen
Range
0 to 59
OSD2_SATS_Y: SATS_Y¶
Vertical position on screen
Range
0 to 21
OSD2_FLTMODE_EN: FLTMODE_EN¶
Displays flight mode
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_FLTMODE_X: FLTMODE_X¶
Horizontal position on screen
Range
0 to 59
OSD2_FLTMODE_Y: FLTMODE_Y¶
Vertical position on screen
Range
0 to 21
OSD2_MESSAGE_EN: MESSAGE_EN¶
Displays Mavlink messages
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_MESSAGE_X: MESSAGE_X¶
Horizontal position on screen
Range
0 to 59
OSD2_MESSAGE_Y: MESSAGE_Y¶
Vertical position on screen
Range
0 to 21
OSD2_GSPEED_EN: GSPEED_EN¶
Displays GPS ground speed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_GSPEED_X: GSPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD2_GSPEED_Y: GSPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD2_HORIZON_EN: HORIZON_EN¶
Displays artificial horizon
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_HORIZON_X: HORIZON_X¶
Horizontal position on screen
Range
0 to 59
OSD2_HORIZON_Y: HORIZON_Y¶
Vertical position on screen
Range
0 to 21
OSD2_HOME_EN: HOME_EN¶
Displays distance and relative direction to HOME
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_HOME_X: HOME_X¶
Horizontal position on screen
Range
0 to 59
OSD2_HOME_Y: HOME_Y¶
Vertical position on screen
Range
0 to 21
OSD2_HEADING_EN: HEADING_EN¶
Displays heading
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_HEADING_X: HEADING_X¶
Horizontal position on screen
Range
0 to 59
OSD2_HEADING_Y: HEADING_Y¶
Vertical position on screen
Range
0 to 21
OSD2_THROTTLE_EN: THROTTLE_EN¶
Displays actual throttle percentage being sent to motor(s)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_THROTTLE_X: THROTTLE_X¶
Horizontal position on screen
Range
0 to 59
OSD2_THROTTLE_Y: THROTTLE_Y¶
Vertical position on screen
Range
0 to 21
OSD2_COMPASS_EN: COMPASS_EN¶
Enables display of compass rose
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_COMPASS_X: COMPASS_X¶
Horizontal position on screen
Range
0 to 59
OSD2_COMPASS_Y: COMPASS_Y¶
Vertical position on screen
Range
0 to 21
OSD2_WIND_EN: WIND_EN¶
Displays wind speed and relative direction, on Rover this is the apparent wind
speed and direction from the windvane, if fitted
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_WIND_X: WIND_X¶
Horizontal position on screen
Range
0 to 59
OSD2_WIND_Y: WIND_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ASPEED_EN: ASPEED_EN¶
Displays airspeed value being used by TECS (fused value)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ASPEED_X: ASPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ASPEED_Y: ASPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD2_VSPEED_EN: VSPEED_EN¶
Displays climb rate
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_VSPEED_X: VSPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD2_VSPEED_Y: VSPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ESCTEMP_EN: ESCTEMP_EN¶
Displays first esc's temp
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ESCTEMP_X: ESCTEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ESCTEMP_Y: ESCTEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ESCRPM_EN: ESCRPM_EN¶
Displays first esc's rpm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ESCRPM_X: ESCRPM_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ESCRPM_Y: ESCRPM_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ESCAMPS_EN: ESCAMPS_EN¶
Displays first esc's current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ESCAMPS_X: ESCAMPS_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ESCAMPS_Y: ESCAMPS_Y¶
Vertical position on screen
Range
0 to 21
OSD2_GPSLAT_EN: GPSLAT_EN¶
Displays GPS latitude
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_GPSLAT_X: GPSLAT_X¶
Horizontal position on screen
Range
0 to 59
OSD2_GPSLAT_Y: GPSLAT_Y¶
Vertical position on screen
Range
0 to 21
OSD2_GPSLONG_EN: GPSLONG_EN¶
Displays GPS longitude
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_GPSLONG_X: GPSLONG_X¶
Horizontal position on screen
Range
0 to 59
OSD2_GPSLONG_Y: GPSLONG_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ROLL_EN: ROLL_EN¶
Displays degrees of roll from level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ROLL_X: ROLL_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ROLL_Y: ROLL_Y¶
Vertical position on screen
Range
0 to 21
OSD2_PITCH_EN: PITCH_EN¶
Displays degrees of pitch from level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_PITCH_X: PITCH_X¶
Horizontal position on screen
Range
0 to 59
OSD2_PITCH_Y: PITCH_Y¶
Vertical position on screen
Range
0 to 21
OSD2_TEMP_EN: TEMP_EN¶
Displays temperature reported by primary barometer
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_TEMP_X: TEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD2_TEMP_Y: TEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD2_HDOP_EN: HDOP_EN¶
Displays Horizontal Dilution Of Position
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_HDOP_X: HDOP_X¶
Horizontal position on screen
Range
0 to 59
OSD2_HDOP_Y: HDOP_Y¶
Vertical position on screen
Range
0 to 21
OSD2_WAYPOINT_EN: WAYPOINT_EN¶
Displays bearing and distance to next waypoint
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_WAYPOINT_X: WAYPOINT_X¶
Horizontal position on screen
Range
0 to 59
OSD2_WAYPOINT_Y: WAYPOINT_Y¶
Vertical position on screen
Range
0 to 21
OSD2_XTRACK_EN: XTRACK_EN¶
Displays crosstrack error
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_XTRACK_X: XTRACK_X¶
Horizontal position on screen
Range
0 to 59
OSD2_XTRACK_Y: XTRACK_Y¶
Vertical position on screen
Range
0 to 21
OSD2_DIST_EN: DIST_EN¶
Displays total distance flown
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_DIST_X: DIST_X¶
Horizontal position on screen
Range
0 to 59
OSD2_DIST_Y: DIST_Y¶
Vertical position on screen
Range
0 to 21
OSD2_STATS_EN: STATS_EN¶
Displays flight stats
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_STATS_X: STATS_X¶
Horizontal position on screen
Range
0 to 59
OSD2_STATS_Y: STATS_Y¶
Vertical position on screen
Range
0 to 21
OSD2_FLTIME_EN: FLTIME_EN¶
Displays total flight time
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_FLTIME_X: FLTIME_X¶
Horizontal position on screen
Range
0 to 59
OSD2_FLTIME_Y: FLTIME_Y¶
Vertical position on screen
Range
0 to 21
OSD2_CLIMBEFF_EN: CLIMBEFF_EN¶
Displays climb efficiency (climb rate/current)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_CLIMBEFF_X: CLIMBEFF_X¶
Horizontal position on screen
Range
0 to 59
OSD2_CLIMBEFF_Y: CLIMBEFF_Y¶
Vertical position on screen
Range
0 to 21
OSD2_EFF_EN: EFF_EN¶
Displays flight efficiency (mAh/km or /mi)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_EFF_X: EFF_X¶
Horizontal position on screen
Range
0 to 59
OSD2_EFF_Y: EFF_Y¶
Vertical position on screen
Range
0 to 21
OSD2_BTEMP_EN: BTEMP_EN¶
Displays temperature reported by secondary barometer
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_BTEMP_X: BTEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD2_BTEMP_Y: BTEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ATEMP_EN: ATEMP_EN¶
Displays temperature reported by primary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ATEMP_X: ATEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ATEMP_Y: ATEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD2_BAT2_VLT_EN: BAT2VLT_EN¶
Displays battery2 voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_BAT2_VLT_X: BAT2VLT_X¶
Horizontal position on screen
Range
0 to 59
OSD2_BAT2_VLT_Y: BAT2VLT_Y¶
Vertical position on screen
Range
0 to 21
OSD2_BAT2USED_EN: BAT2USED_EN¶
Displays secondary battery mAh consumed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_BAT2USED_X: BAT2USED_X¶
Horizontal position on screen
Range
0 to 59
OSD2_BAT2USED_Y: BAT2USED_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ASPD2_EN: ASPD2_EN¶
Displays airspeed reported directly from secondary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ASPD2_X: ASPD2_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ASPD2_Y: ASPD2_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ASPD1_EN: ASPD1_EN¶
Displays airspeed reported directly from primary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ASPD1_X: ASPD1_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ASPD1_Y: ASPD1_Y¶
Vertical position on screen
Range
0 to 21
OSD2_CLK_EN: CLK_EN¶
Displays a clock panel based on AP_RTC local time
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_CLK_X: CLK_X¶
Horizontal position on screen
Range
0 to 59
OSD2_CLK_Y: CLK_Y¶
Vertical position on screen
Range
0 to 21
OSD2_SIDEBARS_EN: SIDEBARS_EN¶
Displays artificial horizon side bars
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_SIDEBARS_X: SIDEBARS_X¶
Horizontal position on screen
Range
0 to 59
OSD2_SIDEBARS_Y: SIDEBARS_Y¶
Vertical position on screen
Range
0 to 21
OSD2_CRSSHAIR_EN: CRSSHAIR_EN¶
Displays artificial horizon crosshair (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_CRSSHAIR_X: CRSSHAIR_X¶
Horizontal position on screen (MSP OSD only)
Range
0 to 59
OSD2_CRSSHAIR_Y: CRSSHAIR_Y¶
Vertical position on screen (MSP OSD only)
Range
0 to 21
OSD2_HOMEDIST_EN: HOMEDIST_EN¶
Displays distance from HOME (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_HOMEDIST_X: HOMEDIST_X¶
Horizontal position on screen (MSP OSD only)
Range
0 to 59
OSD2_HOMEDIST_Y: HOMEDIST_Y¶
Vertical position on screen (MSP OSD only)
Range
0 to 21
OSD2_HOMEDIR_EN: HOMEDIR_EN¶
Displays relative direction to HOME (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_HOMEDIR_X: HOMEDIR_X¶
Horizontal position on screen
Range
0 to 59
OSD2_HOMEDIR_Y: HOMEDIR_Y¶
Vertical position on screen
Range
0 to 21
OSD2_POWER_EN: POWER_EN¶
Displays power (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_POWER_X: POWER_X¶
Horizontal position on screen
Range
0 to 59
OSD2_POWER_Y: POWER_Y¶
Vertical position on screen
Range
0 to 21
OSD2_CELLVOLT_EN: CELL_VOLT_EN¶
Displays average cell voltage (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_CELLVOLT_X: CELL_VOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD2_CELLVOLT_Y: CELL_VOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD2_BATTBAR_EN: BATT_BAR_EN¶
Displays battery usage bar (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_BATTBAR_X: BATT_BAR_X¶
Horizontal position on screen
Range
0 to 59
OSD2_BATTBAR_Y: BATT_BAR_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ARMING_EN: ARMING_EN¶
Displays arming status (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ARMING_X: ARMING_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ARMING_Y: ARMING_Y¶
Vertical position on screen
Range
0 to 21
OSD2_PLUSCODE_EN: PLUSCODE_EN¶
Displays pluscode (OLC) element
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_PLUSCODE_X: PLUSCODE_X¶
Horizontal position on screen
Range
0 to 59
OSD2_PLUSCODE_Y: PLUSCODE_Y¶
Vertical position on screen
Range
0 to 21
OSD2_CALLSIGN_EN: CALLSIGN_EN¶
Displays callsign from callsign.txt on microSD card
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_CALLSIGN_X: CALLSIGN_X¶
Horizontal position on screen
Range
0 to 59
OSD2_CALLSIGN_Y: CALLSIGN_Y¶
Vertical position on screen
Range
0 to 21
OSD2_CURRENT2_EN: CURRENT2_EN¶
Displays 2nd battery current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_CURRENT2_X: CURRENT2_X¶
Horizontal position on screen
Range
0 to 59
OSD2_CURRENT2_Y: CURRENT2_Y¶
Vertical position on screen
Range
0 to 21
OSD2_VTX_PWR_EN: VTX_PWR_EN¶
Displays VTX Power
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_VTX_PWR_X: VTX_PWR_X¶
Horizontal position on screen
Range
0 to 59
OSD2_VTX_PWR_Y: VTX_PWR_Y¶
Vertical position on screen
Range
0 to 21
OSD2_TER_HGT_EN: TER_HGT_EN¶
Displays Height above terrain
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_TER_HGT_X: TER_HGT_X¶
Horizontal position on screen
Range
0 to 59
OSD2_TER_HGT_Y: TER_HGT_Y¶
Vertical position on screen
Range
0 to 21
OSD2_AVGCELLV_EN: AVGCELLV_EN¶
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).
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_AVGCELLV_X: AVGCELLV_X¶
Horizontal position on screen
Range
0 to 59
OSD2_AVGCELLV_Y: AVGCELLV_Y¶
Vertical position on screen
Range
0 to 21
OSD2_RESTVOLT_EN: RESTVOLT_EN¶
Displays main battery resting voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_RESTVOLT_X: RESTVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD2_RESTVOLT_Y: RESTVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD2_FENCE_EN: FENCE_EN¶
Displays indication of fence enable and breach
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_FENCE_X: FENCE_X¶
Horizontal position on screen
Range
0 to 59
OSD2_FENCE_Y: FENCE_Y¶
Vertical position on screen
Range
0 to 21
OSD2_RNGF_EN: RNGF_EN¶
Displays a rangefinder's distance in cm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_RNGF_X: RNGF_X¶
Horizontal position on screen
Range
0 to 59
OSD2_RNGF_Y: RNGF_Y¶
Vertical position on screen
Range
0 to 21
OSD2_ACRVOLT_EN: ACRVOLT_EN¶
Displays resting voltage for the average cell. 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).
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_ACRVOLT_X: ACRVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD2_ACRVOLT_Y: ACRVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD2_RPM_EN: RPM_EN¶
Displays main rotor revs/min
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_RPM_X: RPM_X¶
Horizontal position on screen
Range
0 to 29
OSD2_RPM_Y: RPM_Y¶
Vertical position on screen
Range
0 to 15
OSD2_LINK_Q_EN: LINK_Q_EN¶
Displays Receiver link quality
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_LINK_Q_X: LINK_Q_X¶
Horizontal position on screen
Range
0 to 59
OSD2_LINK_Q_Y: LINK_Q_Y¶
Vertical position on screen
Range
0 to 21
OSD2_TXT_RES: SETS THE OVERLAY TEXT RESOLUTION (MSP DISPLAYPORT ONLY)¶
Sets the overlay text resolution for this screen to either SD 30x16 or HD
50x18/60x22 (MSP DisplayPort only)
Values
Value
Meaning
0
30x16
1
50x18
2
60x22
OSD2_FONT: SETS THE FONT INDEX FOR THIS SCREEN (MSP DISPLAYPORT ONLY)¶
Sets the font index for this screen (MSP DisplayPort only)
Range
0 to 21
OSD2_RC_PWR_EN: RC_PWR_EN¶
Displays the RC link transmit (TX) power in mW or W, depending on level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_RC_PWR_X: RC_PWR_X¶
Horizontal position on screen
Range
0 to 59
OSD2_RC_PWR_Y: RC_PWR_Y¶
Vertical position on screen
Range
0 to 21
OSD2_RSSIDBM_EN: RSSIDBM_EN¶
Displays RC link signal strength in dBm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_RSSIDBM_X: RSSIDBM_X¶
Horizontal position on screen
Range
0 to 59
OSD2_RSSIDBM_Y: RSSIDBM_Y¶
Vertical position on screen
Range
0 to 21
OSD2_RC_SNR_EN: RC_SNR_EN¶
Displays RC link signal to noise ratio in dB
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_RC_SNR_X: RC_SNR_X¶
Horizontal position on screen
Range
0 to 59
OSD2_RC_SNR_Y: RC_SNR_Y¶
Vertical position on screen
Range
0 to 21
OSD2_RC_ANT_EN: RC_ANT_EN¶
Displays the current RC link active antenna
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_RC_ANT_X: RC_ANT_X¶
Horizontal position on screen
Range
0 to 59
OSD2_RC_ANT_Y: RC_ANT_Y¶
Vertical position on screen
Range
0 to 21
OSD2_RC_LQ_EN: RC_LQ_EN¶
Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of
OSD_OPTIONS is set
Values
Value
Meaning
0
Disabled
1
Enabled
OSD2_RC_LQ_X: RC_LQ_X¶
Horizontal position on screen
Range
0 to 59
OSD2_RC_LQ_Y: RC_LQ_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ PARAMETERS¶
OSD3_ENABLE: ENABLE SCREEN¶
Enable this screen
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_CHAN_MIN: TRANSMITTER SWITCH SCREEN MINIMUM PWM¶
This sets the PWM lower limit for this screen
Range
900 to 2100
OSD3_CHAN_MAX: TRANSMITTER SWITCH SCREEN MAXIMUM PWM¶
This sets the PWM upper limit for this screen
Range
900 to 2100
OSD3_ALTITUDE_EN: ALTITUDE_EN¶
Enables display of altitude AGL
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ALTITUDE_X: ALTITUDE_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ALTITUDE_Y: ALTITUDE_Y¶
Vertical position on screen
Range
0 to 21
OSD3_BAT_VOLT_EN: BATVOLT_EN¶
Displays main battery voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_BAT_VOLT_X: BATVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD3_BAT_VOLT_Y: BATVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD3_RSSI_EN: RSSI_EN¶
Displays RC signal strength
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_RSSI_X: RSSI_X¶
Horizontal position on screen
Range
0 to 59
OSD3_RSSI_Y: RSSI_Y¶
Vertical position on screen
Range
0 to 21
OSD3_CURRENT_EN: CURRENT_EN¶
Displays main battery current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_CURRENT_X: CURRENT_X¶
Horizontal position on screen
Range
0 to 59
OSD3_CURRENT_Y: CURRENT_Y¶
Vertical position on screen
Range
0 to 21
OSD3_BATUSED_EN: BATUSED_EN¶
Displays primary battery mAh consumed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_BATUSED_X: BATUSED_X¶
Horizontal position on screen
Range
0 to 59
OSD3_BATUSED_Y: BATUSED_Y¶
Vertical position on screen
Range
0 to 21
OSD3_SATS_EN: SATS_EN¶
Displays number of acquired satellites
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_SATS_X: SATS_X¶
Horizontal position on screen
Range
0 to 59
OSD3_SATS_Y: SATS_Y¶
Vertical position on screen
Range
0 to 21
OSD3_FLTMODE_EN: FLTMODE_EN¶
Displays flight mode
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_FLTMODE_X: FLTMODE_X¶
Horizontal position on screen
Range
0 to 59
OSD3_FLTMODE_Y: FLTMODE_Y¶
Vertical position on screen
Range
0 to 21
OSD3_MESSAGE_EN: MESSAGE_EN¶
Displays Mavlink messages
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_MESSAGE_X: MESSAGE_X¶
Horizontal position on screen
Range
0 to 59
OSD3_MESSAGE_Y: MESSAGE_Y¶
Vertical position on screen
Range
0 to 21
OSD3_GSPEED_EN: GSPEED_EN¶
Displays GPS ground speed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_GSPEED_X: GSPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD3_GSPEED_Y: GSPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD3_HORIZON_EN: HORIZON_EN¶
Displays artificial horizon
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_HORIZON_X: HORIZON_X¶
Horizontal position on screen
Range
0 to 59
OSD3_HORIZON_Y: HORIZON_Y¶
Vertical position on screen
Range
0 to 21
OSD3_HOME_EN: HOME_EN¶
Displays distance and relative direction to HOME
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_HOME_X: HOME_X¶
Horizontal position on screen
Range
0 to 59
OSD3_HOME_Y: HOME_Y¶
Vertical position on screen
Range
0 to 21
OSD3_HEADING_EN: HEADING_EN¶
Displays heading
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_HEADING_X: HEADING_X¶
Horizontal position on screen
Range
0 to 59
OSD3_HEADING_Y: HEADING_Y¶
Vertical position on screen
Range
0 to 21
OSD3_THROTTLE_EN: THROTTLE_EN¶
Displays actual throttle percentage being sent to motor(s)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_THROTTLE_X: THROTTLE_X¶
Horizontal position on screen
Range
0 to 59
OSD3_THROTTLE_Y: THROTTLE_Y¶
Vertical position on screen
Range
0 to 21
OSD3_COMPASS_EN: COMPASS_EN¶
Enables display of compass rose
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_COMPASS_X: COMPASS_X¶
Horizontal position on screen
Range
0 to 59
OSD3_COMPASS_Y: COMPASS_Y¶
Vertical position on screen
Range
0 to 21
OSD3_WIND_EN: WIND_EN¶
Displays wind speed and relative direction, on Rover this is the apparent wind
speed and direction from the windvane, if fitted
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_WIND_X: WIND_X¶
Horizontal position on screen
Range
0 to 59
OSD3_WIND_Y: WIND_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ASPEED_EN: ASPEED_EN¶
Displays airspeed value being used by TECS (fused value)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ASPEED_X: ASPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ASPEED_Y: ASPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD3_VSPEED_EN: VSPEED_EN¶
Displays climb rate
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_VSPEED_X: VSPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD3_VSPEED_Y: VSPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ESCTEMP_EN: ESCTEMP_EN¶
Displays first esc's temp
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ESCTEMP_X: ESCTEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ESCTEMP_Y: ESCTEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ESCRPM_EN: ESCRPM_EN¶
Displays first esc's rpm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ESCRPM_X: ESCRPM_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ESCRPM_Y: ESCRPM_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ESCAMPS_EN: ESCAMPS_EN¶
Displays first esc's current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ESCAMPS_X: ESCAMPS_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ESCAMPS_Y: ESCAMPS_Y¶
Vertical position on screen
Range
0 to 21
OSD3_GPSLAT_EN: GPSLAT_EN¶
Displays GPS latitude
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_GPSLAT_X: GPSLAT_X¶
Horizontal position on screen
Range
0 to 59
OSD3_GPSLAT_Y: GPSLAT_Y¶
Vertical position on screen
Range
0 to 21
OSD3_GPSLONG_EN: GPSLONG_EN¶
Displays GPS longitude
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_GPSLONG_X: GPSLONG_X¶
Horizontal position on screen
Range
0 to 59
OSD3_GPSLONG_Y: GPSLONG_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ROLL_EN: ROLL_EN¶
Displays degrees of roll from level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ROLL_X: ROLL_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ROLL_Y: ROLL_Y¶
Vertical position on screen
Range
0 to 21
OSD3_PITCH_EN: PITCH_EN¶
Displays degrees of pitch from level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_PITCH_X: PITCH_X¶
Horizontal position on screen
Range
0 to 59
OSD3_PITCH_Y: PITCH_Y¶
Vertical position on screen
Range
0 to 21
OSD3_TEMP_EN: TEMP_EN¶
Displays temperature reported by primary barometer
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_TEMP_X: TEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD3_TEMP_Y: TEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD3_HDOP_EN: HDOP_EN¶
Displays Horizontal Dilution Of Position
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_HDOP_X: HDOP_X¶
Horizontal position on screen
Range
0 to 59
OSD3_HDOP_Y: HDOP_Y¶
Vertical position on screen
Range
0 to 21
OSD3_WAYPOINT_EN: WAYPOINT_EN¶
Displays bearing and distance to next waypoint
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_WAYPOINT_X: WAYPOINT_X¶
Horizontal position on screen
Range
0 to 59
OSD3_WAYPOINT_Y: WAYPOINT_Y¶
Vertical position on screen
Range
0 to 21
OSD3_XTRACK_EN: XTRACK_EN¶
Displays crosstrack error
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_XTRACK_X: XTRACK_X¶
Horizontal position on screen
Range
0 to 59
OSD3_XTRACK_Y: XTRACK_Y¶
Vertical position on screen
Range
0 to 21
OSD3_DIST_EN: DIST_EN¶
Displays total distance flown
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_DIST_X: DIST_X¶
Horizontal position on screen
Range
0 to 59
OSD3_DIST_Y: DIST_Y¶
Vertical position on screen
Range
0 to 21
OSD3_STATS_EN: STATS_EN¶
Displays flight stats
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_STATS_X: STATS_X¶
Horizontal position on screen
Range
0 to 59
OSD3_STATS_Y: STATS_Y¶
Vertical position on screen
Range
0 to 21
OSD3_FLTIME_EN: FLTIME_EN¶
Displays total flight time
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_FLTIME_X: FLTIME_X¶
Horizontal position on screen
Range
0 to 59
OSD3_FLTIME_Y: FLTIME_Y¶
Vertical position on screen
Range
0 to 21
OSD3_CLIMBEFF_EN: CLIMBEFF_EN¶
Displays climb efficiency (climb rate/current)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_CLIMBEFF_X: CLIMBEFF_X¶
Horizontal position on screen
Range
0 to 59
OSD3_CLIMBEFF_Y: CLIMBEFF_Y¶
Vertical position on screen
Range
0 to 21
OSD3_EFF_EN: EFF_EN¶
Displays flight efficiency (mAh/km or /mi)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_EFF_X: EFF_X¶
Horizontal position on screen
Range
0 to 59
OSD3_EFF_Y: EFF_Y¶
Vertical position on screen
Range
0 to 21
OSD3_BTEMP_EN: BTEMP_EN¶
Displays temperature reported by secondary barometer
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_BTEMP_X: BTEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD3_BTEMP_Y: BTEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ATEMP_EN: ATEMP_EN¶
Displays temperature reported by primary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ATEMP_X: ATEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ATEMP_Y: ATEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD3_BAT2_VLT_EN: BAT2VLT_EN¶
Displays battery2 voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_BAT2_VLT_X: BAT2VLT_X¶
Horizontal position on screen
Range
0 to 59
OSD3_BAT2_VLT_Y: BAT2VLT_Y¶
Vertical position on screen
Range
0 to 21
OSD3_BAT2USED_EN: BAT2USED_EN¶
Displays secondary battery mAh consumed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_BAT2USED_X: BAT2USED_X¶
Horizontal position on screen
Range
0 to 59
OSD3_BAT2USED_Y: BAT2USED_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ASPD2_EN: ASPD2_EN¶
Displays airspeed reported directly from secondary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ASPD2_X: ASPD2_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ASPD2_Y: ASPD2_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ASPD1_EN: ASPD1_EN¶
Displays airspeed reported directly from primary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ASPD1_X: ASPD1_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ASPD1_Y: ASPD1_Y¶
Vertical position on screen
Range
0 to 21
OSD3_CLK_EN: CLK_EN¶
Displays a clock panel based on AP_RTC local time
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_CLK_X: CLK_X¶
Horizontal position on screen
Range
0 to 59
OSD3_CLK_Y: CLK_Y¶
Vertical position on screen
Range
0 to 21
OSD3_SIDEBARS_EN: SIDEBARS_EN¶
Displays artificial horizon side bars
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_SIDEBARS_X: SIDEBARS_X¶
Horizontal position on screen
Range
0 to 59
OSD3_SIDEBARS_Y: SIDEBARS_Y¶
Vertical position on screen
Range
0 to 21
OSD3_CRSSHAIR_EN: CRSSHAIR_EN¶
Displays artificial horizon crosshair (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_CRSSHAIR_X: CRSSHAIR_X¶
Horizontal position on screen (MSP OSD only)
Range
0 to 59
OSD3_CRSSHAIR_Y: CRSSHAIR_Y¶
Vertical position on screen (MSP OSD only)
Range
0 to 21
OSD3_HOMEDIST_EN: HOMEDIST_EN¶
Displays distance from HOME (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_HOMEDIST_X: HOMEDIST_X¶
Horizontal position on screen (MSP OSD only)
Range
0 to 59
OSD3_HOMEDIST_Y: HOMEDIST_Y¶
Vertical position on screen (MSP OSD only)
Range
0 to 21
OSD3_HOMEDIR_EN: HOMEDIR_EN¶
Displays relative direction to HOME (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_HOMEDIR_X: HOMEDIR_X¶
Horizontal position on screen
Range
0 to 59
OSD3_HOMEDIR_Y: HOMEDIR_Y¶
Vertical position on screen
Range
0 to 21
OSD3_POWER_EN: POWER_EN¶
Displays power (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_POWER_X: POWER_X¶
Horizontal position on screen
Range
0 to 59
OSD3_POWER_Y: POWER_Y¶
Vertical position on screen
Range
0 to 21
OSD3_CELLVOLT_EN: CELL_VOLT_EN¶
Displays average cell voltage (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_CELLVOLT_X: CELL_VOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD3_CELLVOLT_Y: CELL_VOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD3_BATTBAR_EN: BATT_BAR_EN¶
Displays battery usage bar (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_BATTBAR_X: BATT_BAR_X¶
Horizontal position on screen
Range
0 to 59
OSD3_BATTBAR_Y: BATT_BAR_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ARMING_EN: ARMING_EN¶
Displays arming status (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ARMING_X: ARMING_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ARMING_Y: ARMING_Y¶
Vertical position on screen
Range
0 to 21
OSD3_PLUSCODE_EN: PLUSCODE_EN¶
Displays pluscode (OLC) element
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_PLUSCODE_X: PLUSCODE_X¶
Horizontal position on screen
Range
0 to 59
OSD3_PLUSCODE_Y: PLUSCODE_Y¶
Vertical position on screen
Range
0 to 21
OSD3_CALLSIGN_EN: CALLSIGN_EN¶
Displays callsign from callsign.txt on microSD card
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_CALLSIGN_X: CALLSIGN_X¶
Horizontal position on screen
Range
0 to 59
OSD3_CALLSIGN_Y: CALLSIGN_Y¶
Vertical position on screen
Range
0 to 21
OSD3_CURRENT2_EN: CURRENT2_EN¶
Displays 2nd battery current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_CURRENT2_X: CURRENT2_X¶
Horizontal position on screen
Range
0 to 59
OSD3_CURRENT2_Y: CURRENT2_Y¶
Vertical position on screen
Range
0 to 21
OSD3_VTX_PWR_EN: VTX_PWR_EN¶
Displays VTX Power
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_VTX_PWR_X: VTX_PWR_X¶
Horizontal position on screen
Range
0 to 59
OSD3_VTX_PWR_Y: VTX_PWR_Y¶
Vertical position on screen
Range
0 to 21
OSD3_TER_HGT_EN: TER_HGT_EN¶
Displays Height above terrain
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_TER_HGT_X: TER_HGT_X¶
Horizontal position on screen
Range
0 to 59
OSD3_TER_HGT_Y: TER_HGT_Y¶
Vertical position on screen
Range
0 to 21
OSD3_AVGCELLV_EN: AVGCELLV_EN¶
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).
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_AVGCELLV_X: AVGCELLV_X¶
Horizontal position on screen
Range
0 to 59
OSD3_AVGCELLV_Y: AVGCELLV_Y¶
Vertical position on screen
Range
0 to 21
OSD3_RESTVOLT_EN: RESTVOLT_EN¶
Displays main battery resting voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_RESTVOLT_X: RESTVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD3_RESTVOLT_Y: RESTVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD3_FENCE_EN: FENCE_EN¶
Displays indication of fence enable and breach
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_FENCE_X: FENCE_X¶
Horizontal position on screen
Range
0 to 59
OSD3_FENCE_Y: FENCE_Y¶
Vertical position on screen
Range
0 to 21
OSD3_RNGF_EN: RNGF_EN¶
Displays a rangefinder's distance in cm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_RNGF_X: RNGF_X¶
Horizontal position on screen
Range
0 to 59
OSD3_RNGF_Y: RNGF_Y¶
Vertical position on screen
Range
0 to 21
OSD3_ACRVOLT_EN: ACRVOLT_EN¶
Displays resting voltage for the average cell. 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).
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_ACRVOLT_X: ACRVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD3_ACRVOLT_Y: ACRVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD3_RPM_EN: RPM_EN¶
Displays main rotor revs/min
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_RPM_X: RPM_X¶
Horizontal position on screen
Range
0 to 29
OSD3_RPM_Y: RPM_Y¶
Vertical position on screen
Range
0 to 15
OSD3_LINK_Q_EN: LINK_Q_EN¶
Displays Receiver link quality
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_LINK_Q_X: LINK_Q_X¶
Horizontal position on screen
Range
0 to 59
OSD3_LINK_Q_Y: LINK_Q_Y¶
Vertical position on screen
Range
0 to 21
OSD3_TXT_RES: SETS THE OVERLAY TEXT RESOLUTION (MSP DISPLAYPORT ONLY)¶
Sets the overlay text resolution for this screen to either SD 30x16 or HD
50x18/60x22 (MSP DisplayPort only)
Values
Value
Meaning
0
30x16
1
50x18
2
60x22
OSD3_FONT: SETS THE FONT INDEX FOR THIS SCREEN (MSP DISPLAYPORT ONLY)¶
Sets the font index for this screen (MSP DisplayPort only)
Range
0 to 21
OSD3_RC_PWR_EN: RC_PWR_EN¶
Displays the RC link transmit (TX) power in mW or W, depending on level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_RC_PWR_X: RC_PWR_X¶
Horizontal position on screen
Range
0 to 59
OSD3_RC_PWR_Y: RC_PWR_Y¶
Vertical position on screen
Range
0 to 21
OSD3_RSSIDBM_EN: RSSIDBM_EN¶
Displays RC link signal strength in dBm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_RSSIDBM_X: RSSIDBM_X¶
Horizontal position on screen
Range
0 to 59
OSD3_RSSIDBM_Y: RSSIDBM_Y¶
Vertical position on screen
Range
0 to 21
OSD3_RC_SNR_EN: RC_SNR_EN¶
Displays RC link signal to noise ratio in dB
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_RC_SNR_X: RC_SNR_X¶
Horizontal position on screen
Range
0 to 59
OSD3_RC_SNR_Y: RC_SNR_Y¶
Vertical position on screen
Range
0 to 21
OSD3_RC_ANT_EN: RC_ANT_EN¶
Displays the current RC link active antenna
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_RC_ANT_X: RC_ANT_X¶
Horizontal position on screen
Range
0 to 59
OSD3_RC_ANT_Y: RC_ANT_Y¶
Vertical position on screen
Range
0 to 21
OSD3_RC_LQ_EN: RC_LQ_EN¶
Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of
OSD_OPTIONS is set
Values
Value
Meaning
0
Disabled
1
Enabled
OSD3_RC_LQ_X: RC_LQ_X¶
Horizontal position on screen
Range
0 to 59
OSD3_RC_LQ_Y: RC_LQ_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ PARAMETERS¶
OSD4_ENABLE: ENABLE SCREEN¶
Enable this screen
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_CHAN_MIN: TRANSMITTER SWITCH SCREEN MINIMUM PWM¶
This sets the PWM lower limit for this screen
Range
900 to 2100
OSD4_CHAN_MAX: TRANSMITTER SWITCH SCREEN MAXIMUM PWM¶
This sets the PWM upper limit for this screen
Range
900 to 2100
OSD4_ALTITUDE_EN: ALTITUDE_EN¶
Enables display of altitude AGL
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ALTITUDE_X: ALTITUDE_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ALTITUDE_Y: ALTITUDE_Y¶
Vertical position on screen
Range
0 to 21
OSD4_BAT_VOLT_EN: BATVOLT_EN¶
Displays main battery voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_BAT_VOLT_X: BATVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD4_BAT_VOLT_Y: BATVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD4_RSSI_EN: RSSI_EN¶
Displays RC signal strength
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_RSSI_X: RSSI_X¶
Horizontal position on screen
Range
0 to 59
OSD4_RSSI_Y: RSSI_Y¶
Vertical position on screen
Range
0 to 21
OSD4_CURRENT_EN: CURRENT_EN¶
Displays main battery current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_CURRENT_X: CURRENT_X¶
Horizontal position on screen
Range
0 to 59
OSD4_CURRENT_Y: CURRENT_Y¶
Vertical position on screen
Range
0 to 21
OSD4_BATUSED_EN: BATUSED_EN¶
Displays primary battery mAh consumed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_BATUSED_X: BATUSED_X¶
Horizontal position on screen
Range
0 to 59
OSD4_BATUSED_Y: BATUSED_Y¶
Vertical position on screen
Range
0 to 21
OSD4_SATS_EN: SATS_EN¶
Displays number of acquired satellites
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_SATS_X: SATS_X¶
Horizontal position on screen
Range
0 to 59
OSD4_SATS_Y: SATS_Y¶
Vertical position on screen
Range
0 to 21
OSD4_FLTMODE_EN: FLTMODE_EN¶
Displays flight mode
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_FLTMODE_X: FLTMODE_X¶
Horizontal position on screen
Range
0 to 59
OSD4_FLTMODE_Y: FLTMODE_Y¶
Vertical position on screen
Range
0 to 21
OSD4_MESSAGE_EN: MESSAGE_EN¶
Displays Mavlink messages
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_MESSAGE_X: MESSAGE_X¶
Horizontal position on screen
Range
0 to 59
OSD4_MESSAGE_Y: MESSAGE_Y¶
Vertical position on screen
Range
0 to 21
OSD4_GSPEED_EN: GSPEED_EN¶
Displays GPS ground speed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_GSPEED_X: GSPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD4_GSPEED_Y: GSPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD4_HORIZON_EN: HORIZON_EN¶
Displays artificial horizon
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_HORIZON_X: HORIZON_X¶
Horizontal position on screen
Range
0 to 59
OSD4_HORIZON_Y: HORIZON_Y¶
Vertical position on screen
Range
0 to 21
OSD4_HOME_EN: HOME_EN¶
Displays distance and relative direction to HOME
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_HOME_X: HOME_X¶
Horizontal position on screen
Range
0 to 59
OSD4_HOME_Y: HOME_Y¶
Vertical position on screen
Range
0 to 21
OSD4_HEADING_EN: HEADING_EN¶
Displays heading
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_HEADING_X: HEADING_X¶
Horizontal position on screen
Range
0 to 59
OSD4_HEADING_Y: HEADING_Y¶
Vertical position on screen
Range
0 to 21
OSD4_THROTTLE_EN: THROTTLE_EN¶
Displays actual throttle percentage being sent to motor(s)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_THROTTLE_X: THROTTLE_X¶
Horizontal position on screen
Range
0 to 59
OSD4_THROTTLE_Y: THROTTLE_Y¶
Vertical position on screen
Range
0 to 21
OSD4_COMPASS_EN: COMPASS_EN¶
Enables display of compass rose
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_COMPASS_X: COMPASS_X¶
Horizontal position on screen
Range
0 to 59
OSD4_COMPASS_Y: COMPASS_Y¶
Vertical position on screen
Range
0 to 21
OSD4_WIND_EN: WIND_EN¶
Displays wind speed and relative direction, on Rover this is the apparent wind
speed and direction from the windvane, if fitted
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_WIND_X: WIND_X¶
Horizontal position on screen
Range
0 to 59
OSD4_WIND_Y: WIND_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ASPEED_EN: ASPEED_EN¶
Displays airspeed value being used by TECS (fused value)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ASPEED_X: ASPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ASPEED_Y: ASPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD4_VSPEED_EN: VSPEED_EN¶
Displays climb rate
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_VSPEED_X: VSPEED_X¶
Horizontal position on screen
Range
0 to 59
OSD4_VSPEED_Y: VSPEED_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ESCTEMP_EN: ESCTEMP_EN¶
Displays first esc's temp
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ESCTEMP_X: ESCTEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ESCTEMP_Y: ESCTEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ESCRPM_EN: ESCRPM_EN¶
Displays first esc's rpm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ESCRPM_X: ESCRPM_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ESCRPM_Y: ESCRPM_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ESCAMPS_EN: ESCAMPS_EN¶
Displays first esc's current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ESCAMPS_X: ESCAMPS_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ESCAMPS_Y: ESCAMPS_Y¶
Vertical position on screen
Range
0 to 21
OSD4_GPSLAT_EN: GPSLAT_EN¶
Displays GPS latitude
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_GPSLAT_X: GPSLAT_X¶
Horizontal position on screen
Range
0 to 59
OSD4_GPSLAT_Y: GPSLAT_Y¶
Vertical position on screen
Range
0 to 21
OSD4_GPSLONG_EN: GPSLONG_EN¶
Displays GPS longitude
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_GPSLONG_X: GPSLONG_X¶
Horizontal position on screen
Range
0 to 59
OSD4_GPSLONG_Y: GPSLONG_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ROLL_EN: ROLL_EN¶
Displays degrees of roll from level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ROLL_X: ROLL_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ROLL_Y: ROLL_Y¶
Vertical position on screen
Range
0 to 21
OSD4_PITCH_EN: PITCH_EN¶
Displays degrees of pitch from level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_PITCH_X: PITCH_X¶
Horizontal position on screen
Range
0 to 59
OSD4_PITCH_Y: PITCH_Y¶
Vertical position on screen
Range
0 to 21
OSD4_TEMP_EN: TEMP_EN¶
Displays temperature reported by primary barometer
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_TEMP_X: TEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD4_TEMP_Y: TEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD4_HDOP_EN: HDOP_EN¶
Displays Horizontal Dilution Of Position
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_HDOP_X: HDOP_X¶
Horizontal position on screen
Range
0 to 59
OSD4_HDOP_Y: HDOP_Y¶
Vertical position on screen
Range
0 to 21
OSD4_WAYPOINT_EN: WAYPOINT_EN¶
Displays bearing and distance to next waypoint
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_WAYPOINT_X: WAYPOINT_X¶
Horizontal position on screen
Range
0 to 59
OSD4_WAYPOINT_Y: WAYPOINT_Y¶
Vertical position on screen
Range
0 to 21
OSD4_XTRACK_EN: XTRACK_EN¶
Displays crosstrack error
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_XTRACK_X: XTRACK_X¶
Horizontal position on screen
Range
0 to 59
OSD4_XTRACK_Y: XTRACK_Y¶
Vertical position on screen
Range
0 to 21
OSD4_DIST_EN: DIST_EN¶
Displays total distance flown
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_DIST_X: DIST_X¶
Horizontal position on screen
Range
0 to 59
OSD4_DIST_Y: DIST_Y¶
Vertical position on screen
Range
0 to 21
OSD4_STATS_EN: STATS_EN¶
Displays flight stats
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_STATS_X: STATS_X¶
Horizontal position on screen
Range
0 to 59
OSD4_STATS_Y: STATS_Y¶
Vertical position on screen
Range
0 to 21
OSD4_FLTIME_EN: FLTIME_EN¶
Displays total flight time
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_FLTIME_X: FLTIME_X¶
Horizontal position on screen
Range
0 to 59
OSD4_FLTIME_Y: FLTIME_Y¶
Vertical position on screen
Range
0 to 21
OSD4_CLIMBEFF_EN: CLIMBEFF_EN¶
Displays climb efficiency (climb rate/current)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_CLIMBEFF_X: CLIMBEFF_X¶
Horizontal position on screen
Range
0 to 59
OSD4_CLIMBEFF_Y: CLIMBEFF_Y¶
Vertical position on screen
Range
0 to 21
OSD4_EFF_EN: EFF_EN¶
Displays flight efficiency (mAh/km or /mi)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_EFF_X: EFF_X¶
Horizontal position on screen
Range
0 to 59
OSD4_EFF_Y: EFF_Y¶
Vertical position on screen
Range
0 to 21
OSD4_BTEMP_EN: BTEMP_EN¶
Displays temperature reported by secondary barometer
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_BTEMP_X: BTEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD4_BTEMP_Y: BTEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ATEMP_EN: ATEMP_EN¶
Displays temperature reported by primary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ATEMP_X: ATEMP_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ATEMP_Y: ATEMP_Y¶
Vertical position on screen
Range
0 to 21
OSD4_BAT2_VLT_EN: BAT2VLT_EN¶
Displays battery2 voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_BAT2_VLT_X: BAT2VLT_X¶
Horizontal position on screen
Range
0 to 59
OSD4_BAT2_VLT_Y: BAT2VLT_Y¶
Vertical position on screen
Range
0 to 21
OSD4_BAT2USED_EN: BAT2USED_EN¶
Displays secondary battery mAh consumed
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_BAT2USED_X: BAT2USED_X¶
Horizontal position on screen
Range
0 to 59
OSD4_BAT2USED_Y: BAT2USED_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ASPD2_EN: ASPD2_EN¶
Displays airspeed reported directly from secondary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ASPD2_X: ASPD2_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ASPD2_Y: ASPD2_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ASPD1_EN: ASPD1_EN¶
Displays airspeed reported directly from primary airspeed sensor
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ASPD1_X: ASPD1_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ASPD1_Y: ASPD1_Y¶
Vertical position on screen
Range
0 to 21
OSD4_CLK_EN: CLK_EN¶
Displays a clock panel based on AP_RTC local time
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_CLK_X: CLK_X¶
Horizontal position on screen
Range
0 to 59
OSD4_CLK_Y: CLK_Y¶
Vertical position on screen
Range
0 to 21
OSD4_SIDEBARS_EN: SIDEBARS_EN¶
Displays artificial horizon side bars
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_SIDEBARS_X: SIDEBARS_X¶
Horizontal position on screen
Range
0 to 59
OSD4_SIDEBARS_Y: SIDEBARS_Y¶
Vertical position on screen
Range
0 to 21
OSD4_CRSSHAIR_EN: CRSSHAIR_EN¶
Displays artificial horizon crosshair (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_CRSSHAIR_X: CRSSHAIR_X¶
Horizontal position on screen (MSP OSD only)
Range
0 to 59
OSD4_CRSSHAIR_Y: CRSSHAIR_Y¶
Vertical position on screen (MSP OSD only)
Range
0 to 21
OSD4_HOMEDIST_EN: HOMEDIST_EN¶
Displays distance from HOME (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_HOMEDIST_X: HOMEDIST_X¶
Horizontal position on screen (MSP OSD only)
Range
0 to 59
OSD4_HOMEDIST_Y: HOMEDIST_Y¶
Vertical position on screen (MSP OSD only)
Range
0 to 21
OSD4_HOMEDIR_EN: HOMEDIR_EN¶
Displays relative direction to HOME (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_HOMEDIR_X: HOMEDIR_X¶
Horizontal position on screen
Range
0 to 59
OSD4_HOMEDIR_Y: HOMEDIR_Y¶
Vertical position on screen
Range
0 to 21
OSD4_POWER_EN: POWER_EN¶
Displays power (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_POWER_X: POWER_X¶
Horizontal position on screen
Range
0 to 59
OSD4_POWER_Y: POWER_Y¶
Vertical position on screen
Range
0 to 21
OSD4_CELLVOLT_EN: CELL_VOLT_EN¶
Displays average cell voltage (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_CELLVOLT_X: CELL_VOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD4_CELLVOLT_Y: CELL_VOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD4_BATTBAR_EN: BATT_BAR_EN¶
Displays battery usage bar (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_BATTBAR_X: BATT_BAR_X¶
Horizontal position on screen
Range
0 to 59
OSD4_BATTBAR_Y: BATT_BAR_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ARMING_EN: ARMING_EN¶
Displays arming status (MSP OSD only)
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ARMING_X: ARMING_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ARMING_Y: ARMING_Y¶
Vertical position on screen
Range
0 to 21
OSD4_PLUSCODE_EN: PLUSCODE_EN¶
Displays pluscode (OLC) element
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_PLUSCODE_X: PLUSCODE_X¶
Horizontal position on screen
Range
0 to 59
OSD4_PLUSCODE_Y: PLUSCODE_Y¶
Vertical position on screen
Range
0 to 21
OSD4_CALLSIGN_EN: CALLSIGN_EN¶
Displays callsign from callsign.txt on microSD card
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_CALLSIGN_X: CALLSIGN_X¶
Horizontal position on screen
Range
0 to 59
OSD4_CALLSIGN_Y: CALLSIGN_Y¶
Vertical position on screen
Range
0 to 21
OSD4_CURRENT2_EN: CURRENT2_EN¶
Displays 2nd battery current
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_CURRENT2_X: CURRENT2_X¶
Horizontal position on screen
Range
0 to 59
OSD4_CURRENT2_Y: CURRENT2_Y¶
Vertical position on screen
Range
0 to 21
OSD4_VTX_PWR_EN: VTX_PWR_EN¶
Displays VTX Power
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_VTX_PWR_X: VTX_PWR_X¶
Horizontal position on screen
Range
0 to 59
OSD4_VTX_PWR_Y: VTX_PWR_Y¶
Vertical position on screen
Range
0 to 21
OSD4_TER_HGT_EN: TER_HGT_EN¶
Displays Height above terrain
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_TER_HGT_X: TER_HGT_X¶
Horizontal position on screen
Range
0 to 59
OSD4_TER_HGT_Y: TER_HGT_Y¶
Vertical position on screen
Range
0 to 21
OSD4_AVGCELLV_EN: AVGCELLV_EN¶
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).
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_AVGCELLV_X: AVGCELLV_X¶
Horizontal position on screen
Range
0 to 59
OSD4_AVGCELLV_Y: AVGCELLV_Y¶
Vertical position on screen
Range
0 to 21
OSD4_RESTVOLT_EN: RESTVOLT_EN¶
Displays main battery resting voltage
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_RESTVOLT_X: RESTVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD4_RESTVOLT_Y: RESTVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD4_FENCE_EN: FENCE_EN¶
Displays indication of fence enable and breach
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_FENCE_X: FENCE_X¶
Horizontal position on screen
Range
0 to 59
OSD4_FENCE_Y: FENCE_Y¶
Vertical position on screen
Range
0 to 21
OSD4_RNGF_EN: RNGF_EN¶
Displays a rangefinder's distance in cm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_RNGF_X: RNGF_X¶
Horizontal position on screen
Range
0 to 59
OSD4_RNGF_Y: RNGF_Y¶
Vertical position on screen
Range
0 to 21
OSD4_ACRVOLT_EN: ACRVOLT_EN¶
Displays resting voltage for the average cell. 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).
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_ACRVOLT_X: ACRVOLT_X¶
Horizontal position on screen
Range
0 to 59
OSD4_ACRVOLT_Y: ACRVOLT_Y¶
Vertical position on screen
Range
0 to 21
OSD4_RPM_EN: RPM_EN¶
Displays main rotor revs/min
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_RPM_X: RPM_X¶
Horizontal position on screen
Range
0 to 29
OSD4_RPM_Y: RPM_Y¶
Vertical position on screen
Range
0 to 15
OSD4_LINK_Q_EN: LINK_Q_EN¶
Displays Receiver link quality
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_LINK_Q_X: LINK_Q_X¶
Horizontal position on screen
Range
0 to 59
OSD4_LINK_Q_Y: LINK_Q_Y¶
Vertical position on screen
Range
0 to 21
OSD4_TXT_RES: SETS THE OVERLAY TEXT RESOLUTION (MSP DISPLAYPORT ONLY)¶
Sets the overlay text resolution for this screen to either SD 30x16 or HD
50x18/60x22 (MSP DisplayPort only)
Values
Value
Meaning
0
30x16
1
50x18
2
60x22
OSD4_FONT: SETS THE FONT INDEX FOR THIS SCREEN (MSP DISPLAYPORT ONLY)¶
Sets the font index for this screen (MSP DisplayPort only)
Range
0 to 21
OSD4_RC_PWR_EN: RC_PWR_EN¶
Displays the RC link transmit (TX) power in mW or W, depending on level
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_RC_PWR_X: RC_PWR_X¶
Horizontal position on screen
Range
0 to 59
OSD4_RC_PWR_Y: RC_PWR_Y¶
Vertical position on screen
Range
0 to 21
OSD4_RSSIDBM_EN: RSSIDBM_EN¶
Displays RC link signal strength in dBm
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_RSSIDBM_X: RSSIDBM_X¶
Horizontal position on screen
Range
0 to 59
OSD4_RSSIDBM_Y: RSSIDBM_Y¶
Vertical position on screen
Range
0 to 21
OSD4_RC_SNR_EN: RC_SNR_EN¶
Displays RC link signal to noise ratio in dB
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_RC_SNR_X: RC_SNR_X¶
Horizontal position on screen
Range
0 to 59
OSD4_RC_SNR_Y: RC_SNR_Y¶
Vertical position on screen
Range
0 to 21
OSD4_RC_ANT_EN: RC_ANT_EN¶
Displays the current RC link active antenna
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_RC_ANT_X: RC_ANT_X¶
Horizontal position on screen
Range
0 to 59
OSD4_RC_ANT_Y: RC_ANT_Y¶
Vertical position on screen
Range
0 to 21
OSD4_RC_LQ_EN: RC_LQ_EN¶
Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of
OSD_OPTIONS is set
Values
Value
Meaning
0
Disabled
1
Enabled
OSD4_RC_LQ_X: RC_LQ_X¶
Horizontal position on screen
Range
0 to 59
OSD4_RC_LQ_Y: RC_LQ_Y¶
Vertical position on screen
Range
0 to 21
OSD5_ PARAMETERS¶
OSD5_ENABLE: ENABLE SCREEN¶
Enable this screen
Values
Value
Meaning
0
Disabled
1
Enabled
OSD5_CHAN_MIN: TRANSMITTER SWITCH SCREEN MINIMUM PWM¶
This sets the PWM lower limit for this screen
Range
900 to 2100
OSD5_CHAN_MAX: TRANSMITTER SWITCH SCREEN MAXIMUM PWM¶
This sets the PWM upper limit for this screen
Range
900 to 2100
OSD5_SAVE_X: SAVE_X¶
Note: This parameter is for advanced users
Horizontal position of Save button on screen
Range
0 to 25
OSD5_SAVE_Y: SAVE_Y¶
Note: This parameter is for advanced users
Vertical position of Save button on screen
Range
0 to 15
OSD5_PARAM1 PARAMETERS¶
OSD5_PARAM1_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD5_PARAM1_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD5_PARAM1_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD5_PARAM1_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD5_PARAM1_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD5_PARAM1_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD5_PARAM1_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM1_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM1_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD5_PARAM1_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD5_PARAM2 PARAMETERS¶
OSD5_PARAM2_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD5_PARAM2_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD5_PARAM2_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD5_PARAM2_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD5_PARAM2_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD5_PARAM2_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD5_PARAM2_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM2_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM2_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD5_PARAM2_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD5_PARAM3 PARAMETERS¶
OSD5_PARAM3_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD5_PARAM3_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD5_PARAM3_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD5_PARAM3_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD5_PARAM3_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD5_PARAM3_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD5_PARAM3_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM3_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM3_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD5_PARAM3_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD5_PARAM4 PARAMETERS¶
OSD5_PARAM4_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD5_PARAM4_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD5_PARAM4_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD5_PARAM4_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD5_PARAM4_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD5_PARAM4_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD5_PARAM4_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM4_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM4_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD5_PARAM4_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD5_PARAM5 PARAMETERS¶
OSD5_PARAM5_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD5_PARAM5_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD5_PARAM5_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD5_PARAM5_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD5_PARAM5_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD5_PARAM5_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD5_PARAM5_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM5_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM5_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD5_PARAM5_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD5_PARAM6 PARAMETERS¶
OSD5_PARAM6_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD5_PARAM6_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD5_PARAM6_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD5_PARAM6_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD5_PARAM6_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD5_PARAM6_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD5_PARAM6_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM6_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM6_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD5_PARAM6_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD5_PARAM7 PARAMETERS¶
OSD5_PARAM7_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD5_PARAM7_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD5_PARAM7_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD5_PARAM7_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD5_PARAM7_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD5_PARAM7_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD5_PARAM7_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM7_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM7_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD5_PARAM7_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD5_PARAM8 PARAMETERS¶
OSD5_PARAM8_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD5_PARAM8_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD5_PARAM8_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD5_PARAM8_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD5_PARAM8_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD5_PARAM8_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD5_PARAM8_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM8_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM8_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD5_PARAM8_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD5_PARAM9 PARAMETERS¶
OSD5_PARAM9_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD5_PARAM9_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD5_PARAM9_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD5_PARAM9_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD5_PARAM9_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD5_PARAM9_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD5_PARAM9_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM9_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM9_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD5_PARAM9_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD6_ PARAMETERS¶
OSD6_ENABLE: ENABLE SCREEN¶
Enable this screen
Values
Value
Meaning
0
Disabled
1
Enabled
OSD6_CHAN_MIN: TRANSMITTER SWITCH SCREEN MINIMUM PWM¶
This sets the PWM lower limit for this screen
Range
900 to 2100
OSD6_CHAN_MAX: TRANSMITTER SWITCH SCREEN MAXIMUM PWM¶
This sets the PWM upper limit for this screen
Range
900 to 2100
OSD6_SAVE_X: SAVE_X¶
Note: This parameter is for advanced users
Horizontal position of Save button on screen
Range
0 to 25
OSD6_SAVE_Y: SAVE_Y¶
Note: This parameter is for advanced users
Vertical position of Save button on screen
Range
0 to 15
OSD6_PARAM1 PARAMETERS¶
OSD6_PARAM1_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD6_PARAM1_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD6_PARAM1_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD6_PARAM1_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD6_PARAM1_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD6_PARAM1_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD6_PARAM1_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM1_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM1_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD6_PARAM1_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD6_PARAM2 PARAMETERS¶
OSD6_PARAM2_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD6_PARAM2_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD6_PARAM2_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD6_PARAM2_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD6_PARAM2_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD6_PARAM2_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD6_PARAM2_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM2_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM2_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD6_PARAM2_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD6_PARAM3 PARAMETERS¶
OSD6_PARAM3_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD6_PARAM3_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD6_PARAM3_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD6_PARAM3_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD6_PARAM3_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD6_PARAM3_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD6_PARAM3_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM3_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM3_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD6_PARAM3_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD6_PARAM4 PARAMETERS¶
OSD6_PARAM4_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD6_PARAM4_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD6_PARAM4_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD6_PARAM4_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD6_PARAM4_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD6_PARAM4_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD6_PARAM4_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM4_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM4_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD6_PARAM4_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD6_PARAM5 PARAMETERS¶
OSD6_PARAM5_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD6_PARAM5_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD6_PARAM5_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD6_PARAM5_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD6_PARAM5_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD6_PARAM5_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD6_PARAM5_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM5_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM5_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD6_PARAM5_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD6_PARAM6 PARAMETERS¶
OSD6_PARAM6_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD6_PARAM6_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD6_PARAM6_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD6_PARAM6_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD6_PARAM6_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD6_PARAM6_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD6_PARAM6_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM6_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM6_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD6_PARAM6_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD6_PARAM7 PARAMETERS¶
OSD6_PARAM7_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD6_PARAM7_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD6_PARAM7_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD6_PARAM7_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD6_PARAM7_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD6_PARAM7_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD6_PARAM7_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM7_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM7_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD6_PARAM7_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD6_PARAM8 PARAMETERS¶
OSD6_PARAM8_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD6_PARAM8_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD6_PARAM8_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD6_PARAM8_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD6_PARAM8_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD6_PARAM8_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD6_PARAM8_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM8_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM8_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD6_PARAM8_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
OSD6_PARAM9 PARAMETERS¶
OSD6_PARAM9_EN: ENABLE¶
Enable setting
Values
Value
Meaning
0
Disabled
1
Enabled
OSD6_PARAM9_X: X POSITION¶
Horizontal position on screen
Range
0 to 29
OSD6_PARAM9_Y: Y POSITION¶
Vertical position on screen
Range
0 to 15
OSD6_PARAM9_KEY: PARAMETER KEY¶
Key of the parameter to be displayed and modified
OSD6_PARAM9_IDX: PARAMETER INDEX¶
Index of the parameter to be displayed and modified
OSD6_PARAM9_GRP: PARAMETER GROUP¶
Group of the parameter to be displayed and modified
OSD6_PARAM9_MIN: PARAMETER MINIMUM¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM9_MAX: PARAMETER MAXIMUM¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM9_INCR: PARAMETER INCREMENT¶
Increment of the parameter to be displayed and modified
OSD6_PARAM9_TYPE: PARAMETER TYPE¶
Type of the parameter to be displayed and modified
PLND_ PARAMETERS¶
PLND_ENABLED: PRECISION LAND ENABLED/DISABLED¶
Note: This parameter is for advanced users
Precision Land enabled/disabled
Values
Value
Meaning
0
Disabled
1
Enabled
PLND_TYPE: PRECISION LAND TYPE¶
Note: This parameter is for advanced users
Precision Land Type
Values
Value
Meaning
0
None
1
MAVLink
2
IRLock
3
SITL_Gazebo
4
SITL
PLND_YAW_ALIGN: SENSOR YAW ALIGNMENT¶
Note: This parameter is for advanced users
Yaw angle from body x-axis to sensor x-axis.
Increment
Range
Units
10
0 to 36000
centidegrees
PLND_LAND_OFS_X: LAND OFFSET FORWARD¶
Note: This parameter is for advanced users
Desired landing position of the camera forward of the target in vehicle body
frame
Increment
Range
Units
1
-20 to 20
centimeters
PLND_LAND_OFS_Y: LAND OFFSET RIGHT¶
Note: This parameter is for advanced users
desired landing position of the camera right of the target in vehicle body frame
Increment
Range
Units
1
-20 to 20
centimeters
PLND_EST_TYPE: PRECISION LAND ESTIMATOR TYPE¶
Note: This parameter is for advanced users
Specifies the estimation method to be used
Values
Value
Meaning
0
RawSensor
1
KalmanFilter
PLND_ACC_P_NSE: KALMAN FILTER ACCELEROMETER NOISE¶
Note: This parameter is for advanced users
Kalman Filter Accelerometer Noise, higher values weight the input from the
camera more, accels less
Range
0.5 to 5
PLND_CAM_POS_X: CAMERA X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the camera in body frame. Positive X is forward of the origin.
Increment
Range
Units
0.01
-5 to 5
meters
PLND_CAM_POS_Y: CAMERA Y POSITION OFFSET¶
Note: This parameter is for advanced users
Y position of the camera in body frame. Positive Y is to the right of the
origin.
Increment
Range
Units
0.01
-5 to 5
meters
PLND_CAM_POS_Z: CAMERA Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the camera in body frame. Positive Z is down from the origin.
Increment
Range
Units
0.01
-5 to 5
meters
PLND_BUS: SENSOR BUS¶
Note: This parameter is for advanced users
Precland sensor bus for I2C sensors.
Values
Value
Meaning
-1
DefaultBus
0
InternalI2C
1
ExternalI2C
PLND_LAG: PRECISION LANDING SENSOR LAG¶
Note: This parameter is for advanced users
Note: Reboot required after change
Precision Landing sensor lag, to cope with variable landing_target latency
Increment
Range
Units
1
0.02 to 0.250
seconds
PLND_XY_DIST_MAX: PRECISION LANDING MAXIMUM DISTANCE TO TARGET BEFORE
DESCENDING¶
Note: This parameter is for advanced users
The vehicle will not start descending if the landing target is detected and it
is further than this many meters away. Set 0 to always descend.
Range
Units
0 to 10
meters
PLND_STRICT: PRECLAND STRICTNESS¶
How strictly should the vehicle land on the target if target is lost
Values
Value
Meaning
0
Land Vertically (Not strict)
1
Retry Landing(Normal Strictness)
2
Do not land (just Hover) (Very Strict)
PLND_RET_MAX: PRECLAND MAXIMUM NUMBER OF RETIRES FOR A FAILED LANDING¶
PrecLand Maximum number of retires for a failed landing. Set to zero to disable
landing retry.
Increment
Range
1
0 to 10
PLND_TIMEOUT: PRECLAND RETRY TIMEOUT¶
Time for which vehicle continues descend even if target is lost. After this time
period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.
Range
Units
0 to 20
seconds
PLND_RET_BEHAVE: PRECLAND RETRY BEHAVIOUR¶
Prec Land will do the action selected by this parameter if a retry to a landing
is needed
Values
Value
Meaning
0
Go to the last location where landing target was detected
1
Go towards the approximate location of the detected landing target
PLND_ALT_MIN: PRECLAND MINIMUM ALT FOR RETRY¶
Vehicle will continue landing vertically even if target is lost below this
height. This needs a rangefinder to work. Set to zero to disable this.
Range
Units
0 to 5
meters
PLND_ALT_MAX: PRECLAND MAXIMUM ALT FOR RETRY¶
Vehicle will continue landing vertically until this height if target is not
found. Below this height if landing target is not found, landing retry/failsafe
might be attempted. This needs a rangefinder to work. Set to zero to disable
this.
Range
Units
0 to 50
meters
PLND_OPTIONS: PRECISION LANDING EXTRA OPTIONS¶
Note: This parameter is for advanced users
Precision Landing Extra Options
Bitmask
Bit
Meaning
0
Moving Landing Target
1
Allow Precision Landing after manual reposition
2
Maintain high speed in final descent
PLND_ORIENT: CAMERA ORIENTATION¶
Note: This parameter is for advanced users
Note: Reboot required after change
Orientation of camera/sensor on body
Values
Value
Meaning
0
Forward
4
Back
25
Down
PTCH PARAMETERS¶
PTCH2SRV_TCONST: PITCH TIME CONSTANT¶
Note: This parameter is for advanced users
Time constant in seconds from demanded to achieved pitch angle. Most models
respond well to 0.5. May be reduced for faster responses, but setting lower than
a model can achieve will not help.
Increment
Range
Units
0.1
0.4 to 1.0
seconds
PTCH2SRV_RMAX_UP: PITCH UP MAX RATE¶
Note: This parameter is for advanced users
This sets the maximum nose up pitch rate that the attitude controller will
demand (degrees/sec) in angle stabilized modes. Setting it to zero disables the
limit.
Increment
Range
Units
1
0 to 100
degrees per second
PTCH2SRV_RMAX_DN: PITCH DOWN MAX RATE¶
Note: This parameter is for advanced users
This sets the maximum nose down pitch rate that the attitude controller will
demand (degrees/sec) in angle stabilized modes. Setting it to zero disables the
limit.
Increment
Range
Units
1
0 to 100
degrees per second
PTCH2SRV_RLL: ROLL COMPENSATION¶
Gain added to pitch to keep aircraft from descending or ascending in turns.
Increase in increments of 0.05 to reduce altitude loss. Decrease for altitude
gain.
Increment
Range
0.05
0.7 to 1.5
PTCH_RATE_P: PITCH AXIS RATE CONTROLLER P GAIN¶
Pitch axis rate controller P gain. Corrects in proportion to the difference
between the desired pitch rate vs actual pitch rate
Increment
Range
0.005
0.08 to 0.35
PTCH_RATE_I: PITCH AXIS RATE CONTROLLER I GAIN¶
Pitch axis rate controller I gain. Corrects long-term difference in desired roll
rate vs actual roll rate
Increment
Range
0.01
0.01 to 0.6
PTCH_RATE_IMAX: PITCH AXIS RATE CONTROLLER I GAIN MAXIMUM¶
Pitch axis rate controller I gain maximum. Constrains the maximum that the I
term will output
Increment
Range
0.01
0 to 1
PTCH_RATE_D: PITCH AXIS RATE CONTROLLER D GAIN¶
Pitch axis rate controller D gain. Compensates for short-term change in desired
roll rate vs actual roll rate
Increment
Range
0.001
0.001 to 0.03
PTCH_RATE_FF: PITCH AXIS RATE CONTROLLER FEED FORWARD¶
Pitch axis rate controller feed forward
Increment
Range
0.001
0 to 3.0
PTCH_RATE_FLTT: PITCH AXIS RATE CONTROLLER TARGET FREQUENCY IN HZ¶
Pitch axis rate controller target frequency in Hz
Increment
Range
Units
1
2 to 50
hertz
PTCH_RATE_FLTE: PITCH AXIS RATE CONTROLLER ERROR FREQUENCY IN HZ¶
Pitch axis rate controller error frequency in Hz
Increment
Range
Units
1
2 to 50
hertz
PTCH_RATE_FLTD: PITCH AXIS RATE CONTROLLER DERIVATIVE FREQUENCY IN HZ¶
Pitch axis rate controller derivative frequency in Hz
Increment
Range
Units
1
0 to 50
hertz
PTCH_RATE_SMAX: PITCH SLEW RATE LIMIT¶
Note: This parameter is for advanced users
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.
Increment
Range
0.5
0 to 200
PTCH_RATE_PDMX: PITCH AXIS RATE CONTROLLER PD SUM MAXIMUM¶
Pitch axis rate controller PD sum maximum. The maximum/minimum value that the
sum of the P and D term can output
Increment
Range
0.01
0 to 1
PTCH_RATE_D_FF: PITCH DERIVATIVE FEEDFORWARD GAIN¶
Note: This parameter is for advanced users
FF D Gain which produces an output that is proportional to the rate of change of
the target
Increment
Range
0.001
0 to 0.03
PTCH_RATE_NTF: PITCH TARGET NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Pitch Target notch filter index
Range
1 to 8
PTCH_RATE_NEF: PITCH ERROR NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Pitch Error notch filter index
Range
1 to 8
Q_ PARAMETERS¶
Q_ENABLE: ENABLE QUADPLANE¶
Note: Reboot required after change
This enables QuadPlane functionality, assuming multicopter motors start on
output 5. If this is set to 2 then when starting AUTO mode it will initially be
in VTOL AUTO mode.
Values
Value
Meaning
0
Disable
1
Enable
2
Enable VTOL AUTO
Q_ANGLE_MAX: ANGLE MAX¶
Note: This parameter is for advanced users
Maximum lean angle in all VTOL flight modes
Increment
Range
Units
10
1000 to 8000
centidegrees
Q_TRANSITION_MS: TRANSITION TIME¶
Note: This parameter is for advanced users
Transition time in milliseconds after minimum airspeed is reached
Range
Units
500 to 30000
milliseconds
Q_PILOT_SPD_UP: PILOT MAXIMUM VERTICAL SPEED UP¶
The maximum ascending vertical velocity the pilot may request in m/s
Increment
Range
Units
0.1
0.5 to 5
meters per second
Q_PILOT_SPD_DN: PILOT MAXIMUM VERTICAL SPEED DOWN¶
The maximum vertical velocity the pilot may request in m/s going down. If 0,
uses Q_PILOT_SPD_UP value.
Increment
Range
Units
0.1
0.5 to 5
meters per second
Q_PILOT_ACCEL_Z: PILOT VERTICAL ACCELERATION¶
The vertical acceleration used when pilot is controlling the altitude
Increment
Range
Units
0.1
0.5 to 5
meters per square second
Q_RC_SPEED: RC OUTPUT SPEED IN HZ¶
This is the PWM refresh rate in Hz for QuadPlane quad motors
Increment
Range
Units
10
50 to 500
hertz
Q_ASSIST_SPEED: QUADPLANE ASSISTANCE SPEED¶
This is the speed below which the quad motors will provide stability and lift
assistance in fixed wing modes. The default value of 0 disables assistance but
will generate a pre-arm failure to encourage users to set this parameter to -1,
or a positive, non-zero value. If this is set to -1 then all Q_ASSIST features
are disabled except during transitions. A high non-zero,positive value will lead
to more false positives which can waste battery. A lower value will result in
less false positive, but will result in assistance taking longer to trigger. If
unsure then set to 3 m/s below the minimum airspeed you will fly at. If you
don't have an airspeed sensor then use 5 m/s below the minimum airspeed you fly
at.
Increment
Range
Units
0.1
0 to 100
meters per second
Q_YAW_RATE_MAX: MAXIMUM YAW RATE¶
This is the maximum yaw rate for pilot input on rudder stick in degrees/second
Increment
Range
Units
1
50 to 500
degrees per second
Q_LAND_FINAL_SPD: LAND FINAL SPEED¶
The descent speed for the final stage of landing in m/s
Increment
Range
Units
0.1
0.3 to 2
meters per second
Q_LAND_FINAL_ALT: LAND FINAL ALTITUDE¶
The altitude at which we should switch to Q_LAND_SPEED descent rate
Increment
Range
Units
0.1
0.5 to 50
meters
Q_TRAN_PIT_MAX: TRANSITION MAX PITCH¶
Maximum pitch during transition to auto fixed wing flight
Increment
Range
Units
1
0 to 30
degrees
Q_FRAME_CLASS: FRAME CLASS¶
Controls major frame class for multicopter component
Values
Value
Meaning
0
Undefined
1
Quad
2
Hexa
3
Octa
4
OctaQuad
5
Y6
7
Tri
10
Single/Dual
12
DodecaHexa
14
Deca
15
Scripting Matrix
17
Dynamic Scripting Matrix
Q_FRAME_TYPE: FRAME TYPE (+, X OR V)¶
Controls motor mixing for multicopter component
Values
Value
Meaning
0
Plus
1
X
2
V
3
H
4
V-Tail
5
A-Tail
10
Y6B
11
Y6F
12
BetaFlightX
13
DJIX
14
ClockwiseX
15
I
16
MOTOR_FRAME_TYPE_NYT_PLUS
17
MOTOR_FRAME_TYPE_NYT_X
18
BetaFlightXReversed
19
Y4
Q_VFWD_GAIN: FORWARD VELOCITY HOLD GAIN¶
The use of this parameter is no longer recommended and has been superseded by a
method that works in all VTOL modes with the exception of QAUTOTUNE which is
controlled by the Q_FWD_THR_USE parameter. This Q_VFD_GAIN parameter controls
use of the forward motor in VTOL modes that use the velocity controller. Set to
0 to disable this function. A value of 0.05 is a good place to start if you want
to use the forward motor for position control. No forward motor will be used in
QSTABILIZE or QHOVER modes. Use with QLOITER for position hold with the forward
motor.
Increment
Range
0.01
0 to 0.5
Q_RTL_ALT: QRTL RETURN ALTITUDE¶
The altitude which QRTL mode heads to initially
Increment
Range
Units
1
1 to 200
meters
Q_RTL_MODE: VTOL RTL MODE¶
If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS
meters of the RTL destination, VTOL approach: vehicle will RTL at RTL alt and
circle with a radius of Q_FW_LND_APR_RAD down to Q_RTL_ALT and then transition
into the wind and QRTL, see 'AUTO VTOL Landing', QRTL Always: do a QRTL instead
of RTL
Values
Value
Meaning
0
Disabled
1
Enabled
2
VTOL approach
3
QRTL Always
Q_GUIDED_MODE: ENABLE VTOL IN GUIDED MODE¶
This enables use of VTOL in guided mode. When enabled the aircraft will switch
to VTOL flight when the guided destination is reached and hover at the
destination.
Values
Value
Meaning
0
Disabled
1
Enabled
Q_ESC_CAL: ESC CALIBRATION¶
This is used to calibrate the throttle range of the VTOL motors. Please read
https://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using.
This parameter is automatically set back to 0 on every boot. This parameter only
takes effect in QSTABILIZE mode. When set to 1 the output of all motors will
come directly from the throttle stick when armed, and will be zero when
disarmed. When set to 2 the output of all motors will be maximum when armed and
zero when disarmed. Make sure you remove all properllers before using.
Values
Value
Meaning
0
Disabled
1
ThrottleInput
2
FullInput
Q_VFWD_ALT: FORWARD VELOCITY ALT CUTOFF¶
Controls altitude to disable forward velocity assist when below this relative
altitude. This is useful to keep the forward velocity propeller from hitting the
ground. Rangefinder height data is incorporated when available.
Increment
Range
Units
0.25
0 to 10
meters
Q_LAND_ICE_CUT: CUT IC ENGINE ON LANDING¶
This controls stopping an internal combustion engine in the final landing stage
of a VTOL. This is important for aircraft where the forward thrust engine may
experience prop-strike if left running during landing. This requires the engine
controls are enabled using the ICE_* parameters.
Values
Value
Meaning
0
Disabled
1
Enabled
Q_ASSIST_ANGLE: QUADPLANE ASSISTANCE ANGLE¶
This is the angular error in attitude beyond which the quadplane VTOL motors
will provide stability assistance. This will only be used if Q_ASSIST_SPEED is
also positive and non-zero. Assistance will be given if the attitude is outside
the normal attitude limits by at least 5 degrees and the angular error in roll
or pitch is greater than this angle for at least Q_ASSIST_DELAY seconds. Set to
zero to disable angle assistance.
Increment
Range
Units
1
0 to 90
degrees
Q_MAV_TYPE: MAVLINK TYPE IDENTIFIER¶
This controls the mavlink type given in HEARTBEAT messages. For some GCS types a
particular setting will be needed for correct operation.
Values
Value
Meaning
0
AUTO
1
FIXED_WING
2
QUADROTOR
3
COAXIAL
4
HELICOPTER
7
AIRSHIP
8
FREE_BALLOON
9
ROCKET
10
GROUND_ROVER
11
SURFACE_BOAT
12
SUBMARINE
16
FLAPPING_WING
17
KITE
19
VTOL_DUOROTOR
20
VTOL_QUADROTOR
21
VTOL_TILTROTOR
Q_OPTIONS: QUADPLANE OPTIONS¶
See description for each bitmask bit description
Bitmask
Bit
Meaning
0
Level Transition-keep wings within LEVEL_ROLL_LIMIT and only use forward
motor(s) for climb during transition
1
Allow FW Takeoff-if bit is not set then NAV_TAKEOFF command on quadplanes will
instead perform a NAV_VTOL takeoff
2
Allow FW Land-if bit is not set then NAV_LAND command on quadplanes will instead
perform a NAV_VTOL_LAND
3
Vtol Takeoff Frame-command NAV_VTOL_TAKEOFF alt set by the command’s reference
frame not above current location
4
Always use FW spiral approach-always use Use a fixed wing spiral approach for
VTOL landings
5
USE QRTL-instead of QLAND for rc failsafe when in VTOL modes
6
Use Governor-use ICE Idle Governor in MANUAL for forward motor
7
Force Qassist-on always
8
Mtrs_Only_Qassist-in tailsitters only uses VTOL motors and not flying surfaces
for QASSIST
10
Disarmed Yaw Tilt-enable motor tilt for yaw when disarmed
11
Delay Spoolup-delay VTOL spoolup for 2 seconds after arming
12
Disable speed based Qassist when using synthethic airspeed estimates
13
Disable Ground Effect Compensation-on baro altitude reports
14
Ignore forward flight angle limits-in Qmodes and use Q_ANGLE_MAX exclusively
15
ThrLandControl-enable throttle stick control of landing rate
16
DisableApproach-disable use of approach and airbrake stages in VTOL landing
17
EnableLandResposition-enable pilot controlled repositioning in AUTO land.Descent
will pause while repositioning
18
ARMVTOL-arm only in VTOL or AUTO modes
19
CompleteTransition-to fixed wing if Q_TRANS_FAIL timer times out instead of
QLAND
20
Force RTL mode-forces RTL mode on rc failsafe in VTOL modes overriding bit
5(USE_QRTL)
21
Tilt rotor-tilt motors up when disarmed in FW modes (except manual) to prevent
ground strikes.
22
Scale FF by the ratio of VTOL/plane angle P gains in VTOL modes rather than
reducing VTOL angle P based on airspeed.
Q_TRANS_DECEL: TRANSITION DECELERATION¶
This is deceleration rate that will be used in calculating the stopping distance
when transitioning from fixed wing flight to multicopter flight.
Increment
Range
Units
0.1
0.2 to 5
meters per square second
Q_TRIM_PITCH: QUADPLANE AHRS TRIM PITCH¶
Note: This parameter is for advanced users
Note: Reboot required after change
This sets the compensation for the pitch angle trim difference between
calibrated AHRS level and vertical flight pitch. NOTE! this is relative to
calibrated AHRS trim, not forward flight trim which includes PTCH_TRIM_DEG. For
tailsitters, this is relative to a baseline of 90 degrees in AHRS.
Increment
Range
Units
0.1
-10 to +10
degrees
Q_FW_LND_APR_RAD: QUADPLANE FIXED WING LANDING APPROACH RADIUS¶
Note: This parameter is for advanced users
This provides the radius used, when using a fixed wing landing approach. If set
to 0 then the WP_LOITER_RAD will be selected.
Increment
Range
Units
5
0 to 200
meters
Q_TRANS_FAIL: QUADPLANE TRANSITION FAILURE TIME¶
Note: This parameter is for advanced users
Maximum time allowed for forward transitions, exceeding this time will cancel
the transition and the aircraft will immediately change to the mode set by
Q_TRANS_FAIL_ACT or finish the transition depending on Q_OPTIONS bit 19. 0 for
no limit.
Increment
Range
Units
1
0 to 20
seconds
Q_THROTTLE_EXPO: THROTTLE EXPO STRENGTH¶
Note: This parameter is for advanced users
Amount of curvature in throttle curve: 0 is linear, 1 is cubic
Increment
Range
.1
0 to 1
Q_ACRO_RLL_RATE: QACRO MODE ROLL RATE¶
The maximum roll rate at full stick deflection in QACRO mode
Increment
Range
Units
1
10 to 500
degrees per second
Q_ACRO_PIT_RATE: QACRO MODE PITCH RATE¶
The maximum pitch rate at full stick deflection in QACRO mode
Increment
Range
Units
1
10 to 500
degrees per second
Q_ACRO_YAW_RATE: QACRO MODE YAW RATE¶
The maximum yaw rate at full stick deflection in QACRO mode
Increment
Range
Units
1
10 to 500
degrees per second
Q_TKOFF_FAIL_SCL: TAKEOFF TIME FAILURE SCALAR¶
Note: This parameter is for advanced users
Scalar for how long past the expected takeoff time a takeoff should be
considered as failed and the vehicle will switch to QLAND. If set to 0 there is
no limit on takeoff time.
Increment
Range
5.1
1.1 to 5.0
Q_TKOFF_ARSP_LIM: TAKEOFF AIRSPEED LIMIT¶
Note: This parameter is for advanced users
Airspeed limit during takeoff. If the airspeed exceeds this level the vehicle
will switch to QLAND. This is useful for ensuring that you don't takeoff into
excessively strong wind. If set to 0 there is no limit on airspeed during
takeoff.
Increment
Range
Units
1
0 to 20
meters per second
Q_ASSIST_ALT: QUADPLANE ASSISTANCE ALTITUDE¶
This is the altitude below which quadplane assistance will be triggered. This
acts the same way as Q_ASSIST_ANGLE and Q_ASSIST_SPEED, but triggers if the
aircraft drops below the given altitude while the VTOL motors are not running. A
value of zero disables this feature. The altitude is calculated as being above
ground level. The height above ground is given from a Lidar used if available
and RNGFND_LANDING=1. Otherwise it comes from terrain data if TERRAIN_FOLLOW=1
and comes from height above home otherwise.
Increment
Range
Units
1
0 to 120
meters
Q_ASSIST_DELAY: QUADPLANE ASSISTANCE DELAY¶
This is delay between the assistance thresholds being met and the assistance
starting.
Increment
Range
Units
0.1
0 to 2
seconds
Q_FWD_MANTHR_MAX: VTOL MANUAL FORWARD THROTTLE MAX PERCENT¶
Maximum value for manual forward throttle; used with RC option FWD_THR (209)
Range
0 to 100
Q_BACKTRANS_MS: SLT AND TILTROTOR BACK TRANSITION PITCH LIMIT DURATION¶
Pitch angle will increase from 0 to angle max over this duration when switching
into VTOL flight in a postion control mode. 0 Disables.
Range
Units
0 to 10000
milliseconds
Q_TRANS_FAIL_ACT: QUADPLANE TRANSITION FAILURE ACTION¶
This sets the mode that is changed to when Q_TRANS_FAIL time elapses, if set.
See also Q_OPTIONS bit 19: CompleteTransition if Q_TRANS_FAIL
Values
Value
Meaning
-1
Warn only
0
QLand
1
QRTL
Q_LAND_ALTCHG: LAND DETECTION ALTITUDE CHANGE THRESHOLD¶
The maximum altitude change allowed during land detection. You can raise this
value if you find that landing detection takes a long time to complete. It is
the maximum change in altitude over a period of 4 seconds for landing to be
detected
Increment
Range
Units
0.05
0.1 to 0.6
meters
Q_NAVALT_MIN: MINIMUM NAVIGATION ALTITUDE¶
Note: This parameter is for advanced users
This is the altitude in meters above which navigation begins in auto takeoff.
Below this altitude the target roll and pitch will be zero. A value of zero
disables the feature
Range
0 to 5
Q_PLT_Y_RATE: PILOT CONTROLLED YAW RATE¶
Pilot controlled yaw rate max. Used in all pilot controlled modes except QAcro
Range
Units
1 to 360
degrees per second
Q_PLT_Y_EXPO: PILOT CONTROLLED YAW EXPO¶
Note: This parameter is for advanced users
Pilot controlled yaw expo to allow faster rotation when stick at edges
Range
Values
-0.5 to 1.0
Value
Meaning
0
Disabled
0.1
Very Low
0.2
Low
0.3
Medium
0.4
High
0.5
Very High
Q_PLT_Y_RATE_TC: PILOT YAW RATE CONTROL INPUT TIME CONSTANT¶
Pilot yaw rate control input time constant. Low numbers lead to sharper
response, higher numbers to softer response.
Increment
Range
Units
Values
0.01
0 to 1
seconds
Value
Meaning
0.5
Very Soft
0.2
Soft
0.15
Medium
0.1
Crisp
0.05
Very Crisp
Q_RTL_ALT_MIN: QRTL MINIMUM ALTITUDE¶
If VTOL motors are active QRTL mode will VTOL climb to at least this altitude
before returning home. If outside 150% the larger of WP_LOITER_RAD and
RTL_RADIUS the vehicle will VTOL climb to Q_RTL_ALT. This parameter has no
effect if the vehicle is in forward flight. Should be between Q_LAND_FINAL_ALT
and Q_RTL_ALT
Increment
Range
Units
1
1 to 200
meters
Q_FWD_THR_GAIN: Q MODE FWD THROTTLE GAIN¶
This parameter sets the gain from forward accel/tilt to forward throttle in
certain Q modes. The Q modes this feature operates in is controlled by the
Q_FWD_THR_USE parameter. Vehicles using separate forward thrust motors, eg
quadplanes, should set this parameter to (all up weight) / (maximum combined
thrust of forward motors) with a value of 2 being typical. Vehicles that tilt
lifting rotors to provide forward thrust should set this parameter to (all up
weight) / (weight lifted by tilting rotors) which for most aircraft can be
approximated as (total number of lifting rotors) / (number of lifting rotors
that tilt). When using this method of forward throttle control, the forward tilt
angle limit is controlled by the Q_FWD_PIT_LIM parameter.
Increment
Range
0.1
0.0 to 5.0
Q_FWD_PIT_LIM: Q MODE FORWARD PITCH LIMIT¶
When forward throttle is being controlled by the Q_FWD_THR_GAIN parameter in Q
modes, the vehicle forward (nose down) pitch rotation will be limited to the
value specified by this parameter and the any additional forward acceleration
required will be produced by use of the forward thrust motor(s) or tilting of
moveable rotors. Larger values allow the vehicle to pitch more nose down. Set
initially to the amount of nose down pitch required to remove wing lift.
Increment
Range
Units
0.1
0.0 to 5.0
degrees
Q_FWD_THR_USE: Q MODE FORWARD THROTTLE USE¶
This parameter determines when the feature that uses forward throttle instead of
forward tilt is used. The amount of forward throttle is controlled by the
Q_FWD_THR_GAIN parameter. The maximum amount of forward pitch allowed is
controlled by the Q_FWD_PIT_LIM parameter. Q_FWD_THR_USE = 0 disables the
feature. Q_FWD_THR_USE = 1 enables the feature in all position controlled modes
such as QLOITER, QLAND, QRTL and VTOL TAKEOFF. Q_FWD_THR_USE = 2 enables the
feature in all Q modes except QAUTOTUNE and QACRO. When enabling the feature,
the legacy method of controlling forward throttle use via velocity controller
error should be disabled by setting Q_VFWD_GAIN to 0. Do not use this feature
with tailsitters.
Values
Value
Meaning
0
Off
1
On in all position controlled Q modes
2
On in all Q modes except QAUTOTUNE and QACRO
Q_BCK_PIT_LIM: Q MODE REARWARD PITCH LIMIT¶
This sets the maximum number of degrees of back or pitch up in Q modes when the
airspeed is at AIRSPEED_MIN, and is used to prevent excessive sutructural loads
when pitching up decelerate. If airspeed is above or below AIRSPEED_MIN, the
pitch up/back will be adjusted according to the formula pitch_limit =
Q_BCK_PIT_LIM * (AIRSPEED_MIN / IAS)^2. The backwards/up pitch limit controlled
by this parameter is in addition to limiting applied by PTCH_LIM_MAX_DEG and
Q_ANGLE_MAX. The BCK_PIT_LIM limit is only applied when Q_FWD_THR_USE is set to
1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of
forward tilt to generate forward speed. Set to a non positive value 0 to
deactivate this limit.
Increment
Range
Units
0.1
0.0 to 15.0
degrees
Q_AUTOTUNE_ PARAMETERS¶
Q_AUTOTUNE_AXES: AUTOTUNE AXIS BITMASK¶
1-byte bitmap of axes to autotune
Bitmask
Bit
Meaning
0
Roll
1
Pitch
2
Yaw
3
YawD
Q_AUTOTUNE_AGGR: AUTOTUNE AGGRESSIVENESS¶
Autotune aggressiveness. Defines the bounce back used to detect size of the D
term.
Range
0.05 to 0.10
Q_AUTOTUNE_MIN_D: AUTOTUNE MINIMUM D¶
Defines the minimum D gain
Range
0.0001 to 0.005
Q_A_ PARAMETERS¶
Q_A_SLEW_YAW: YAW TARGET SLEW RATE¶
Note: This parameter is for advanced users
Maximum rate the yaw target can be updated in RTL and Auto flight modes
Increment
Range
Units
100
500 to 18000
centidegrees per second
Q_A_ACCEL_Y_MAX: ACCELERATION MAX FOR YAW¶
Note: This parameter is for advanced users
Maximum acceleration in yaw axis
Increment
Range
Units
Values
1000
0 to 72000
centidegrees per square second
Value
Meaning
0
Disabled
9000
VerySlow
18000
Slow
36000
Medium
54000
Fast
Q_A_RATE_FF_ENAB: RATE FEEDFORWARD ENABLE¶
Note: This parameter is for advanced users
Controls whether body-frame rate feedforward is enabled or disabled
Values
Value
Meaning
0
Disabled
1
Enabled
Q_A_ACCEL_R_MAX: ACCELERATION MAX FOR ROLL¶
Note: This parameter is for advanced users
Maximum acceleration in roll axis
Increment
Range
Units
Values
1000
0 to 180000
centidegrees per square second
Value
Meaning
0
Disabled
30000
VerySlow
72000
Slow
108000
Medium
162000
Fast
Q_A_ACCEL_P_MAX: ACCELERATION MAX FOR PITCH¶
Note: This parameter is for advanced users
Maximum acceleration in pitch axis
Increment
Range
Units
Values
1000
0 to 180000
centidegrees per square second
Value
Meaning
0
Disabled
30000
VerySlow
72000
Slow
108000
Medium
162000
Fast
Q_A_ANGLE_BOOST: ANGLE BOOST¶
Note: This parameter is for advanced users
Angle Boost increases output throttle as the vehicle leans to reduce loss of
altitude
Values
Value
Meaning
0
Disabled
1
Enabled
Q_A_ANG_RLL_P: ROLL AXIS ANGLE CONTROLLER P GAIN¶
Roll axis angle controller P gain. Converts the error between the desired roll
angle and actual angle to a desired roll rate
Range
3.000 to 12.000
Q_A_ANG_PIT_P: PITCH AXIS ANGLE CONTROLLER P GAIN¶
Pitch axis angle controller P gain. Converts the error between the desired pitch
angle and actual angle to a desired pitch rate
Range
3.000 to 12.000
Q_A_ANG_YAW_P: YAW AXIS ANGLE CONTROLLER P GAIN¶
Yaw axis angle controller P gain. Converts the error between the desired yaw
angle and actual angle to a desired yaw rate
Range
3.000 to 12.000
Q_A_ANG_LIM_TC: ANGLE LIMIT (TO MAINTAIN ALTITUDE) TIME CONSTANT¶
Note: This parameter is for advanced users
Angle Limit (to maintain altitude) Time Constant
Range
0.5 to 10.0
Q_A_RATE_R_MAX: ANGULAR VELOCITY MAX FOR ROLL¶
Note: This parameter is for advanced users
Maximum angular velocity in roll axis
Increment
Range
Units
Values
1
0 to 1080
degrees per second
Value
Meaning
0
Disabled
60
Slow
180
Medium
360
Fast
Q_A_RATE_P_MAX: ANGULAR VELOCITY MAX FOR PITCH¶
Note: This parameter is for advanced users
Maximum angular velocity in pitch axis
Increment
Range
Units
Values
1
0 to 1080
degrees per second
Value
Meaning
0
Disabled
60
Slow
180
Medium
360
Fast
Q_A_RATE_Y_MAX: ANGULAR VELOCITY MAX FOR YAW¶
Note: This parameter is for advanced users
Maximum angular velocity in yaw axis
Increment
Range
Units
Values
1
0 to 1080
degrees per second
Value
Meaning
0
Disabled
60
Slow
180
Medium
360
Fast
Q_A_INPUT_TC: ATTITUDE CONTROL INPUT TIME CONSTANT¶
Attitude control input time constant. Low numbers lead to sharper response,
higher numbers to softer response
Increment
Range
Units
Values
0.01
0 to 1
seconds
Value
Meaning
0.5
Very Soft
0.2
Soft
0.15
Medium
0.1
Crisp
0.05
Very Crisp
Q_A_RAT_RLL_P: ROLL AXIS RATE CONTROLLER P GAIN¶
Roll axis rate controller P gain. Corrects in proportion to the difference
between the desired roll rate vs actual roll rate
Increment
Range
0.005
0.01 to 0.5
Q_A_RAT_RLL_I: ROLL AXIS RATE CONTROLLER I GAIN¶
Roll axis rate controller I gain. Corrects long-term difference in desired roll
rate vs actual roll rate
Increment
Range
0.01
0.01 to 2.0
Q_A_RAT_RLL_IMAX: ROLL AXIS RATE CONTROLLER I GAIN MAXIMUM¶
Roll axis rate controller I gain maximum. Constrains the maximum that the I term
will output
Increment
Range
0.01
0 to 1
Q_A_RAT_RLL_D: ROLL AXIS RATE CONTROLLER D GAIN¶
Roll axis rate controller D gain. Compensates for short-term change in desired
roll rate vs actual roll rate
Increment
Range
0.001
0.0 to 0.05
Q_A_RAT_RLL_FF: ROLL AXIS RATE CONTROLLER FEED FORWARD¶
Roll axis rate controller feed forward
Increment
Range
0.001
0 to 0.5
Q_A_RAT_RLL_FLTT: ROLL AXIS RATE CONTROLLER TARGET FREQUENCY IN HZ¶
Roll axis rate controller target frequency in Hz
Increment
Range
Units
1
5 to 100
hertz
Q_A_RAT_RLL_FLTE: ROLL AXIS RATE CONTROLLER ERROR FREQUENCY IN HZ¶
Roll axis rate controller error frequency in Hz
Increment
Range
Units
1
0 to 100
hertz
Q_A_RAT_RLL_FLTD: ROLL AXIS RATE CONTROLLER DERIVATIVE FREQUENCY IN HZ¶
Roll axis rate controller derivative frequency in Hz
Increment
Range
Units
1
5 to 100
hertz
Q_A_RAT_RLL_SMAX: ROLL SLEW RATE LIMIT¶
Note: This parameter is for advanced users
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.
Increment
Range
0.5
0 to 200
Q_A_RAT_RLL_PDMX: ROLL AXIS RATE CONTROLLER PD SUM MAXIMUM¶
Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum
of the P and D term can output
Increment
Range
0.01
0 to 1
Q_A_RAT_RLL_D_FF: ROLL DERIVATIVE FEEDFORWARD GAIN¶
Note: This parameter is for advanced users
FF D Gain which produces an output that is proportional to the rate of change of
the target
Increment
Range
0.0001
0 to 0.02
Q_A_RAT_RLL_NTF: ROLL TARGET NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Roll Target notch filter index
Range
1 to 8
Q_A_RAT_RLL_NEF: ROLL ERROR NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Roll Error notch filter index
Range
1 to 8
Q_A_RAT_PIT_P: PITCH AXIS RATE CONTROLLER P GAIN¶
Pitch axis rate controller P gain. Corrects in proportion to the difference
between the desired pitch rate vs actual pitch rate output
Increment
Range
0.005
0.01 to 0.50
Q_A_RAT_PIT_I: PITCH AXIS RATE CONTROLLER I GAIN¶
Pitch axis rate controller I gain. Corrects long-term difference in desired
pitch rate vs actual pitch rate
Increment
Range
0.01
0.01 to 2.0
Q_A_RAT_PIT_IMAX: PITCH AXIS RATE CONTROLLER I GAIN MAXIMUM¶
Pitch axis rate controller I gain maximum. Constrains the maximum that the I
term will output
Increment
Range
0.01
0 to 1
Q_A_RAT_PIT_D: PITCH AXIS RATE CONTROLLER D GAIN¶
Pitch axis rate controller D gain. Compensates for short-term change in desired
pitch rate vs actual pitch rate
Increment
Range
0.001
0.0 to 0.05
Q_A_RAT_PIT_FF: PITCH AXIS RATE CONTROLLER FEED FORWARD¶
Pitch axis rate controller feed forward
Increment
Range
0.001
0 to 0.5
Q_A_RAT_PIT_FLTT: PITCH AXIS RATE CONTROLLER TARGET FREQUENCY IN HZ¶
Pitch axis rate controller target frequency in Hz
Increment
Range
Units
1
5 to 100
hertz
Q_A_RAT_PIT_FLTE: PITCH AXIS RATE CONTROLLER ERROR FREQUENCY IN HZ¶
Pitch axis rate controller error frequency in Hz
Increment
Range
Units
1
0 to 100
hertz
Q_A_RAT_PIT_FLTD: PITCH AXIS RATE CONTROLLER DERIVATIVE FREQUENCY IN HZ¶
Pitch axis rate controller derivative frequency in Hz
Increment
Range
Units
1
5 to 100
hertz
Q_A_RAT_PIT_SMAX: PITCH SLEW RATE LIMIT¶
Note: This parameter is for advanced users
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.
Increment
Range
0.5
0 to 200
Q_A_RAT_PIT_PDMX: PITCH AXIS RATE CONTROLLER PD SUM MAXIMUM¶
Pitch axis rate controller PD sum maximum. The maximum/minimum value that the
sum of the P and D term can output
Increment
Range
0.01
0 to 1
Q_A_RAT_PIT_D_FF: PITCH DERIVATIVE FEEDFORWARD GAIN¶
Note: This parameter is for advanced users
FF D Gain which produces an output that is proportional to the rate of change of
the target
Increment
Range
0.0001
0 to 0.02
Q_A_RAT_PIT_NTF: PITCH TARGET NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Pitch Target notch filter index
Range
1 to 8
Q_A_RAT_PIT_NEF: PITCH ERROR NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Pitch Error notch filter index
Range
1 to 8
Q_A_RAT_YAW_P: YAW AXIS RATE CONTROLLER P GAIN¶
Yaw axis rate controller P gain. Corrects in proportion to the difference
between the desired yaw rate vs actual yaw rate
Increment
Range
0.005
0.10 to 2.50
Q_A_RAT_YAW_I: YAW AXIS RATE CONTROLLER I GAIN¶
Yaw axis rate controller I gain. Corrects long-term difference in desired yaw
rate vs actual yaw rate
Increment
Range
0.01
0.010 to 1.0
Q_A_RAT_YAW_IMAX: YAW AXIS RATE CONTROLLER I GAIN MAXIMUM¶
Yaw axis rate controller I gain maximum. Constrains the maximum that the I term
will output
Increment
Range
0.01
0 to 1
Q_A_RAT_YAW_D: YAW AXIS RATE CONTROLLER D GAIN¶
Yaw axis rate controller D gain. Compensates for short-term change in desired
yaw rate vs actual yaw rate
Increment
Range
0.001
0.000 to 0.02
Q_A_RAT_YAW_FF: YAW AXIS RATE CONTROLLER FEED FORWARD¶
Yaw axis rate controller feed forward
Increment
Range
0.001
0 to 0.5
Q_A_RAT_YAW_FLTT: YAW AXIS RATE CONTROLLER TARGET FREQUENCY IN HZ¶
Yaw axis rate controller target frequency in Hz
Increment
Range
Units
1
1 to 50
hertz
Q_A_RAT_YAW_FLTE: YAW AXIS RATE CONTROLLER ERROR FREQUENCY IN HZ¶
Yaw axis rate controller error frequency in Hz
Increment
Range
Units
1
0 to 20
hertz
Q_A_RAT_YAW_FLTD: YAW AXIS RATE CONTROLLER DERIVATIVE FREQUENCY IN HZ¶
Yaw axis rate controller derivative frequency in Hz
Increment
Range
Units
1
5 to 50
hertz
Q_A_RAT_YAW_SMAX: YAW SLEW RATE LIMIT¶
Note: This parameter is for advanced users
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.
Increment
Range
0.5
0 to 200
Q_A_RAT_YAW_PDMX: YAW AXIS RATE CONTROLLER PD SUM MAXIMUM¶
Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum
of the P and D term can output
Increment
Range
0.01
0 to 1
Q_A_RAT_YAW_D_FF: YAW DERIVATIVE FEEDFORWARD GAIN¶
Note: This parameter is for advanced users
FF D Gain which produces an output that is proportional to the rate of change of
the target
Increment
Range
0.0001
0 to 0.02
Q_A_RAT_YAW_NTF: YAW TARGET NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Yaw Target notch filter index
Range
Units
1 to 8
hertz
Q_A_RAT_YAW_NEF: YAW ERROR NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Yaw Error notch filter index
Range
1 to 8
Q_A_THR_MIX_MIN: THROTTLE MIX MINIMUM¶
Note: This parameter is for advanced users
Throttle vs attitude control prioritisation used when landing (higher values
mean we prioritise attitude control over throttle)
Range
0.1 to 0.25
Q_A_THR_MIX_MAX: THROTTLE MIX MAXIMUM¶
Note: This parameter is for advanced users
Throttle vs attitude control prioritisation used during active flight (higher
values mean we prioritise attitude control over throttle)
Range
0.5 to 0.9
Q_A_THR_MIX_MAN: THROTTLE MIX MANUAL¶
Note: This parameter is for advanced users
Throttle vs attitude control prioritisation used during manual flight (higher
values mean we prioritise attitude control over throttle)
Range
0.1 to 0.9
Q_A_THR_G_BOOST: THROTTLE-GAIN BOOST¶
Note: This parameter is for advanced users
Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of
1 means full boosting is applied. Describes the ratio increase that is applied
to angle P and PD on pitch and roll.
Range
0 to 1
Q_LOIT_ PARAMETERS¶
Q_LOIT_ANG_MAX: LOITER PILOT ANGLE MAX¶
Note: This parameter is for advanced users
Loiter maximum pilot requested lean angle. Set to zero for 2/3 of
Q_P_ANGLE_MAX/Q_ANGLE_MAX. The maximum vehicle lean angle is still limited by
Q_P_ANGLE_MAX/Q_ANGLE_MAX
Increment
Range
Units
1
0 to 45
degrees
Q_LOIT_SPEED: LOITER HORIZONTAL MAXIMUM SPEED¶
Defines the maximum speed in cm/s which the aircraft will travel horizontally
while in loiter mode
Increment
Range
Units
50
20 to 3500
centimeters per second
Q_LOIT_ACC_MAX: LOITER MAXIMUM CORRECTION ACCELERATION¶
Note: This parameter is for advanced users
Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter
to correct position errors more aggressively.
Increment
Range
Units
1
100 to 981
centimeters per square second
Q_LOIT_BRK_ACCEL: LOITER BRAKING ACCELERATION¶
Note: This parameter is for advanced users
Loiter braking acceleration in cm/s/s. Higher values stop the copter more
quickly when the stick is centered.
Increment
Range
Units
1
25 to 250
centimeters per square second
Q_LOIT_BRK_JERK: LOITER BRAKING JERK¶
Note: This parameter is for advanced users
Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the
pilot moves the sticks during a braking maneuver.
Increment
Range
Units
1
500 to 5000
centimeters per cubic second
Q_LOIT_BRK_DELAY: LOITER BRAKE START DELAY (IN SECONDS)¶
Note: This parameter is for advanced users
Loiter brake start delay (in seconds)
Increment
Range
Units
0.1
0 to 2
seconds
Q_M_ PARAMETERS¶
Q_M_YAW_HEADROOM: MATRIX YAW MIN¶
Note: This parameter is for advanced users
Yaw control is given at least this pwm in microseconds range
Range
Units
0 to 500
PWM in microseconds
Q_M_THST_EXPO: THRUST CURVE EXPO¶
Note: This parameter is for advanced users
Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
Range
-1.0 to 1.0
Q_M_SPIN_MAX: MOTOR SPIN MAXIMUM¶
Note: This parameter is for advanced users
Point at which the thrust saturates expressed as a number from 0 to 1 in the
entire output range
Values
Value
Meaning
0.9
Low
0.95
Default
1.0
High
Q_M_BAT_VOLT_MAX: BATTERY VOLTAGE COMPENSATION MAXIMUM VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage compensation maximum voltage (voltage above this will have no
additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled
Range
Units
6 to 53
volt
Q_M_BAT_VOLT_MIN: BATTERY VOLTAGE COMPENSATION MINIMUM VOLTAGE¶
Note: This parameter is for advanced users
Battery voltage compensation minimum voltage (voltage below this will have no
additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled
Range
Units
6 to 42
volt
Q_M_BAT_CURR_MAX: MOTOR CURRENT MAX¶
Note: This parameter is for advanced users
Maximum current over which maximum throttle is limited (0 = Disabled)
Range
Units
0 to 200
ampere
Q_M_PWM_TYPE: OUTPUT PWM TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
This selects the output PWM type, allowing for normal PWM continuous output,
OneShot, brushed or DShot motor output.PWMRange and PWMAngle are PWM
special/rare cases for ESCs that dont calibrate normally (some Sub motors) or
where each ESC must have its PWM range set individually using the Servo params
instead of PWM_MIN/MAX parameters.
Values
Value
Meaning
0
Normal
1
OneShot
2
OneShot125
3
Brushed
4
DShot150
5
DShot300
6
DShot600
7
DShot1200
8
PWMRange
9
PWMAngle
Q_M_PWM_MIN: PWM OUTPUT MINIMUM¶
Note: This parameter is for advanced users
This sets the min PWM output value in microseconds that will ever be output to
the motors
Range
Units
0 to 2000
PWM in microseconds
Q_M_PWM_MAX: PWM OUTPUT MAXIMUM¶
Note: This parameter is for advanced users
This sets the max PWM value in microseconds that will ever be output to the
motors
Range
Units
0 to 2000
PWM in microseconds
Q_M_SPIN_MIN: MOTOR SPIN MINIMUM¶
Note: This parameter is for advanced users
Point at which the thrust starts expressed as a number from 0 to 1 in the entire
output range. Should be higher than MOT_SPIN_ARM.
Values
Value
Meaning
0.0
Low
0.15
Default
0.25
High
Q_M_SPIN_ARM: MOTOR SPIN ARMED¶
Note: This parameter is for advanced users
Point at which the motors start to spin expressed as a number from 0 to 1 in the
entire output range. Should be lower than MOT_SPIN_MIN.
Values
Value
Meaning
0.0
Low
0.1
Default
0.2
High
Q_M_BAT_CURR_TC: MOTOR CURRENT MAX TIME CONSTANT¶
Note: This parameter is for advanced users
Time constant used to limit the maximum current
Range
Units
0 to 10
seconds
Q_M_THST_HOVER: THRUST HOVER VALUE¶
Note: This parameter is for advanced users
Motor thrust needed to hover expressed as a number from 0 to 1
Range
0.2 to 0.8
Q_M_HOVER_LEARN: HOVER VALUE LEARNING¶
Note: This parameter is for advanced users
Enable/Disable automatic learning of hover throttle
Values
Value
Meaning
0
Disabled
1
Learn
2
Learn and Save
Q_M_SAFE_DISARM: MOTOR PWM OUTPUT DISABLED WHEN DISARMED¶
Note: This parameter is for advanced users
Disables motor PWM output when disarmed
Values
Value
Meaning
0
PWM enabled while disarmed
1
PWM disabled while disarmed
Q_M_YAW_SV_ANGLE: YAW SERVO MAX LEAN ANGLE¶
Yaw servo's maximum lean angle (Tricopter only)
Increment
Range
Units
1
5 to 80
degrees
Q_M_SPOOL_TIME: SPOOL UP TIME¶
Note: This parameter is for advanced users
Time in seconds to spool up the motors from zero to min throttle.
Increment
Range
Units
0.1
0.05 to 2
seconds
Q_M_BOOST_SCALE: MOTOR BOOST SCALE¶
Note: This parameter is for advanced users
Booster motor output scaling factor vs main throttle. The output to the
BoostThrottle servo will be the main throttle times this scaling factor. A
higher scaling factor will put more of the load on the booster motor. A value of
1 will set the BoostThrottle equal to the main throttle.
Increment
Range
0.1
0 to 5
Q_M_BAT_IDX: BATTERY COMPENSATION INDEX¶
Note: This parameter is for advanced users
Which battery monitor should be used for doing compensation
Values
Value
Meaning
0
First battery
1
Second battery
Q_M_SLEW_UP_TIME: OUTPUT SLEW TIME FOR INCREASING THROTTLE¶
Note: This parameter is for advanced users
Time in seconds to slew output from zero to full. This is used to limit the rate
at which output can change. Range is constrained between 0 and 0.5.
Increment
Range
Units
0.001
0 to .5
seconds
Q_M_SLEW_DN_TIME: OUTPUT SLEW TIME FOR DECREASING THROTTLE¶
Note: This parameter is for advanced users
Time in seconds to slew output from full to zero. This is used to limit the rate
at which output can change. Range is constrained between 0 and 0.5.
Increment
Range
Units
0.001
0 to .5
seconds
Q_M_SAFE_TIME: TIME TAKEN TO DISABLE AND ENABLE THE MOTOR PWM OUTPUT WHEN
DISARMED AND ARMED.¶
Note: This parameter is for advanced users
Time taken to disable and enable the motor PWM output when disarmed and armed.
Increment
Range
Units
0.001
0 to 5
seconds
Q_M_OPTIONS: MOTOR OPTIONS¶
Note: This parameter is for advanced users
Motor options
Bitmask
Bit
Meaning
0
Voltage compensation uses raw voltage
Q_M_SPOOL_TIM_DN: SPOOL DOWN TIME¶
Note: This parameter is for advanced users
Time taken to spool down the motors from min to zero throttle. If set to 0 then
SPOOL_TIME is used instead.
Increment
Range
Units
0.001
0 to 2
seconds
Q_P PARAMETERS¶
Q_P_ACC_XY_FILT: XY ACCELERATION FILTER CUTOFF FREQUENCY¶
Note: This parameter is for advanced users
Lower values will slow the response of the navigation controller and reduce
twitchiness
Increment
Range
Units
0.1
0.5 to 5
hertz
Q_P_POSZ_P: POSITION (VERTICAL) CONTROLLER P GAIN¶
Position (vertical) controller P gain. Converts the difference between the
desired altitude and actual altitude into a climb or descent rate which is
passed to the throttle rate controller
Range
1.000 to 3.000
Q_P_VELZ_P: VELOCITY (VERTICAL) CONTROLLER P GAIN¶
Velocity (vertical) controller P gain. Converts the difference between desired
vertical speed and actual speed into a desired acceleration that is passed to
the throttle acceleration controller
Range
1.000 to 8.000
Q_P_VELZ_I: VELOCITY (VERTICAL) CONTROLLER I GAIN¶
Note: This parameter is for advanced users
Velocity (vertical) controller I gain. Corrects long-term difference in desired
velocity to a target acceleration
Increment
Range
0.01
0.02 to 1.00
Q_P_VELZ_IMAX: VELOCITY (VERTICAL) CONTROLLER I GAIN MAXIMUM¶
Velocity (vertical) controller I gain maximum. Constrains the target
acceleration that the I gain will output
Range
1.000 to 8.000
Q_P_VELZ_D: VELOCITY (VERTICAL) CONTROLLER D GAIN¶
Note: This parameter is for advanced users
Velocity (vertical) controller D gain. Corrects short-term changes in velocity
Increment
Range
0.001
0.00 to 1.00
Q_P_VELZ_FF: VELOCITY (VERTICAL) CONTROLLER FEED FORWARD GAIN¶
Note: This parameter is for advanced users
Velocity (vertical) controller Feed Forward gain. Produces an output that is
proportional to the magnitude of the target
Increment
Range
0.01
0 to 1
Q_P_VELZ_FLTE: VELOCITY (VERTICAL) ERROR FILTER¶
Note: This parameter is for advanced users
Velocity (vertical) error filter. This filter (in Hz) is applied to the input
for P and I terms
Range
Units
0 to 100
hertz
Q_P_VELZ_FLTD: VELOCITY (VERTICAL) INPUT FILTER FOR D TERM¶
Note: This parameter is for advanced users
Velocity (vertical) input filter for D term. This filter (in Hz) is applied to
the input for D terms
Range
Units
0 to 100
hertz
Q_P_ACCZ_P: ACCELERATION (VERTICAL) CONTROLLER P GAIN¶
Acceleration (vertical) controller P gain. Converts the difference between
desired vertical acceleration and actual acceleration into a motor output
Increment
Range
0.05
0.200 to 1.500
Q_P_ACCZ_I: ACCELERATION (VERTICAL) CONTROLLER I GAIN¶
Acceleration (vertical) controller I gain. Corrects long-term difference in
desired vertical acceleration and actual acceleration
Range
0.000 to 3.000
Q_P_ACCZ_IMAX: ACCELERATION (VERTICAL) CONTROLLER I GAIN MAXIMUM¶
Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm
that the I term will generate
Range
Units
0 to 1000
decipercent
Q_P_ACCZ_D: ACCELERATION (VERTICAL) CONTROLLER D GAIN¶
Acceleration (vertical) controller D gain. Compensates for short-term change in
desired vertical acceleration vs actual acceleration
Range
0.000 to 0.400
Q_P_ACCZ_FF: ACCELERATION (VERTICAL) CONTROLLER FEED FORWARD¶
Acceleration (vertical) controller feed forward
Increment
Range
0.001
0 to 0.5
Q_P_ACCZ_FLTT: ACCELERATION (VERTICAL) CONTROLLER TARGET FREQUENCY IN HZ¶
Acceleration (vertical) controller target frequency in Hz
Increment
Range
Units
1
1 to 50
hertz
Q_P_ACCZ_FLTE: ACCELERATION (VERTICAL) CONTROLLER ERROR FREQUENCY IN HZ¶
Acceleration (vertical) controller error frequency in Hz
Increment
Range
Units
1
1 to 100
hertz
Q_P_ACCZ_FLTD: ACCELERATION (VERTICAL) CONTROLLER DERIVATIVE FREQUENCY IN HZ¶
Acceleration (vertical) controller derivative frequency in Hz
Increment
Range
Units
1
1 to 100
hertz
Q_P_ACCZ_SMAX: ACCEL (VERTICAL) SLEW RATE LIMIT¶
Note: This parameter is for advanced users
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.
Increment
Range
0.5
0 to 200
Q_P_ACCZ_PDMX: ACCELERATION (VERTICAL) CONTROLLER PD SUM MAXIMUM¶
Acceleration (vertical) controller PD sum maximum. The maximum/minimum value
that the sum of the P and D term can output
Range
Units
0 to 1000
decipercent
Q_P_ACCZ_D_FF: ACCEL (VERTICAL) DERIVATIVE FEEDFORWARD GAIN¶
Note: This parameter is for advanced users
FF D Gain which produces an output that is proportional to the rate of change of
the target
Increment
Range
0.0001
0 to 0.02
Q_P_ACCZ_NTF: ACCEL (VERTICAL) TARGET NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Accel (vertical) Target notch filter index
Range
1 to 8
Q_P_ACCZ_NEF: ACCEL (VERTICAL) ERROR NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Accel (vertical) Error notch filter index
Range
1 to 8
Q_P_POSXY_P: POSITION (HORIZONTAL) CONTROLLER P GAIN¶
Position controller P gain. Converts the distance (in the latitude direction) to
the target location into a desired speed which is then passed to the loiter
latitude rate controller
Range
0.500 to 2.000
Q_P_VELXY_P: VELOCITY (HORIZONTAL) P GAIN¶
Note: This parameter is for advanced users
Velocity (horizontal) P gain. Converts the difference between desired and actual
velocity to a target acceleration
Increment
Range
0.1
0.1 to 6.0
Q_P_VELXY_I: VELOCITY (HORIZONTAL) I GAIN¶
Note: This parameter is for advanced users
Velocity (horizontal) I gain. Corrects long-term difference between desired and
actual velocity to a target acceleration
Increment
Range
0.01
0.02 to 1.00
Q_P_VELXY_D: VELOCITY (HORIZONTAL) D GAIN¶
Note: This parameter is for advanced users
Velocity (horizontal) D gain. Corrects short-term changes in velocity
Increment
Range
0.001
0.00 to 1.00
Q_P_VELXY_IMAX: VELOCITY (HORIZONTAL) INTEGRATOR MAXIMUM¶
Note: This parameter is for advanced users
Velocity (horizontal) integrator maximum. Constrains the target acceleration
that the I gain will output
Increment
Range
Units
10
0 to 4500
centimeters per square second
Q_P_VELXY_FLTE: VELOCITY (HORIZONTAL) INPUT FILTER¶
Note: This parameter is for advanced users
Velocity (horizontal) input filter. This filter (in Hz) is applied to the input
for P and I terms
Range
Units
0 to 100
hertz
Q_P_VELXY_FLTD: VELOCITY (HORIZONTAL) INPUT FILTER¶
Note: This parameter is for advanced users
Velocity (horizontal) input filter. This filter (in Hz) is applied to the input
for D term
Range
Units
0 to 100
hertz
Q_P_VELXY_FF: VELOCITY (HORIZONTAL) FEED FORWARD GAIN¶
Note: This parameter is for advanced users
Velocity (horizontal) feed forward gain. Converts the difference between desired
velocity to a target acceleration
Increment
Range
0.01
0 to 6
Q_P_ANGLE_MAX: POSITION CONTROL ANGLE MAX¶
Note: This parameter is for advanced users
Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter
value
Increment
Range
Units
1
0 to 45
degrees
Q_P_JERK_XY: JERK LIMIT FOR THE HORIZONTAL KINEMATIC INPUT SHAPING¶
Note: This parameter is for advanced users
Jerk limit of the horizontal kinematic path generation used to determine how
quickly the aircraft varies the acceleration target
Increment
Range
Units
1
1 to 20
meters per cubic second
Q_P_JERK_Z: JERK LIMIT FOR THE VERTICAL KINEMATIC INPUT SHAPING¶
Note: This parameter is for advanced users
Jerk limit of the vertical kinematic path generation used to determine how
quickly the aircraft varies the acceleration target
Increment
Range
Units
1
5 to 50
meters per cubic second
Q_TAILSIT_ PARAMETERS¶
Q_TAILSIT_ENABLE: ENABLE TAILSITTER¶
Note: Reboot required after change
This enables Tailsitter functionality. A value of 2 forces Qassist active and
always stabilize in forward flight with airmode for stabilisation at 0 throttle,
for use on vehicles with no control surfaces, vehicle will not arm in forward
flight modes, see also Q_OPTIONS "Mtrs_Only_Qassist"
Values
Value
Meaning
0
Disable
1
Enable
2
Enable Always
Q_TAILSIT_ANGLE: TAILSITTER FIXED WING TRANSITION ANGLE¶
This is the pitch angle at which tailsitter aircraft will change from VTOL
control to fixed wing control.
Range
Units
5 to 80
degrees
Q_TAILSIT_ANG_VT: TAILSITTER VTOL TRANSITION ANGLE¶
This is the pitch angle at which tailsitter aircraft will change from fixed wing
control to VTOL control, if zero Q_TAILSIT_ANGLE will be used
Range
Units
5 to 80
degrees
Q_TAILSIT_INPUT: TAILSITTER INPUT TYPE BITMASK¶
This controls whether stick input when hovering as a tailsitter follows the
conventions for fixed wing hovering or multicopter hovering. When PlaneMode is
not enabled (bit0 = 0) the roll stick will roll the aircraft in earth frame and
yaw stick will yaw in earth frame. When PlaneMode input is enabled, the roll and
yaw sticks are swapped so that the roll stick controls earth-frame yaw and
rudder controls earth-frame roll. When body-frame roll is enabled (bit1 = 1),
the yaw stick controls earth-frame yaw rate and the roll stick controls roll in
the tailsitter's body frame when flying level.
Bitmask
Bit
Meaning
0
PlaneMode
1
BodyFrameRoll
Q_TAILSIT_VFGAIN: TAILSITTER VECTOR THRUST GAIN IN FORWARD FLIGHT¶
This controls the amount of vectored thrust control used in forward flight for a
vectored tailsitter
Increment
Range
0.01
0 to 1
Q_TAILSIT_VHGAIN: TAILSITTER VECTOR THRUST GAIN IN HOVER¶
This controls the amount of vectored thrust control used in hover for a vectored
tailsitter
Increment
Range
0.01
0 to 1
Q_TAILSIT_VHPOW: TAILSITTER VECTOR THRUST GAIN POWER¶
This controls the amount of extra pitch given to the vectored control when at
high pitch errors
Increment
Range
0.1
0 to 4
Q_TAILSIT_GSCMAX: MAXIMUM TAILSITTER GAIN SCALING¶
Maximum gain scaling for tailsitter Q_TAILSIT_GSCMSK options
Range
1 to 5
Q_TAILSIT_RLL_MX: MAXIMUM ROLL ANGLE¶
Maximum Allowed roll angle for tailsitters. If this is zero then Q_ANGLE_MAX is
used.
Range
Units
0 to 80
degrees
Q_TAILSIT_MOTMX: TAILSITTER MOTOR MASK¶
Bitmask of motors to remain active in forward flight for a 'Copter' tailsitter.
Non-zero indicates airframe is a Copter tailsitter and uses copter style motor
layouts determined by Q_FRAME_CLASS and Q_FRAME_TYPE. This should be zero for
non-Copter tailsitters.
Bitmask
Bit
Meaning
0
Motor 1
1
Motor 2
2
Motor 3
3
Motor 4
4
Motor 5
5
Motor 6
6
Motor 7
7
Motor 8
8
Motor 9
9
Motor 10
10
Motor 11
11
Motor 12
Q_TAILSIT_GSCMSK: TAILSITTER GAIN SCALING MASK¶
Bitmask of gain scaling methods to be applied: Throttle: scale gains with
throttle, ATT_THR: reduce gain at high throttle/tilt, 2:Disk theory velocity
calculation, requires Q_TAILSIT_DSKLD to be set, ATT_THR must not be set,
3:Altitude correction, scale with air density
Bitmask
Bit
Meaning
0
Throttle
1
ATT_THR
2
Disk Theory
3
Altitude correction
Q_TAILSIT_GSCMIN: MINIMUM TAILSITTER GAIN SCALING¶
Minimum gain scaling for tailsitter Q_TAILSIT_GSCMSK options
Range
0.1 to 1
Q_TAILSIT_DSKLD: TAILSITTER DISK LOADING¶
This is the vehicle weight in kg divided by the total disk area of all
propellers in m^2. Only used with Q_TAILSIT_GSCMSK = 4
Range
Units
0 to 50
kilograms per square meter
Q_TAILSIT_RAT_FW: TAILSITTER VTOL TO FORWARD FLIGHT TRANSITION RATE¶
The pitch rate at which tailsitter aircraft will pitch down in the transition
from VTOL to forward flight
Range
Units
10 to 500
degrees per second
Q_TAILSIT_RAT_VT: TAILSITTER FORWARD FLIGHT TO VTOL TRANSITION RATE¶
The pitch rate at which tailsitter aircraft will pitch up in the transition from
forward flight to VTOL
Range
Units
10 to 500
degrees per second
Q_TAILSIT_THR_VT: TAILSITTER FORWARD FLIGHT TO VTOL TRANSITION THROTTLE¶
Throttle used during FW->VTOL transition, -1 uses hover throttle
Range
Units
-1 to 100
percent
Q_TAILSIT_VT_R_P: TAILSITTER VTOL CONTROL SURFACE ROLL GAIN¶
Scale from PID output to control surface, for use where a single axis is
actuated by both motors and Tilt/control surface on a copter style tailsitter,
increase to favor control surfaces and reduce motor output by reducing gains
Range
0 to 2
Q_TAILSIT_VT_P_P: TAILSITTER VTOL CONTROL SURFACE PITCH GAIN¶
Scale from PID output to control surface, for use where a single axis is
actuated by both motors and Tilt/control surface on a copter style tailsitter,
increase to favor control surfaces and reduce motor output by reducing gains
Range
0 to 2
Q_TAILSIT_VT_Y_P: TAILSITTER VTOL CONTROL SURFACE YAW GAIN¶
Scale from PID output to control surface, for use where a single axis is
actuated by both motors and Tilt/control surface on a copter style tailsitter,
increase to favor control surfaces and reduce motor output by reducing gains
Range
0 to 2
Q_TAILSIT_MIN_VO: TAILSITTER DISK LOADING MINIMUM OUTFLOW SPEED¶
Use in conjunction with disk theory gain scaling and Q_TAILSIT_DSKLD to specify
minumum airspeed over control surfaces, this will be used to boost throttle,
when descending for example, 0 disables
Range
0 to 15
Q_TILT_ PARAMETERS¶
Q_TILT_ENABLE: ENABLE TILTROTOR FUNCTIONALITY¶
Note: Reboot required after change
This enables Tiltrotor functionality
Values
Value
Meaning
0
Disable
1
Enable
Q_TILT_MASK: TILTROTOR MASK¶
This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The
mask is in terms of the standard motor order for the frame type.
Bitmask
Bit
Meaning
0
Motor 1
1
Motor 2
2
Motor 3
3
Motor 4
4
Motor 5
5
Motor 6
6
Motor 7
7
Motor 8
8
Motor 9
9
Motor 10
10
Motor 11
11
Motor 12
Q_TILT_RATE_UP: TILTROTOR UPWARDS TILT RATE¶
This is the maximum speed at which the motor angle will change for a tiltrotor
when moving from forward flight to hover
Increment
Range
Units
1
10 to 300
degrees per second
Q_TILT_MAX: TILTROTOR MAXIMUM VTOL ANGLE¶
This is the maximum angle of the tiltable motors at which multicopter control
will be enabled. Beyond this angle the plane will fly solely as a fixed wing
aircraft and the motors will tilt to their maximum angle at the TILT_RATE
Increment
Range
Units
1
20 to 80
degrees
Q_TILT_TYPE: TILTROTOR TYPE¶
This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor
can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract
style servo where the servo is either fully forward or fully up. In both cases
the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use
the tilt of the motors to control yaw in hover, Bicopter tiltrotor must use the
tailsitter frame class (10)
Values
Value
Meaning
0
Continuous
1
Binary
2
VectoredYaw
3
Bicopter
Q_TILT_RATE_DN: TILTROTOR DOWNWARDS TILT RATE¶
This is the maximum speed at which the motor angle will change for a tiltrotor
when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP
value is used.
Increment
Range
Units
1
10 to 300
degrees per second
Q_TILT_YAW_ANGLE: TILT MINIMUM ANGLE FOR VECTORED YAW¶
This is the angle of the tilt servos when in VTOL mode and at minimum output
(fully back). This needs to be set in addition to Q_TILT_TYPE=2, to enable
vectored control for yaw in tilt quadplanes. This is also used to limit the
forward travel of bicopter tilts(Q_TILT_TYPE=3) when in VTOL modes.
Range
0 to 30
Q_TILT_FIX_ANGLE: FIXED WING TILTROTOR ANGLE¶
This is the angle the motors tilt down when at maximum output for forward
flight. Set this to a non-zero value to enable vectoring for roll/pitch in
forward flight on tilt-vectored aircraft
Range
Units
0 to 30
degrees
Q_TILT_FIX_GAIN: FIXED WING TILTROTOR GAIN¶
This is the gain for use of tilting motors in fixed wing flight for tilt
vectored quadplanes
Range
0 to 1
Q_TILT_WING_FLAP: TILTROTOR TILT ANGLE THAT WILL BE USED AS FLAP¶
For use on tilt wings, the wing will tilt up to this angle for flap, transition
will be complete when the wing reaches this angle from the forward fight
position, 0 disables
Increment
Range
Units
1
0 to 15
degrees
Q_WP_ PARAMETERS¶
Q_WP_SPEED: WAYPOINT HORIZONTAL SPEED TARGET¶
Defines the speed in cm/s which the aircraft will attempt to maintain
horizontally during a WP mission
Increment
Range
Units
50
20 to 2000
centimeters per second
Q_WP_RADIUS: WAYPOINT RADIUS¶
Defines the distance from a waypoint, that when crossed indicates the wp has
been hit.
Increment
Range
Units
1
5 to 1000
centimeters
Q_WP_SPEED_UP: WAYPOINT CLIMB SPEED TARGET¶
Defines the speed in cm/s which the aircraft will attempt to maintain while
climbing during a WP mission
Increment
Range
Units
50
10 to 1000
centimeters per second
Q_WP_SPEED_DN: WAYPOINT DESCENT SPEED TARGET¶
Defines the speed in cm/s which the aircraft will attempt to maintain while
descending during a WP mission
Increment
Range
Units
10
10 to 500
centimeters per second
Q_WP_ACCEL: WAYPOINT ACCELERATION¶
Defines the horizontal acceleration in cm/s/s used during missions
Increment
Range
Units
10
50 to 500
centimeters per square second
Q_WP_ACCEL_Z: WAYPOINT VERTICAL ACCELERATION¶
Defines the vertical acceleration in cm/s/s used during missions
Increment
Range
Units
10
50 to 500
centimeters per square second
Q_WP_RFND_USE: WAYPOINT MISSIONS USE RANGEFINDER FOR TERRAIN FOLLOWING¶
Note: This parameter is for advanced users
This controls if waypoint missions use rangefinder for terrain following
Values
Value
Meaning
0
Disable
1
Enable
Q_WP_JERK: WAYPOINT JERK¶
Defines the horizontal jerk in m/s/s used during missions
Range
Units
1 to 20
meters per cubic second
Q_WP_TER_MARGIN: WAYPOINT TERRAIN FOLLOWING ALTITUDE MARGIN¶
Note: This parameter is for advanced users
Waypoint Terrain following altitude margin. Vehicle will stop if distance from
target altitude is larger than this margin (in meters)
Range
Units
0.1 to 100
meters
Q_WP_ACCEL_C: WAYPOINT CORNERING ACCELERATION¶
Defines the maximum cornering acceleration in cm/s/s used during missions. If
zero uses 2x accel value.
Increment
Range
Units
10
0 to 500
centimeters per square second
Q_WVANE_ PARAMETERS¶
Q_WVANE_ENABLE: ENABLE¶
Enable weather vaning. When active, the aircraft will automatically yaw into
wind when in a VTOL position controlled mode. Pilot yaw commands override the
weathervaning action.
Values
Value
Meaning
-1
Only use during takeoffs or landing see weathervane takeoff and land override
parameters
0
Disabled
1
Nose into wind
2
Nose or tail into wind
3
Side into wind
4
tail into wind
Q_WVANE_GAIN: WEATHERVANING GAIN¶
This converts the target roll/pitch angle of the aircraft into the correcting
(into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60
deg/s.
Increment
Range
0.1
0.5 to 4
Q_WVANE_ANG_MIN: WEATHERVANING MIN ANGLE¶
The minimum target roll/pitch angle before active weathervaning will start. This
provides a dead zone that is particularly useful for poorly trimmed quadplanes.
Increment
Range
Units
0.1
0 to 10
degrees
Q_WVANE_HGT_MIN: WEATHERVANING MIN HEIGHT¶
Above this height weathervaning is permitted. If RNGFND_LANDING is enabled or
terrain is enabled then this parameter sets height AGL. Otherwise this parameter
sets height above home. Set zero to ignore minimum height requirement to
activate weathervaning
Increment
Range
Units
1
0 to 50
meters
Q_WVANE_SPD_MAX: WEATHERVANING MAX GROUND SPEED¶
Below this ground speed weathervaning is permitted. Set to 0 to ignore this
condition when checking if vehicle should weathervane.
Increment
Range
Units
0.1
0 to 50
meters per second
Q_WVANE_VELZ_MAX: WEATHERVANING MAX VERTICAL SPEED¶
The maximum climb or descent speed that the vehicle will still attempt to
weathervane. Set to 0 to ignore this condition to get the aircraft to
weathervane at any climb/descent rate. This is particularly useful for aircraft
with low disc loading that struggle with yaw control in decent.
Increment
Range
Units
0.1
0 to 5
meters per second
Q_WVANE_TAKEOFF: TAKEOFF OVERRIDE¶
Override the weather vaning behaviour when in takeoffs
Values
Value
Meaning
-1
No override
0
Disabled
1
Nose into wind
2
Nose or tail into wind
3
Side into wind
4
tail into wind
Q_WVANE_LAND: LANDING OVERRIDE¶
Override the weather vaning behaviour when in landing
Values
Value
Meaning
-1
No override
0
Disabled
1
Nose into wind
2
Nose or tail into wind
3
Side into wind
4
tail into wind
Q_WVANE_OPTIONS: WEATHERVANING OPTIONS¶
Options impacting weathervaning behaviour
Bitmask
Bit
Meaning
0
Use pitch when nose or tail-in for faster weathervaning
RALLY_ PARAMETERS¶
RALLY_TOTAL: RALLY TOTAL¶
Note: This parameter is for advanced users
Number of rally points currently loaded
RALLY_LIMIT_KM: RALLY LIMIT¶
Note: This parameter is for advanced users
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.
Increment
Units
0.1
kilometers
RALLY_INCL_HOME: RALLY INCLUDE HOME¶
Controls if Home is included as a Rally point (i.e. as a safe landing place) for
RTL
Values
Value
Meaning
0
DoNotIncludeHome
1
IncludeHome
RC PARAMETERS¶
RC_OVERRIDE_TIME: RC OVERRIDE TIMEOUT¶
Note: This parameter is for advanced users
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
Range
Units
0.0 to 120.0
seconds
RC_OPTIONS: RC OPTIONS¶
Note: This parameter is for advanced users
RC input options
Bitmask
Bit
Meaning
0
Ignore RC Receiver
1
Ignore MAVLink Overrides
2
Ignore Receiver Failsafe bit but allow other RC failsafes if setup
3
FPort Pad
4
Log RC input bytes
5
Arming check throttle for 0 input
6
Skip the arming check for neutral Roll/Pitch/Yaw sticks
7
Allow Switch reverse
8
Use passthrough for CRSF telemetry
9
Suppress CRSF mode/rate message for ELRS systems
10
Enable multiple receiver support
11
Use Link Quality for RSSI with CRSF
12
Annotate CRSF flight mode with * on disarm
13
Use 420kbaud for ELRS protocol
RC_PROTOCOLS: RC PROTOCOLS ENABLED¶
Note: This parameter is for advanced users
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.
Bitmask
Bit
Meaning
0
All
1
PPM
2
IBUS
3
SBUS
4
SBUS_NI
5
DSM
6
SUMD
7
SRXL
8
SRXL2
9
CRSF
10
ST24
11
FPORT
12
FPORT2
13
FastSBUS
14
DroneCAN
15
Ghost
16
MAVRadio
RC_FS_TIMEOUT: RC FAILSAFE TIMEOUT¶
RC failsafe will trigger this many seconds after loss of RC
Range
Units
0.5 to 10.0
seconds
RC10_ PARAMETERS¶
RC10_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC10_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC10_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC10_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC10_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC10_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC11_ PARAMETERS¶
RC11_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC11_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC11_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC11_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC11_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC11_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC12_ PARAMETERS¶
RC12_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC12_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC12_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC12_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC12_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC12_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC13_ PARAMETERS¶
RC13_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC13_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC13_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC13_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC13_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC13_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC14_ PARAMETERS¶
RC14_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC14_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC14_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC14_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC14_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC14_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC15_ PARAMETERS¶
RC15_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC15_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC15_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC15_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC15_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC15_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC16_ PARAMETERS¶
RC16_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC16_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC16_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC16_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC16_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC16_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC1_ PARAMETERS¶
RC1_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC1_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC1_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC1_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC1_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC1_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC2_ PARAMETERS¶
RC2_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC2_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC2_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC2_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC2_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC2_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC3_ PARAMETERS¶
RC3_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC3_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC3_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC3_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC3_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC3_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC4_ PARAMETERS¶
RC4_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC4_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC4_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC4_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC4_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC4_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC5_ PARAMETERS¶
RC5_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC5_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC5_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC5_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC5_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC5_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC6_ PARAMETERS¶
RC6_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC6_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC6_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC6_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC6_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC6_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC7_ PARAMETERS¶
RC7_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC7_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC7_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC7_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC7_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC7_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC8_ PARAMETERS¶
RC8_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC8_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC8_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC8_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC8_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC8_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RC9_ PARAMETERS¶
RC9_MIN: RC MIN PWM¶
Note: This parameter is for advanced users
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC9_TRIM: RC TRIM PWM¶
Note: This parameter is for advanced users
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower
limit, 1500 is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC9_MAX: RC MAX PWM¶
Note: This parameter is for advanced users
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500
is neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
RC9_REVERSED: RC REVERSED¶
Note: This parameter is for advanced users
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this
input channel.
Values
Value
Meaning
0
Normal
1
Reversed
RC9_DZ: RC DEAD-ZONE¶
Note: This parameter is for advanced users
PWM dead zone in microseconds around trim or bottom
Range
Units
0 to 200
PWM in microseconds
RC9_OPTION: RC INPUT OPTION¶
Function assigned to this RC channel
Values
Value
Meaning
0
Do Nothing
4
RTL
9
Camera Trigger
11
Fence Enable
16
AUTO Mode
22
Parachute Release
24
Auto Mission Reset
27
Retract Mount1
28
Relay1 On/Off
29
Landing Gear
30
Lost Plane Sound
31
Motor Emergency Stop
34
Relay2 On/Off
35
Relay3 On/Off
36
Relay4 On/Off
38
ADSB Avoidance Enable
41
ArmDisarm (4.1 and lower)
43
InvertedFlight Enable
46
RC Override Enable
51
MANUAL Mode
52
ACRO Mode
55
GUIDED Mode
56
LOITER Mode
58
Clear Waypoints
62
Compass Learn
64
Reverse Throttle
65
GPS Disable
66
Relay5 On/Off
67
Relay6 On/Off
72
CIRCLE Mode
77
TAKEOFF Mode
78
RunCam Control
79
RunCam OSD Control
81
Disarm
82
QAssist 3pos
84
AirMode
85
Generator
86
Non Auto Terrain Follow Disable
87
Crow Select
88
Soaring Enable
89
Landing Flare
90
EKF Pos Source
91
Airspeed Ratio Calibration
92
FBWA Mode
94
VTX Power
95
FBWA taildragger takeoff mode
96
Trigger re-reading of mode switch
98
TRAINING Mode
100
KillIMU1
101
KillIMU2
102
Camera Mode Toggle
105
GPS Disable Yaw
106
Disable Airspeed Use
107
Enable FW Autotune
108
QRTL Mode
110
KillIMU3
112
SwitchExternalAHRS
150
CRUISE Mode
153
ArmDisarm (4.2 and higher)
154
ArmDisarm with Quadplane AirMode (4.2 and higher)
155
Set roll pitch and yaw trim to current servo and RC
157
Force FS Action to FBWA
158
Optflow Calibration
160
Weathervane Enable
162
FFT Tune
163
Mount Lock
164
Pause Stream Logging
165
Arm/Emergency Motor Stop
166
Camera Record Video
167
Camera Zoom
168
Camera Manual Focus
169
Camera Auto Focus
170
QSTABILIZE Mode
171
Calibrate Compasses
172
Battery MPPT Enable
173
Plane AUTO Mode Landing Abort
174
Camera Image Tracking
175
Camera Lens
176
Quadplane Fwd Throttle Override enable
177
Mount LRF enable
208
Flap
209
VTOL Forward Throttle
210
Airbrakes
212
Mount1 Roll
213
Mount1 Pitch
214
Mount1 Yaw
215
Mount2 Roll
216
Mount2 Pitch
217
Mount2 Yaw
300
Scripting1
301
Scripting2
302
Scripting3
303
Scripting4
304
Scripting5
305
Scripting6
306
Scripting7
307
Scripting8
RCMAP_ PARAMETERS¶
RCMAP_ROLL: ROLL CHANNEL¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
Range
1
1 to 16
RCMAP_PITCH: PITCH CHANNEL¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
Range
1
1 to 16
RCMAP_THROTTLE: THROTTLE CHANNEL¶
Note: This parameter is for advanced users
Note: Reboot required after change
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. Reboot is required for
changes to take effect.
Increment
Range
1
1 to 16
RCMAP_YAW: YAW CHANNEL¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Increment
Range
1
1 to 16
RELAY10_ PARAMETERS¶
RELAY10_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY10_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY10_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY10_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY11_ PARAMETERS¶
RELAY11_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY11_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY11_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY11_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY12_ PARAMETERS¶
RELAY12_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY12_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY12_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY12_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY13_ PARAMETERS¶
RELAY13_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY13_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY13_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY13_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY14_ PARAMETERS¶
RELAY14_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY14_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY14_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY14_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY15_ PARAMETERS¶
RELAY15_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY15_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY15_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY15_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY16_ PARAMETERS¶
RELAY16_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY16_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY16_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY16_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY1_ PARAMETERS¶
RELAY1_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY1_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY1_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY1_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY2_ PARAMETERS¶
RELAY2_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY2_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY2_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY2_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY3_ PARAMETERS¶
RELAY3_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY3_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY3_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY3_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY4_ PARAMETERS¶
RELAY4_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY4_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY4_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY4_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY5_ PARAMETERS¶
RELAY5_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY5_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY5_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY5_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY6_ PARAMETERS¶
RELAY6_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY6_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY6_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY6_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY7_ PARAMETERS¶
RELAY7_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY7_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY7_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY7_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY8_ PARAMETERS¶
RELAY8_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY8_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY8_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY8_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RELAY9_ PARAMETERS¶
RELAY9_FUNCTION: RELAY FUNCTION¶
The function the relay channel is mapped to.
Values
Value
Meaning
0
None
1
Relay
2
Ignition
3
Parachute
4
Camera
9
ICE Starter
RELAY9_PIN: RELAY PIN¶
Digital pin number for relay control. Some common values are given, but see the
Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values
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
101
MainOut1
102
MainOut2
103
MainOut3
104
MainOut4
105
MainOut5
106
MainOut6
107
MainOut7
108
MainOut8
1000
DroneCAN Hardpoint ID 0
1001
DroneCAN Hardpoint ID 1
1002
DroneCAN Hardpoint ID 2
1003
DroneCAN Hardpoint ID 3
1004
DroneCAN Hardpoint ID 4
1005
DroneCAN Hardpoint ID 5
1006
DroneCAN Hardpoint ID 6
1007
DroneCAN Hardpoint ID 7
1008
DroneCAN Hardpoint ID 8
1009
DroneCAN Hardpoint ID 9
1010
DroneCAN Hardpoint ID 10
1011
DroneCAN Hardpoint ID 11
1012
DroneCAN Hardpoint ID 12
1013
DroneCAN Hardpoint ID 13
1014
DroneCAN Hardpoint ID 14
1015
DroneCAN Hardpoint ID 15
RELAY9_DEFAULT: RELAY DEFAULT STATE¶
Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay"
(1). All other uses will pick the appropriate default output state from within
the controlling function's parameters. Note that if INVERTED is set then the
default is inverted.
Values
Value
Meaning
0
Off
1
On
2
NoChange
RELAY9_INVERTED: RELAY INVERT OUTPUT SIGNAL¶
Should the relay output signal be inverted. If enabled, relay on would be pin
low and relay off would be pin high. NOTE: this impact's DEFAULT.
Values
Value
Meaning
0
Normal
1
Inverted
RLL PARAMETERS¶
RLL2SRV_TCONST: ROLL TIME CONSTANT¶
Note: This parameter is for advanced users
Time constant in seconds from demanded to achieved roll angle. Most models
respond well to 0.5. May be reduced for faster responses, but setting lower than
a model can achieve will not help.
Increment
Range
Units
0.1
0.4 to 1.0
seconds
RLL2SRV_RMAX: MAXIMUM ROLL RATE¶
Note: This parameter is for advanced users
This sets the maximum roll rate that the attitude controller will demand
(degrees/sec) in angle stabilized modes. Setting it to zero disables this limit.
Increment
Range
Units
1
0 to 180
degrees per second
RLL_RATE_P: ROLL AXIS RATE CONTROLLER P GAIN¶
Roll axis rate controller P gain. Corrects in proportion to the difference
between the desired roll rate vs actual roll rate
Increment
Range
0.005
0.08 to 0.35
RLL_RATE_I: ROLL AXIS RATE CONTROLLER I GAIN¶
Roll axis rate controller I gain. Corrects long-term difference in desired roll
rate vs actual roll rate
Increment
Range
0.01
0.01 to 0.6
RLL_RATE_IMAX: ROLL AXIS RATE CONTROLLER I GAIN MAXIMUM¶
Roll axis rate controller I gain maximum. Constrains the maximum that the I term
will output
Increment
Range
0.01
0 to 1
RLL_RATE_D: ROLL AXIS RATE CONTROLLER D GAIN¶
Roll axis rate controller D gain. Compensates for short-term change in desired
roll rate vs actual roll rate
Increment
Range
0.001
0.001 to 0.03
RLL_RATE_FF: ROLL AXIS RATE CONTROLLER FEED FORWARD¶
Roll axis rate controller feed forward
Increment
Range
0.001
0 to 3.0
RLL_RATE_FLTT: ROLL AXIS RATE CONTROLLER TARGET FREQUENCY IN HZ¶
Roll axis rate controller target frequency in Hz
Increment
Range
Units
1
2 to 50
hertz
RLL_RATE_FLTE: ROLL AXIS RATE CONTROLLER ERROR FREQUENCY IN HZ¶
Roll axis rate controller error frequency in Hz
Increment
Range
Units
1
2 to 50
hertz
RLL_RATE_FLTD: ROLL AXIS RATE CONTROLLER DERIVATIVE FREQUENCY IN HZ¶
Roll axis rate controller derivative frequency in Hz
Increment
Range
Units
1
0 to 50
hertz
RLL_RATE_SMAX: ROLL SLEW RATE LIMIT¶
Note: This parameter is for advanced users
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.
Increment
Range
0.5
0 to 200
RLL_RATE_PDMX: ROLL AXIS RATE CONTROLLER PD SUM MAXIMUM¶
Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum
of the P and D term can output
Increment
Range
0.01
0 to 1
RLL_RATE_D_FF: ROLL DERIVATIVE FEEDFORWARD GAIN¶
Note: This parameter is for advanced users
FF D Gain which produces an output that is proportional to the rate of change of
the target
Increment
Range
0.001
0 to 0.03
RLL_RATE_NTF: ROLL TARGET NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Roll Target notch filter index
Range
1 to 8
RLL_RATE_NEF: ROLL ERROR NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Roll Error notch filter index
Range
1 to 8
RNGFND1_ PARAMETERS¶
RNGFND1_TYPE: RANGEFINDER TYPE¶
Type of connected rangefinder
Values
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
USD1_Serial
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
DroneCAN
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
35
TeraRangerSerial
36
Lua_Scripting
37
NoopLoop_TOFSense
38
NoopLoop_TOFSense_CAN
39
NRA24_CAN
40
NoopLoop_TOFSenseF_I2C
41
JRE_Serial
42
Ainstein_LR_D1
43
RDS02UF
100
SITL
RNGFND1_PIN: RANGEFINDER PIN¶
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. When using analog pin
103, the maximum value of the input in 3.3V. For PWM input, the pin must be
configured as a digital GPIO, see the Wiki's "GPIOs" section for details.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RNGFND1_SCALING: RANGEFINDER SCALING¶
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. For Maxbotix serial sonar this is unit conversion to
meters.
Increment
Units
0.001
meters per volt
RNGFND1_OFFSET: RANGEFINDER OFFSET¶
Offset in volts for zero distance for analog rangefinders. Offset added to
distance in centimeters for PWM lidars
Increment
Units
0.001
volt
RNGFND1_FUNCTION: RANGEFINDER FUNCTION¶
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.
Values
Value
Meaning
0
Linear
1
Inverted
2
Hyperbolic
RNGFND1_MIN_CM: RANGEFINDER MINIMUM DISTANCE¶
Minimum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND1_MAX_CM: RANGEFINDER MAXIMUM DISTANCE¶
Maximum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND1_STOP_PIN: RANGEFINDER STOP PIN¶
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. Some common values are given, but see the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Not Used
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
111
PX4 FMU Relay1
112
PX4 FMU Relay2
113
PX4IO Relay1
114
PX4IO Relay2
115
PX4IO ACC1
116
PX4IO ACC2
RNGFND1_RMETRIC: RATIOMETRIC¶
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.
Values
Value
Meaning
0
No
1
Yes
RNGFND1_PWRRNG: POWERSAVE RANGE¶
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
Range
Units
0 to 32767
meters
RNGFND1_GNDCLEAR: DISTANCE (IN CM) FROM THE RANGE FINDER TO THE GROUND¶
This parameter sets the expected range measurement(in cm) that the range finder
should return when the vehicle is on the ground.
Increment
Range
Units
1
5 to 127
centimeters
RNGFND1_ADDR: BUS ADDRESS OF SENSOR¶
This sets the bus address of the sensor, where applicable. Used for the I2C and
DroneCAN sensors to allow for multiple sensors on different addresses.
Increment
Range
1
0 to 127
RNGFND1_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND1_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND1_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the rangefinder in body frame. Positive Z is down from the origin.
Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND1_ORIENT: RANGEFINDER ORIENTATION¶
Note: This parameter is for advanced users
Orientation of rangefinder
Values
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
RNGFND1_WSP_MAVG: MOVING AVERAGE RANGE¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND1_WSP_MEDF: MOVING MEDIAN FILTER¶
Note: This parameter is for advanced users
Sets the window size for the real-time median filter. When MEDF is greater than
0 the median filter is active
Range
0 to 255
RNGFND1_WSP_FRQ: FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
0 to 10000
RNGFND1_WSP_AVG: MULTI-PULSE AVERAGES¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND1_WSP_THR: SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Range
-1 to 255
RNGFND1_WSP_BAUD: BAUD RATE¶
Note: This parameter is for advanced users
Desired baud rate
Values
Value
Meaning
0
Low Speed
1
High Speed
RNGFND1_RECV_ID: RANGEFINDER CAN RECEIVE ID¶
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range
0 to 65535
RNGFND1_SNR_MIN: RANGEFINDER MINIMUM SIGNAL STRENGTH¶
Note: This parameter is for advanced users
RangeFinder Minimum signal strength (SNR) to accept distance
Range
0 to 65535
RNGFND2_ PARAMETERS¶
RNGFND2_TYPE: RANGEFINDER TYPE¶
Type of connected rangefinder
Values
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
USD1_Serial
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
DroneCAN
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
35
TeraRangerSerial
36
Lua_Scripting
37
NoopLoop_TOFSense
38
NoopLoop_TOFSense_CAN
39
NRA24_CAN
40
NoopLoop_TOFSenseF_I2C
41
JRE_Serial
42
Ainstein_LR_D1
43
RDS02UF
100
SITL
RNGFND2_PIN: RANGEFINDER PIN¶
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. When using analog pin
103, the maximum value of the input in 3.3V. For PWM input, the pin must be
configured as a digital GPIO, see the Wiki's "GPIOs" section for details.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RNGFND2_SCALING: RANGEFINDER SCALING¶
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. For Maxbotix serial sonar this is unit conversion to
meters.
Increment
Units
0.001
meters per volt
RNGFND2_OFFSET: RANGEFINDER OFFSET¶
Offset in volts for zero distance for analog rangefinders. Offset added to
distance in centimeters for PWM lidars
Increment
Units
0.001
volt
RNGFND2_FUNCTION: RANGEFINDER FUNCTION¶
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.
Values
Value
Meaning
0
Linear
1
Inverted
2
Hyperbolic
RNGFND2_MIN_CM: RANGEFINDER MINIMUM DISTANCE¶
Minimum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND2_MAX_CM: RANGEFINDER MAXIMUM DISTANCE¶
Maximum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND2_STOP_PIN: RANGEFINDER STOP PIN¶
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. Some common values are given, but see the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Not Used
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
111
PX4 FMU Relay1
112
PX4 FMU Relay2
113
PX4IO Relay1
114
PX4IO Relay2
115
PX4IO ACC1
116
PX4IO ACC2
RNGFND2_RMETRIC: RATIOMETRIC¶
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.
Values
Value
Meaning
0
No
1
Yes
RNGFND2_PWRRNG: POWERSAVE RANGE¶
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
Range
Units
0 to 32767
meters
RNGFND2_GNDCLEAR: DISTANCE (IN CM) FROM THE RANGE FINDER TO THE GROUND¶
This parameter sets the expected range measurement(in cm) that the range finder
should return when the vehicle is on the ground.
Increment
Range
Units
1
5 to 127
centimeters
RNGFND2_ADDR: BUS ADDRESS OF SENSOR¶
This sets the bus address of the sensor, where applicable. Used for the I2C and
DroneCAN sensors to allow for multiple sensors on different addresses.
Increment
Range
1
0 to 127
RNGFND2_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND2_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND2_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the rangefinder in body frame. Positive Z is down from the origin.
Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND2_ORIENT: RANGEFINDER ORIENTATION¶
Note: This parameter is for advanced users
Orientation of rangefinder
Values
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
RNGFND2_WSP_MAVG: MOVING AVERAGE RANGE¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND2_WSP_MEDF: MOVING MEDIAN FILTER¶
Note: This parameter is for advanced users
Sets the window size for the real-time median filter. When MEDF is greater than
0 the median filter is active
Range
0 to 255
RNGFND2_WSP_FRQ: FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
0 to 10000
RNGFND2_WSP_AVG: MULTI-PULSE AVERAGES¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND2_WSP_THR: SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Range
-1 to 255
RNGFND2_WSP_BAUD: BAUD RATE¶
Note: This parameter is for advanced users
Desired baud rate
Values
Value
Meaning
0
Low Speed
1
High Speed
RNGFND2_RECV_ID: RANGEFINDER CAN RECEIVE ID¶
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range
0 to 65535
RNGFND2_SNR_MIN: RANGEFINDER MINIMUM SIGNAL STRENGTH¶
Note: This parameter is for advanced users
RangeFinder Minimum signal strength (SNR) to accept distance
Range
0 to 65535
RNGFND3_ PARAMETERS¶
RNGFND3_TYPE: RANGEFINDER TYPE¶
Type of connected rangefinder
Values
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
USD1_Serial
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
DroneCAN
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
35
TeraRangerSerial
36
Lua_Scripting
37
NoopLoop_TOFSense
38
NoopLoop_TOFSense_CAN
39
NRA24_CAN
40
NoopLoop_TOFSenseF_I2C
41
JRE_Serial
42
Ainstein_LR_D1
43
RDS02UF
100
SITL
RNGFND3_PIN: RANGEFINDER PIN¶
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. When using analog pin
103, the maximum value of the input in 3.3V. For PWM input, the pin must be
configured as a digital GPIO, see the Wiki's "GPIOs" section for details.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RNGFND3_SCALING: RANGEFINDER SCALING¶
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. For Maxbotix serial sonar this is unit conversion to
meters.
Increment
Units
0.001
meters per volt
RNGFND3_OFFSET: RANGEFINDER OFFSET¶
Offset in volts for zero distance for analog rangefinders. Offset added to
distance in centimeters for PWM lidars
Increment
Units
0.001
volt
RNGFND3_FUNCTION: RANGEFINDER FUNCTION¶
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.
Values
Value
Meaning
0
Linear
1
Inverted
2
Hyperbolic
RNGFND3_MIN_CM: RANGEFINDER MINIMUM DISTANCE¶
Minimum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND3_MAX_CM: RANGEFINDER MAXIMUM DISTANCE¶
Maximum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND3_STOP_PIN: RANGEFINDER STOP PIN¶
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. Some common values are given, but see the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Not Used
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
111
PX4 FMU Relay1
112
PX4 FMU Relay2
113
PX4IO Relay1
114
PX4IO Relay2
115
PX4IO ACC1
116
PX4IO ACC2
RNGFND3_RMETRIC: RATIOMETRIC¶
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.
Values
Value
Meaning
0
No
1
Yes
RNGFND3_PWRRNG: POWERSAVE RANGE¶
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
Range
Units
0 to 32767
meters
RNGFND3_GNDCLEAR: DISTANCE (IN CM) FROM THE RANGE FINDER TO THE GROUND¶
This parameter sets the expected range measurement(in cm) that the range finder
should return when the vehicle is on the ground.
Increment
Range
Units
1
5 to 127
centimeters
RNGFND3_ADDR: BUS ADDRESS OF SENSOR¶
This sets the bus address of the sensor, where applicable. Used for the I2C and
DroneCAN sensors to allow for multiple sensors on different addresses.
Increment
Range
1
0 to 127
RNGFND3_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND3_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND3_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the rangefinder in body frame. Positive Z is down from the origin.
Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND3_ORIENT: RANGEFINDER ORIENTATION¶
Note: This parameter is for advanced users
Orientation of rangefinder
Values
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
RNGFND3_WSP_MAVG: MOVING AVERAGE RANGE¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND3_WSP_MEDF: MOVING MEDIAN FILTER¶
Note: This parameter is for advanced users
Sets the window size for the real-time median filter. When MEDF is greater than
0 the median filter is active
Range
0 to 255
RNGFND3_WSP_FRQ: FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
0 to 10000
RNGFND3_WSP_AVG: MULTI-PULSE AVERAGES¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND3_WSP_THR: SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Range
-1 to 255
RNGFND3_WSP_BAUD: BAUD RATE¶
Note: This parameter is for advanced users
Desired baud rate
Values
Value
Meaning
0
Low Speed
1
High Speed
RNGFND3_RECV_ID: RANGEFINDER CAN RECEIVE ID¶
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range
0 to 65535
RNGFND3_SNR_MIN: RANGEFINDER MINIMUM SIGNAL STRENGTH¶
Note: This parameter is for advanced users
RangeFinder Minimum signal strength (SNR) to accept distance
Range
0 to 65535
RNGFND4_ PARAMETERS¶
RNGFND4_TYPE: RANGEFINDER TYPE¶
Type of connected rangefinder
Values
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
USD1_Serial
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
DroneCAN
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
35
TeraRangerSerial
36
Lua_Scripting
37
NoopLoop_TOFSense
38
NoopLoop_TOFSense_CAN
39
NRA24_CAN
40
NoopLoop_TOFSenseF_I2C
41
JRE_Serial
42
Ainstein_LR_D1
43
RDS02UF
100
SITL
RNGFND4_PIN: RANGEFINDER PIN¶
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. When using analog pin
103, the maximum value of the input in 3.3V. For PWM input, the pin must be
configured as a digital GPIO, see the Wiki's "GPIOs" section for details.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RNGFND4_SCALING: RANGEFINDER SCALING¶
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. For Maxbotix serial sonar this is unit conversion to
meters.
Increment
Units
0.001
meters per volt
RNGFND4_OFFSET: RANGEFINDER OFFSET¶
Offset in volts for zero distance for analog rangefinders. Offset added to
distance in centimeters for PWM lidars
Increment
Units
0.001
volt
RNGFND4_FUNCTION: RANGEFINDER FUNCTION¶
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.
Values
Value
Meaning
0
Linear
1
Inverted
2
Hyperbolic
RNGFND4_MIN_CM: RANGEFINDER MINIMUM DISTANCE¶
Minimum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND4_MAX_CM: RANGEFINDER MAXIMUM DISTANCE¶
Maximum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND4_STOP_PIN: RANGEFINDER STOP PIN¶
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. Some common values are given, but see the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Not Used
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
111
PX4 FMU Relay1
112
PX4 FMU Relay2
113
PX4IO Relay1
114
PX4IO Relay2
115
PX4IO ACC1
116
PX4IO ACC2
RNGFND4_RMETRIC: RATIOMETRIC¶
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.
Values
Value
Meaning
0
No
1
Yes
RNGFND4_PWRRNG: POWERSAVE RANGE¶
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
Range
Units
0 to 32767
meters
RNGFND4_GNDCLEAR: DISTANCE (IN CM) FROM THE RANGE FINDER TO THE GROUND¶
This parameter sets the expected range measurement(in cm) that the range finder
should return when the vehicle is on the ground.
Increment
Range
Units
1
5 to 127
centimeters
RNGFND4_ADDR: BUS ADDRESS OF SENSOR¶
This sets the bus address of the sensor, where applicable. Used for the I2C and
DroneCAN sensors to allow for multiple sensors on different addresses.
Increment
Range
1
0 to 127
RNGFND4_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND4_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND4_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the rangefinder in body frame. Positive Z is down from the origin.
Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND4_ORIENT: RANGEFINDER ORIENTATION¶
Note: This parameter is for advanced users
Orientation of rangefinder
Values
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
RNGFND4_WSP_MAVG: MOVING AVERAGE RANGE¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND4_WSP_MEDF: MOVING MEDIAN FILTER¶
Note: This parameter is for advanced users
Sets the window size for the real-time median filter. When MEDF is greater than
0 the median filter is active
Range
0 to 255
RNGFND4_WSP_FRQ: FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
0 to 10000
RNGFND4_WSP_AVG: MULTI-PULSE AVERAGES¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND4_WSP_THR: SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Range
-1 to 255
RNGFND4_WSP_BAUD: BAUD RATE¶
Note: This parameter is for advanced users
Desired baud rate
Values
Value
Meaning
0
Low Speed
1
High Speed
RNGFND4_RECV_ID: RANGEFINDER CAN RECEIVE ID¶
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range
0 to 65535
RNGFND4_SNR_MIN: RANGEFINDER MINIMUM SIGNAL STRENGTH¶
Note: This parameter is for advanced users
RangeFinder Minimum signal strength (SNR) to accept distance
Range
0 to 65535
RNGFND5_ PARAMETERS¶
RNGFND5_TYPE: RANGEFINDER TYPE¶
Type of connected rangefinder
Values
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
USD1_Serial
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
DroneCAN
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
35
TeraRangerSerial
36
Lua_Scripting
37
NoopLoop_TOFSense
38
NoopLoop_TOFSense_CAN
39
NRA24_CAN
40
NoopLoop_TOFSenseF_I2C
41
JRE_Serial
42
Ainstein_LR_D1
43
RDS02UF
100
SITL
RNGFND5_PIN: RANGEFINDER PIN¶
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. When using analog pin
103, the maximum value of the input in 3.3V. For PWM input, the pin must be
configured as a digital GPIO, see the Wiki's "GPIOs" section for details.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RNGFND5_SCALING: RANGEFINDER SCALING¶
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. For Maxbotix serial sonar this is unit conversion to
meters.
Increment
Units
0.001
meters per volt
RNGFND5_OFFSET: RANGEFINDER OFFSET¶
Offset in volts for zero distance for analog rangefinders. Offset added to
distance in centimeters for PWM lidars
Increment
Units
0.001
volt
RNGFND5_FUNCTION: RANGEFINDER FUNCTION¶
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.
Values
Value
Meaning
0
Linear
1
Inverted
2
Hyperbolic
RNGFND5_MIN_CM: RANGEFINDER MINIMUM DISTANCE¶
Minimum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND5_MAX_CM: RANGEFINDER MAXIMUM DISTANCE¶
Maximum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND5_STOP_PIN: RANGEFINDER STOP PIN¶
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. Some common values are given, but see the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Not Used
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
111
PX4 FMU Relay1
112
PX4 FMU Relay2
113
PX4IO Relay1
114
PX4IO Relay2
115
PX4IO ACC1
116
PX4IO ACC2
RNGFND5_RMETRIC: RATIOMETRIC¶
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.
Values
Value
Meaning
0
No
1
Yes
RNGFND5_PWRRNG: POWERSAVE RANGE¶
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
Range
Units
0 to 32767
meters
RNGFND5_GNDCLEAR: DISTANCE (IN CM) FROM THE RANGE FINDER TO THE GROUND¶
This parameter sets the expected range measurement(in cm) that the range finder
should return when the vehicle is on the ground.
Increment
Range
Units
1
5 to 127
centimeters
RNGFND5_ADDR: BUS ADDRESS OF SENSOR¶
This sets the bus address of the sensor, where applicable. Used for the I2C and
DroneCAN sensors to allow for multiple sensors on different addresses.
Increment
Range
1
0 to 127
RNGFND5_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND5_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND5_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the rangefinder in body frame. Positive Z is down from the origin.
Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND5_ORIENT: RANGEFINDER ORIENTATION¶
Note: This parameter is for advanced users
Orientation of rangefinder
Values
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
RNGFND5_WSP_MAVG: MOVING AVERAGE RANGE¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND5_WSP_MEDF: MOVING MEDIAN FILTER¶
Note: This parameter is for advanced users
Sets the window size for the real-time median filter. When MEDF is greater than
0 the median filter is active
Range
0 to 255
RNGFND5_WSP_FRQ: FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
0 to 10000
RNGFND5_WSP_AVG: MULTI-PULSE AVERAGES¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND5_WSP_THR: SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Range
-1 to 255
RNGFND5_WSP_BAUD: BAUD RATE¶
Note: This parameter is for advanced users
Desired baud rate
Values
Value
Meaning
0
Low Speed
1
High Speed
RNGFND5_RECV_ID: RANGEFINDER CAN RECEIVE ID¶
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range
0 to 65535
RNGFND5_SNR_MIN: RANGEFINDER MINIMUM SIGNAL STRENGTH¶
Note: This parameter is for advanced users
RangeFinder Minimum signal strength (SNR) to accept distance
Range
0 to 65535
RNGFND6_ PARAMETERS¶
RNGFND6_TYPE: RANGEFINDER TYPE¶
Type of connected rangefinder
Values
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
USD1_Serial
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
DroneCAN
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
35
TeraRangerSerial
36
Lua_Scripting
37
NoopLoop_TOFSense
38
NoopLoop_TOFSense_CAN
39
NRA24_CAN
40
NoopLoop_TOFSenseF_I2C
41
JRE_Serial
42
Ainstein_LR_D1
43
RDS02UF
100
SITL
RNGFND6_PIN: RANGEFINDER PIN¶
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. When using analog pin
103, the maximum value of the input in 3.3V. For PWM input, the pin must be
configured as a digital GPIO, see the Wiki's "GPIOs" section for details.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RNGFND6_SCALING: RANGEFINDER SCALING¶
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. For Maxbotix serial sonar this is unit conversion to
meters.
Increment
Units
0.001
meters per volt
RNGFND6_OFFSET: RANGEFINDER OFFSET¶
Offset in volts for zero distance for analog rangefinders. Offset added to
distance in centimeters for PWM lidars
Increment
Units
0.001
volt
RNGFND6_FUNCTION: RANGEFINDER FUNCTION¶
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.
Values
Value
Meaning
0
Linear
1
Inverted
2
Hyperbolic
RNGFND6_MIN_CM: RANGEFINDER MINIMUM DISTANCE¶
Minimum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND6_MAX_CM: RANGEFINDER MAXIMUM DISTANCE¶
Maximum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND6_STOP_PIN: RANGEFINDER STOP PIN¶
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. Some common values are given, but see the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Not Used
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
111
PX4 FMU Relay1
112
PX4 FMU Relay2
113
PX4IO Relay1
114
PX4IO Relay2
115
PX4IO ACC1
116
PX4IO ACC2
RNGFND6_RMETRIC: RATIOMETRIC¶
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.
Values
Value
Meaning
0
No
1
Yes
RNGFND6_PWRRNG: POWERSAVE RANGE¶
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
Range
Units
0 to 32767
meters
RNGFND6_GNDCLEAR: DISTANCE (IN CM) FROM THE RANGE FINDER TO THE GROUND¶
This parameter sets the expected range measurement(in cm) that the range finder
should return when the vehicle is on the ground.
Increment
Range
Units
1
5 to 127
centimeters
RNGFND6_ADDR: BUS ADDRESS OF SENSOR¶
This sets the bus address of the sensor, where applicable. Used for the I2C and
DroneCAN sensors to allow for multiple sensors on different addresses.
Increment
Range
1
0 to 127
RNGFND6_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND6_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND6_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the rangefinder in body frame. Positive Z is down from the origin.
Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND6_ORIENT: RANGEFINDER ORIENTATION¶
Note: This parameter is for advanced users
Orientation of rangefinder
Values
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
RNGFND6_WSP_MAVG: MOVING AVERAGE RANGE¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND6_WSP_MEDF: MOVING MEDIAN FILTER¶
Note: This parameter is for advanced users
Sets the window size for the real-time median filter. When MEDF is greater than
0 the median filter is active
Range
0 to 255
RNGFND6_WSP_FRQ: FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
0 to 10000
RNGFND6_WSP_AVG: MULTI-PULSE AVERAGES¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND6_WSP_THR: SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Range
-1 to 255
RNGFND6_WSP_BAUD: BAUD RATE¶
Note: This parameter is for advanced users
Desired baud rate
Values
Value
Meaning
0
Low Speed
1
High Speed
RNGFND6_RECV_ID: RANGEFINDER CAN RECEIVE ID¶
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range
0 to 65535
RNGFND6_SNR_MIN: RANGEFINDER MINIMUM SIGNAL STRENGTH¶
Note: This parameter is for advanced users
RangeFinder Minimum signal strength (SNR) to accept distance
Range
0 to 65535
RNGFND7_ PARAMETERS¶
RNGFND7_TYPE: RANGEFINDER TYPE¶
Type of connected rangefinder
Values
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
USD1_Serial
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
DroneCAN
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
35
TeraRangerSerial
36
Lua_Scripting
37
NoopLoop_TOFSense
38
NoopLoop_TOFSense_CAN
39
NRA24_CAN
40
NoopLoop_TOFSenseF_I2C
41
JRE_Serial
42
Ainstein_LR_D1
43
RDS02UF
100
SITL
RNGFND7_PIN: RANGEFINDER PIN¶
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. When using analog pin
103, the maximum value of the input in 3.3V. For PWM input, the pin must be
configured as a digital GPIO, see the Wiki's "GPIOs" section for details.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RNGFND7_SCALING: RANGEFINDER SCALING¶
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. For Maxbotix serial sonar this is unit conversion to
meters.
Increment
Units
0.001
meters per volt
RNGFND7_OFFSET: RANGEFINDER OFFSET¶
Offset in volts for zero distance for analog rangefinders. Offset added to
distance in centimeters for PWM lidars
Increment
Units
0.001
volt
RNGFND7_FUNCTION: RANGEFINDER FUNCTION¶
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.
Values
Value
Meaning
0
Linear
1
Inverted
2
Hyperbolic
RNGFND7_MIN_CM: RANGEFINDER MINIMUM DISTANCE¶
Minimum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND7_MAX_CM: RANGEFINDER MAXIMUM DISTANCE¶
Maximum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND7_STOP_PIN: RANGEFINDER STOP PIN¶
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. Some common values are given, but see the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Not Used
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
111
PX4 FMU Relay1
112
PX4 FMU Relay2
113
PX4IO Relay1
114
PX4IO Relay2
115
PX4IO ACC1
116
PX4IO ACC2
RNGFND7_RMETRIC: RATIOMETRIC¶
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.
Values
Value
Meaning
0
No
1
Yes
RNGFND7_PWRRNG: POWERSAVE RANGE¶
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
Range
Units
0 to 32767
meters
RNGFND7_GNDCLEAR: DISTANCE (IN CM) FROM THE RANGE FINDER TO THE GROUND¶
This parameter sets the expected range measurement(in cm) that the range finder
should return when the vehicle is on the ground.
Increment
Range
Units
1
5 to 127
centimeters
RNGFND7_ADDR: BUS ADDRESS OF SENSOR¶
This sets the bus address of the sensor, where applicable. Used for the I2C and
DroneCAN sensors to allow for multiple sensors on different addresses.
Increment
Range
1
0 to 127
RNGFND7_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND7_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND7_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the rangefinder in body frame. Positive Z is down from the origin.
Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND7_ORIENT: RANGEFINDER ORIENTATION¶
Note: This parameter is for advanced users
Orientation of rangefinder
Values
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
RNGFND7_WSP_MAVG: MOVING AVERAGE RANGE¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND7_WSP_MEDF: MOVING MEDIAN FILTER¶
Note: This parameter is for advanced users
Sets the window size for the real-time median filter. When MEDF is greater than
0 the median filter is active
Range
0 to 255
RNGFND7_WSP_FRQ: FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
0 to 10000
RNGFND7_WSP_AVG: MULTI-PULSE AVERAGES¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND7_WSP_THR: SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Range
-1 to 255
RNGFND7_WSP_BAUD: BAUD RATE¶
Note: This parameter is for advanced users
Desired baud rate
Values
Value
Meaning
0
Low Speed
1
High Speed
RNGFND7_RECV_ID: RANGEFINDER CAN RECEIVE ID¶
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range
0 to 65535
RNGFND7_SNR_MIN: RANGEFINDER MINIMUM SIGNAL STRENGTH¶
Note: This parameter is for advanced users
RangeFinder Minimum signal strength (SNR) to accept distance
Range
0 to 65535
RNGFND8_ PARAMETERS¶
RNGFND8_TYPE: RANGEFINDER TYPE¶
Type of connected rangefinder
Values
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
USD1_Serial
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
DroneCAN
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
35
TeraRangerSerial
36
Lua_Scripting
37
NoopLoop_TOFSense
38
NoopLoop_TOFSense_CAN
39
NRA24_CAN
40
NoopLoop_TOFSenseF_I2C
41
JRE_Serial
42
Ainstein_LR_D1
43
RDS02UF
100
SITL
RNGFND8_PIN: RANGEFINDER PIN¶
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. When using analog pin
103, the maximum value of the input in 3.3V. For PWM input, the pin must be
configured as a digital GPIO, see the Wiki's "GPIOs" section for details.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RNGFND8_SCALING: RANGEFINDER SCALING¶
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. For Maxbotix serial sonar this is unit conversion to
meters.
Increment
Units
0.001
meters per volt
RNGFND8_OFFSET: RANGEFINDER OFFSET¶
Offset in volts for zero distance for analog rangefinders. Offset added to
distance in centimeters for PWM lidars
Increment
Units
0.001
volt
RNGFND8_FUNCTION: RANGEFINDER FUNCTION¶
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.
Values
Value
Meaning
0
Linear
1
Inverted
2
Hyperbolic
RNGFND8_MIN_CM: RANGEFINDER MINIMUM DISTANCE¶
Minimum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND8_MAX_CM: RANGEFINDER MAXIMUM DISTANCE¶
Maximum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND8_STOP_PIN: RANGEFINDER STOP PIN¶
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. Some common values are given, but see the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Not Used
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
111
PX4 FMU Relay1
112
PX4 FMU Relay2
113
PX4IO Relay1
114
PX4IO Relay2
115
PX4IO ACC1
116
PX4IO ACC2
RNGFND8_RMETRIC: RATIOMETRIC¶
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.
Values
Value
Meaning
0
No
1
Yes
RNGFND8_PWRRNG: POWERSAVE RANGE¶
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
Range
Units
0 to 32767
meters
RNGFND8_GNDCLEAR: DISTANCE (IN CM) FROM THE RANGE FINDER TO THE GROUND¶
This parameter sets the expected range measurement(in cm) that the range finder
should return when the vehicle is on the ground.
Increment
Range
Units
1
5 to 127
centimeters
RNGFND8_ADDR: BUS ADDRESS OF SENSOR¶
This sets the bus address of the sensor, where applicable. Used for the I2C and
DroneCAN sensors to allow for multiple sensors on different addresses.
Increment
Range
1
0 to 127
RNGFND8_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND8_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND8_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the rangefinder in body frame. Positive Z is down from the origin.
Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND8_ORIENT: RANGEFINDER ORIENTATION¶
Note: This parameter is for advanced users
Orientation of rangefinder
Values
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
RNGFND8_WSP_MAVG: MOVING AVERAGE RANGE¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND8_WSP_MEDF: MOVING MEDIAN FILTER¶
Note: This parameter is for advanced users
Sets the window size for the real-time median filter. When MEDF is greater than
0 the median filter is active
Range
0 to 255
RNGFND8_WSP_FRQ: FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
0 to 10000
RNGFND8_WSP_AVG: MULTI-PULSE AVERAGES¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND8_WSP_THR: SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Range
-1 to 255
RNGFND8_WSP_BAUD: BAUD RATE¶
Note: This parameter is for advanced users
Desired baud rate
Values
Value
Meaning
0
Low Speed
1
High Speed
RNGFND8_RECV_ID: RANGEFINDER CAN RECEIVE ID¶
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range
0 to 65535
RNGFND8_SNR_MIN: RANGEFINDER MINIMUM SIGNAL STRENGTH¶
Note: This parameter is for advanced users
RangeFinder Minimum signal strength (SNR) to accept distance
Range
0 to 65535
RNGFND9_ PARAMETERS¶
RNGFND9_TYPE: RANGEFINDER TYPE¶
Type of connected rangefinder
Values
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
USD1_Serial
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
DroneCAN
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
35
TeraRangerSerial
36
Lua_Scripting
37
NoopLoop_TOFSense
38
NoopLoop_TOFSense_CAN
39
NRA24_CAN
40
NoopLoop_TOFSenseF_I2C
41
JRE_Serial
42
Ainstein_LR_D1
43
RDS02UF
100
SITL
RNGFND9_PIN: RANGEFINDER PIN¶
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. When using analog pin
103, the maximum value of the input in 3.3V. For PWM input, the pin must be
configured as a digital GPIO, see the Wiki's "GPIOs" section for details.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RNGFND9_SCALING: RANGEFINDER SCALING¶
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. For Maxbotix serial sonar this is unit conversion to
meters.
Increment
Units
0.001
meters per volt
RNGFND9_OFFSET: RANGEFINDER OFFSET¶
Offset in volts for zero distance for analog rangefinders. Offset added to
distance in centimeters for PWM lidars
Increment
Units
0.001
volt
RNGFND9_FUNCTION: RANGEFINDER FUNCTION¶
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.
Values
Value
Meaning
0
Linear
1
Inverted
2
Hyperbolic
RNGFND9_MIN_CM: RANGEFINDER MINIMUM DISTANCE¶
Minimum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND9_MAX_CM: RANGEFINDER MAXIMUM DISTANCE¶
Maximum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFND9_STOP_PIN: RANGEFINDER STOP PIN¶
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. Some common values are given, but see the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Not Used
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
111
PX4 FMU Relay1
112
PX4 FMU Relay2
113
PX4IO Relay1
114
PX4IO Relay2
115
PX4IO ACC1
116
PX4IO ACC2
RNGFND9_RMETRIC: RATIOMETRIC¶
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.
Values
Value
Meaning
0
No
1
Yes
RNGFND9_PWRRNG: POWERSAVE RANGE¶
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
Range
Units
0 to 32767
meters
RNGFND9_GNDCLEAR: DISTANCE (IN CM) FROM THE RANGE FINDER TO THE GROUND¶
This parameter sets the expected range measurement(in cm) that the range finder
should return when the vehicle is on the ground.
Increment
Range
Units
1
5 to 127
centimeters
RNGFND9_ADDR: BUS ADDRESS OF SENSOR¶
This sets the bus address of the sensor, where applicable. Used for the I2C and
DroneCAN sensors to allow for multiple sensors on different addresses.
Increment
Range
1
0 to 127
RNGFND9_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND9_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND9_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the rangefinder in body frame. Positive Z is down from the origin.
Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFND9_ORIENT: RANGEFINDER ORIENTATION¶
Note: This parameter is for advanced users
Orientation of rangefinder
Values
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
RNGFND9_WSP_MAVG: MOVING AVERAGE RANGE¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND9_WSP_MEDF: MOVING MEDIAN FILTER¶
Note: This parameter is for advanced users
Sets the window size for the real-time median filter. When MEDF is greater than
0 the median filter is active
Range
0 to 255
RNGFND9_WSP_FRQ: FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
0 to 10000
RNGFND9_WSP_AVG: MULTI-PULSE AVERAGES¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFND9_WSP_THR: SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Range
-1 to 255
RNGFND9_WSP_BAUD: BAUD RATE¶
Note: This parameter is for advanced users
Desired baud rate
Values
Value
Meaning
0
Low Speed
1
High Speed
RNGFND9_RECV_ID: RANGEFINDER CAN RECEIVE ID¶
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range
0 to 65535
RNGFND9_SNR_MIN: RANGEFINDER MINIMUM SIGNAL STRENGTH¶
Note: This parameter is for advanced users
RangeFinder Minimum signal strength (SNR) to accept distance
Range
0 to 65535
RNGFNDA_ PARAMETERS¶
RNGFNDA_TYPE: RANGEFINDER TYPE¶
Type of connected rangefinder
Values
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
USD1_Serial
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
DroneCAN
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
35
TeraRangerSerial
36
Lua_Scripting
37
NoopLoop_TOFSense
38
NoopLoop_TOFSense_CAN
39
NRA24_CAN
40
NoopLoop_TOFSenseF_I2C
41
JRE_Serial
42
Ainstein_LR_D1
43
RDS02UF
100
SITL
RNGFNDA_PIN: RANGEFINDER PIN¶
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. When using analog pin
103, the maximum value of the input in 3.3V. For PWM input, the pin must be
configured as a digital GPIO, see the Wiki's "GPIOs" section for details.
Values
Value
Meaning
-1
Not Used
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RNGFNDA_SCALING: RANGEFINDER SCALING¶
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. For Maxbotix serial sonar this is unit conversion to
meters.
Increment
Units
0.001
meters per volt
RNGFNDA_OFFSET: RANGEFINDER OFFSET¶
Offset in volts for zero distance for analog rangefinders. Offset added to
distance in centimeters for PWM lidars
Increment
Units
0.001
volt
RNGFNDA_FUNCTION: RANGEFINDER FUNCTION¶
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.
Values
Value
Meaning
0
Linear
1
Inverted
2
Hyperbolic
RNGFNDA_MIN_CM: RANGEFINDER MINIMUM DISTANCE¶
Minimum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFNDA_MAX_CM: RANGEFINDER MAXIMUM DISTANCE¶
Maximum distance in centimeters that rangefinder can reliably read
Increment
Units
1
centimeters
RNGFNDA_STOP_PIN: RANGEFINDER STOP PIN¶
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. Some common values are given, but see the Wiki's
"GPIOs" page for how to determine the pin number for a given autopilot.
Values
Value
Meaning
-1
Not Used
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
111
PX4 FMU Relay1
112
PX4 FMU Relay2
113
PX4IO Relay1
114
PX4IO Relay2
115
PX4IO ACC1
116
PX4IO ACC2
RNGFNDA_RMETRIC: RATIOMETRIC¶
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.
Values
Value
Meaning
0
No
1
Yes
RNGFNDA_PWRRNG: POWERSAVE RANGE¶
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
Range
Units
0 to 32767
meters
RNGFNDA_GNDCLEAR: DISTANCE (IN CM) FROM THE RANGE FINDER TO THE GROUND¶
This parameter sets the expected range measurement(in cm) that the range finder
should return when the vehicle is on the ground.
Increment
Range
Units
1
5 to 127
centimeters
RNGFNDA_ADDR: BUS ADDRESS OF SENSOR¶
This sets the bus address of the sensor, where applicable. Used for the I2C and
DroneCAN sensors to allow for multiple sensors on different addresses.
Increment
Range
1
0 to 127
RNGFNDA_POS_X: X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the rangefinder in body frame. Positive X is forward of the
origin. Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFNDA_POS_Y: Y POSITION OFFSET¶
Note: This parameter is for advanced users
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.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFNDA_POS_Z: Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the rangefinder in body frame. Positive Z is down from the origin.
Use the zero range datum point if supplied.
Increment
Range
Units
0.01
-5 to 5
meters
RNGFNDA_ORIENT: RANGEFINDER ORIENTATION¶
Note: This parameter is for advanced users
Orientation of rangefinder
Values
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
RNGFNDA_WSP_MAVG: MOVING AVERAGE RANGE¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFNDA_WSP_MEDF: MOVING MEDIAN FILTER¶
Note: This parameter is for advanced users
Sets the window size for the real-time median filter. When MEDF is greater than
0 the median filter is active
Range
0 to 255
RNGFNDA_WSP_FRQ: FREQUENCY¶
Note: This parameter is for advanced users
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.
Range
0 to 10000
RNGFNDA_WSP_AVG: MULTI-PULSE AVERAGES¶
Note: This parameter is for advanced users
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
Range
0 to 255
RNGFNDA_WSP_THR: SENSITIVITY THRESHOLD¶
Note: This parameter is for advanced users
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
Range
-1 to 255
RNGFNDA_WSP_BAUD: BAUD RATE¶
Note: This parameter is for advanced users
Desired baud rate
Values
Value
Meaning
0
Low Speed
1
High Speed
RNGFNDA_RECV_ID: RANGEFINDER CAN RECEIVE ID¶
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range
0 to 65535
RNGFNDA_SNR_MIN: RANGEFINDER MINIMUM SIGNAL STRENGTH¶
Note: This parameter is for advanced users
RangeFinder Minimum signal strength (SNR) to accept distance
Range
0 to 65535
RPM1_ PARAMETERS¶
RPM1_TYPE: RPM TYPE¶
What type of RPM sensor is connected
Values
Value
Meaning
0
None
1
Not Used
2
GPIO
3
EFI
4
Harmonic Notch
5
ESC Telemetry Motors Bitmask
6
Generator
7
DroneCAN
RPM1_SCALING: RPM SCALING¶
Scaling factor between sensor reading and RPM.
Increment
0.001
RPM1_MAX: MAXIMUM RPM¶
Maximum RPM to report. Only used on type = GPIO.
Increment
1
RPM1_MIN: MINIMUM RPM¶
Minimum RPM to report. Only used on type = GPIO.
Increment
1
RPM1_MIN_QUAL: MINIMUM QUALITY¶
Note: This parameter is for advanced users
Minimum data quality to be used
Increment
0.1
RPM1_PIN: INPUT PIN NUMBER¶
Which digital GPIO pin to use. Only used on type = GPIO. Some common values are
given, but see the Wiki's "GPIOs" page for how to determine the pin number for a
given autopilot.
Values
Value
Meaning
-1
Disabled
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
RPM1_ESC_MASK: BITMASK OF ESC TELEMETRY CHANNELS TO AVERAGE¶
Note: This parameter is for advanced users
Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected
channels will be averaged
Bitmask
Bit
Meaning
0
Channel1
1
Channel2
2
Channel3
3
Channel4
4
Channel5
5
Channel6
6
Channel7
7
Channel8
8
Channel9
9
Channel10
10
Channel11
11
Channel12
12
Channel13
13
Channel14
14
Channel15
15
Channel16
RPM1_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE RPM TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write RPM to. Use 0 to disable.
Increment
Range
1
0 to 10
RPM1_DC_ID: DRONECAN SENSOR ID¶
Note: This parameter is for advanced users
DroneCAN sensor ID to assign to this backend
Increment
Range
1
-1 to 10
RPM2_ PARAMETERS¶
RPM2_TYPE: RPM TYPE¶
What type of RPM sensor is connected
Values
Value
Meaning
0
None
1
Not Used
2
GPIO
3
EFI
4
Harmonic Notch
5
ESC Telemetry Motors Bitmask
6
Generator
7
DroneCAN
RPM2_SCALING: RPM SCALING¶
Scaling factor between sensor reading and RPM.
Increment
0.001
RPM2_MAX: MAXIMUM RPM¶
Maximum RPM to report. Only used on type = GPIO.
Increment
1
RPM2_MIN: MINIMUM RPM¶
Minimum RPM to report. Only used on type = GPIO.
Increment
1
RPM2_MIN_QUAL: MINIMUM QUALITY¶
Note: This parameter is for advanced users
Minimum data quality to be used
Increment
0.1
RPM2_PIN: INPUT PIN NUMBER¶
Which digital GPIO pin to use. Only used on type = GPIO. Some common values are
given, but see the Wiki's "GPIOs" page for how to determine the pin number for a
given autopilot.
Values
Value
Meaning
-1
Disabled
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
RPM2_ESC_MASK: BITMASK OF ESC TELEMETRY CHANNELS TO AVERAGE¶
Note: This parameter is for advanced users
Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected
channels will be averaged
Bitmask
Bit
Meaning
0
Channel1
1
Channel2
2
Channel3
3
Channel4
4
Channel5
5
Channel6
6
Channel7
7
Channel8
8
Channel9
9
Channel10
10
Channel11
11
Channel12
12
Channel13
13
Channel14
14
Channel15
15
Channel16
RPM2_ESC_INDEX: ESC TELEMETRY INDEX TO WRITE RPM TO¶
Note: This parameter is for advanced users
ESC Telemetry Index to write RPM to. Use 0 to disable.
Increment
Range
1
0 to 10
RPM2_DC_ID: DRONECAN SENSOR ID¶
Note: This parameter is for advanced users
DroneCAN sensor ID to assign to this backend
Increment
Range
1
-1 to 10
RSSI_ PARAMETERS¶
RSSI_TYPE: RSSI TYPE¶
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.
Values
Value
Meaning
0
Disabled
1
AnalogPin
2
RCChannelPwmValue
3
ReceiverProtocol
4
PWMInputPin
5
TelemetryRadioRSSI
RSSI_ANA_PIN: RECEIVER RSSI SENSING PIN¶
Pin used to read the RSSI voltage or PWM value
Values
Value
Meaning
8
V5 Nano
11
Pixracer
13
Pixhawk ADC4
14
Pixhawk ADC3
15
Pixhawk ADC6/Pixhawk2 ADC
50
AUX1
51
AUX2
52
AUX3
53
AUX4
54
AUX5
55
AUX6
103
Pixhawk SBUS
RSSI_PIN_LOW: RSSI PIN'S LOWEST VOLTAGE¶
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. When using pin 103, the maximum value of the
parameter is 3.3V.
Increment
Range
Units
0.01
0 to 5.0
volt
RSSI_PIN_HIGH: RSSI PIN'S HIGHEST VOLTAGE¶
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. When using pin 103, the maximum value of the parameter
is 3.3V.
Increment
Range
Units
0.01
0 to 5.0
volt
RSSI_CHANNEL: RECEIVER RSSI CHANNEL NUMBER¶
The channel number where RSSI will be output by the radio receiver (5 and
above).
Range
0 to 16
RSSI_CHAN_LOW: RSSI PWM LOW VALUE¶
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
Range
Units
0 to 2000
PWM in microseconds
RSSI_CHAN_HIGH: RECEIVER RSSI PWM HIGH VALUE¶
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
Range
Units
0 to 2000
PWM in microseconds
SCHED_ PARAMETERS¶
SCHED_DEBUG: SCHEDULER DEBUG LEVEL¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
Disabled
2
ShowSlips
3
ShowOverruns
SCHED_LOOP_RATE: SCHEDULING MAIN LOOP RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Values
Value
Meaning
50
50Hz
100
100Hz
200
200Hz
250
250Hz
300
300Hz
400
400Hz
SCHED_OPTIONS: SCHEDULING OPTIONS¶
Note: This parameter is for advanced users
This controls optional aspects of the scheduler.
Bitmask
Bit
Meaning
0
Enable per-task perf info
SCR_ PARAMETERS¶
SCR_ENABLE: ENABLE SCRIPTING¶
Note: This parameter is for advanced users
Note: Reboot required after change
Controls if scripting is enabled
Values
Value
Meaning
0
None
1
Lua Scripts
SCR_VM_I_COUNT: SCRIPTING VIRTUAL MACHINE INSTRUCTION COUNT¶
Note: This parameter is for advanced users
The number virtual machine instructions that can be run before considering a
script to have taken an excessive amount of time
Increment
Range
10000
1000 to 1000000
SCR_HEAP_SIZE: SCRIPTING HEAP SIZE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Amount of memory available for scripting
Increment
Range
1024
1024 to 1048576
SCR_DEBUG_OPTS: SCRIPTING DEBUG LEVEL¶
Note: This parameter is for advanced users
Debugging options
Bitmask
Bit
Meaning
0
No Scripts to run message if all scripts have stopped
1
Runtime messages for memory usage and execution time
2
Suppress logging scripts to dataflash
3
log runtime memory usage and execution time
4
Disable pre-arm check
5
Save CRC of current scripts to loaded and running checksum parameters enabling
pre-arm
SCR_USER1: SCRIPTING USER PARAMETER1¶
General purpose user variable input for scripts
SCR_USER2: SCRIPTING USER PARAMETER2¶
General purpose user variable input for scripts
SCR_USER3: SCRIPTING USER PARAMETER3¶
General purpose user variable input for scripts
SCR_USER4: SCRIPTING USER PARAMETER4¶
General purpose user variable input for scripts
SCR_USER5: SCRIPTING USER PARAMETER5¶
General purpose user variable input for scripts
SCR_USER6: SCRIPTING USER PARAMETER6¶
General purpose user variable input for scripts
SCR_DIR_DISABLE: DIRECTORY DISABLE¶
Note: This parameter is for advanced users
Note: Reboot required after change
This will stop scripts being loaded from the given locations
Bitmask
Bit
Meaning
0
ROMFS
1
APM/scripts
SCR_LD_CHECKSUM: LOADED SCRIPT CHECKSUM¶
Note: This parameter is for advanced users
Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with
incorrect scripts loaded, -1 disables
SCR_RUN_CHECKSUM: RUNNING SCRIPT CHECKSUM¶
Note: This parameter is for advanced users
Required XOR of CRC32 checksum of running scripts, vehicle will not arm with
incorrect scripts running, -1 disables
SCR_THD_PRIORITY: SCRIPTING THREAD PRIORITY¶
Note: This parameter is for advanced users
Note: Reboot required after change
This sets the priority of the scripting thread. This is normally set to a low
priority to prevent scripts from interfering with other parts of the system.
Advanced users can change this priority if scripting needs to be prioritised for
realtime applications. WARNING: changing this parameter can impact the stability
of your flight controller. The scipting thread priority in this parameter is
chosen based on a set of system level priorities for other subsystems. It is
strongly recommended that you use the lowest priority that is sufficient for
your application. Note that all scripts run at the same priority, so if you
raise this priority you must carefully audit all lua scripts for behaviour that
does not interfere with the operation of the system.
Values
Value
Meaning
0
Normal
1
IO Priority
2
Storage Priority
3
UART Priority
4
I2C Priority
5
SPI Priority
6
Timer Priority
7
Main Priority
8
Boost Priority
SERIAL PARAMETERS¶
SERIAL0_BAUD: SERIAL0 BAUD RATE¶
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.
Values
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
2000
2000000
SERIAL0_PROTOCOL: CONSOLE PROTOCOL SELECTION¶
Note: Reboot required after change
Control what protocol to use on the console.
Values
Value
Meaning
1
MAVLink1
2
MAVLink2
SERIAL1_PROTOCOL: TELEM1 PROTOCOL SELECTION¶
Note: Reboot required after change
Control what protocol to use on the Telem1 port. Note that the Frsky options
require external converter hardware. See the wiki for details.
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
SERIAL1_BAUD: TELEM1 BAUD RATE¶
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.
Values
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
2000
2000000
SERIAL2_PROTOCOL: TELEMETRY 2 PROTOCOL SELECTION¶
Note: Reboot required after change
Control what protocol to use on the Telem2 port. Note that the Frsky options
require external converter hardware. See the wiki for details.
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
SERIAL2_BAUD: TELEMETRY 2 BAUD RATE¶
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.
Values
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
2000
2000000
SERIAL3_PROTOCOL: SERIAL 3 (GPS) PROTOCOL SELECTION¶
Note: Reboot required after change
Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky
options require external converter hardware. See the wiki for details.
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
SERIAL3_BAUD: SERIAL 3 (GPS) BAUD RATE¶
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.
Values
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
2000
2000000
SERIAL4_PROTOCOL: SERIAL4 PROTOCOL SELECTION¶
Note: Reboot required after change
Control what protocol Serial4 port should be used for. Note that the Frsky
options require external converter hardware. See the wiki for details.
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
SERIAL4_BAUD: SERIAL 4 BAUD RATE¶
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.
Values
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
2000
2000000
SERIAL5_PROTOCOL: SERIAL5 PROTOCOL SELECTION¶
Note: Reboot required after change
Control what protocol Serial5 port should be used for. Note that the Frsky
options require external converter hardware. See the wiki for details.
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
SERIAL5_BAUD: SERIAL 5 BAUD RATE¶
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.
Values
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
2000
2000000
SERIAL6_PROTOCOL: SERIAL6 PROTOCOL SELECTION¶
Note: Reboot required after change
Control what protocol Serial6 port should be used for. Note that the Frsky
options require external converter hardware. See the wiki for details.
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
SERIAL6_BAUD: SERIAL 6 BAUD RATE¶
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.
Values
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
2000
2000000
SERIAL1_OPTIONS: TELEM1 OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
InvertRX
1
InvertTX
2
HalfDuplex
3
SwapTXRX
4
RX_PullDown
5
RX_PullUp
6
TX_PullDown
7
TX_PullUp
8
RX_NoDMA
9
TX_NoDMA
10
Don’t forward mavlink to/from
11
DisableFIFO
12
Ignore Streamrate
SERIAL2_OPTIONS: TELEM2 OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
InvertRX
1
InvertTX
2
HalfDuplex
3
SwapTXRX
4
RX_PullDown
5
RX_PullUp
6
TX_PullDown
7
TX_PullUp
8
RX_NoDMA
9
TX_NoDMA
10
Don’t forward mavlink to/from
11
DisableFIFO
12
Ignore Streamrate
SERIAL3_OPTIONS: SERIAL3 OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
InvertRX
1
InvertTX
2
HalfDuplex
3
SwapTXRX
4
RX_PullDown
5
RX_PullUp
6
TX_PullDown
7
TX_PullUp
8
RX_NoDMA
9
TX_NoDMA
10
Don’t forward mavlink to/from
11
DisableFIFO
12
Ignore Streamrate
SERIAL4_OPTIONS: SERIAL4 OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
InvertRX
1
InvertTX
2
HalfDuplex
3
SwapTXRX
4
RX_PullDown
5
RX_PullUp
6
TX_PullDown
7
TX_PullUp
8
RX_NoDMA
9
TX_NoDMA
10
Don’t forward mavlink to/from
11
DisableFIFO
12
Ignore Streamrate
SERIAL5_OPTIONS: SERIAL5 OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
InvertRX
1
InvertTX
2
HalfDuplex
3
SwapTXRX
4
RX_PullDown
5
RX_PullUp
6
TX_PullDown
7
TX_PullUp
8
RX_NoDMA
9
TX_NoDMA
10
Don’t forward mavlink to/from
11
DisableFIFO
12
Ignore Streamrate
SERIAL6_OPTIONS: SERIAL6 OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
InvertRX
1
InvertTX
2
HalfDuplex
3
SwapTXRX
4
RX_PullDown
5
RX_PullUp
6
TX_PullDown
7
TX_PullUp
8
RX_NoDMA
9
TX_NoDMA
10
Don’t forward mavlink to/from
11
DisableFIFO
12
Ignore Streamrate
SERIAL_PASS1: SERIAL PASSTHRU FIRST PORT¶
Note: This parameter is for advanced users
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
Values
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
SERIAL_PASS2: SERIAL PASSTHRU SECOND PORT¶
Note: This parameter is for advanced users
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
Values
Value
Meaning
-1
Disabled
0
Serial0
1
Serial1
2
Serial2
3
Serial3
4
Serial4
5
Serial5
6
Serial6
SERIAL_PASSTIMO: SERIAL PASSTHRU TIMEOUT¶
Note: This parameter is for advanced users
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.
Range
Units
0 to 120
seconds
SERIAL7_PROTOCOL: SERIAL7 PROTOCOL SELECTION¶
Note: Reboot required after change
Control what protocol Serial7 port should be used for. Note that the Frsky
options require external converter hardware. See the wiki for details.
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
SERIAL7_BAUD: SERIAL 7 BAUD RATE¶
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.
Values
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
2000
2000000
SERIAL7_OPTIONS: SERIAL7 OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
InvertRX
1
InvertTX
2
HalfDuplex
3
SwapTXRX
4
RX_PullDown
5
RX_PullUp
6
TX_PullDown
7
TX_PullUp
8
RX_NoDMA
9
TX_NoDMA
10
Don’t forward mavlink to/from
11
DisableFIFO
12
Ignore Streamrate
SERIAL8_PROTOCOL: SERIAL8 PROTOCOL SELECTION¶
Note: Reboot required after change
Control what protocol Serial8 port should be used for. Note that the Frsky
options require external converter hardware. See the wiki for details.
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
SERIAL8_BAUD: SERIAL 8 BAUD RATE¶
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.
Values
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
2000
2000000
SERIAL8_OPTIONS: SERIAL8 OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
InvertRX
1
InvertTX
2
HalfDuplex
3
SwapTXRX
4
RX_PullDown
5
RX_PullUp
6
TX_PullDown
7
TX_PullUp
8
RX_NoDMA
9
TX_NoDMA
10
Don’t forward mavlink to/from
11
DisableFIFO
12
Ignore Streamrate
SERIAL9_PROTOCOL: SERIAL9 PROTOCOL SELECTION¶
Note: Reboot required after change
Control what protocol Serial9 port should be used for. Note that the Frsky
options require external converter hardware. See the wiki for details.
Values
Value
Meaning
-1
None
1
MAVLink1
2
MAVLink2
3
Frsky D
4
Frsky SPort
5
GPS
7
Alexmos Gimbal Serial
8
Gimbal
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
EFI Serial
25
LTM
26
RunCam
27
HottTelem
28
Scripting
29
Crossfire VTX
30
Generator
31
Winch
32
MSP
33
DJI FPV
34
AirSpeed
35
ADSB
36
AHRS
37
SmartAudio
38
FETtecOneWire
39
Torqeedo
40
AIS
41
CoDevESC
42
DisplayPort
43
MAVLink High Latency
44
IRC Tramp
45
DDS XRCE
46
IMUDATA
SERIAL9_BAUD: SERIAL 9 BAUD RATE¶
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.
Values
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
2000
2000000
SERIAL9_OPTIONS: SERIAL9 OPTIONS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Bitmask
Bit
Meaning
0
InvertRX
1
InvertTX
2
HalfDuplex
3
SwapTXRX
4
RX_PullDown
5
RX_PullUp
6
TX_PullDown
7
TX_PullUp
8
RX_NoDMA
9
TX_NoDMA
10
Don’t forward mavlink to/from
11
DisableFIFO
12
Ignore Streamrate
SERVO PARAMETERS¶
SERVO_AUTO_TRIM: AUTOMATIC SERVO TRIM¶
Note: This parameter is for advanced users
This enables automatic servo trim in flight. Servos will be trimed in stabilized
flight modes when the aircraft is close to level. Changes to servo trim will be
saved every 10 seconds and will persist between flights. The automatic trim
won't go more than 20% away from a centered trim.
Values
Value
Meaning
0
Disable
1
Enable
SERVO_RATE: SERVO DEFAULT OUTPUT RATE¶
Note: This parameter is for advanced users
Default output rate in Hz for all PWM outputs.
Range
Units
25 to 400
hertz
SERVO_DSHOT_RATE: SERVO DSHOT OUTPUT RATE¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
1Khz
1
loop-rate
2
double loop-rate
3
triple loop-rate
4
quadruple loop rate
SERVO_DSHOT_ESC: SERVO DSHOT ESC TYPE¶
Note: This parameter is for advanced users
DShot ESC type for all outputs. The ESC type affects the range of DShot commands
available and the bit widths used. None means that no dshot commands will be
executed. Some ESC types support Extended DShot Telemetry (EDT) which allows
telemetry other than RPM data to be returned when using bi-directional dshot. If
you enable EDT you must install EDT capable firmware for correct operation.
Values
Value
Meaning
0
None
1
BLHeli32/Kiss
2
BLHeli_S
3
BLHeli32/Kiss+EDT
4
BLHeli_S+EDT
SERVO_GPIO_MASK: SERVO GPIO MASK¶
Note: This parameter is for advanced users
Note: Reboot required after change
Bitmask of outputs which will be available as GPIOs. Any output with either the
function set to -1 or with the corresponding bit set in this mask will be
available for use as a GPIO pin
Bitmask
Bit
Meaning
0
Servo 1
1
Servo 2
2
Servo 3
3
Servo 4
4
Servo 5
5
Servo 6
6
Servo 7
7
Servo 8
8
Servo 9
9
Servo 10
10
Servo 11
11
Servo 12
12
Servo 13
13
Servo 14
14
Servo 15
15
Servo 16
16
Servo 17
17
Servo 18
18
Servo 19
19
Servo 20
20
Servo 21
21
Servo 22
22
Servo 23
23
Servo 24
24
Servo 25
25
Servo 26
26
Servo 27
27
Servo 28
28
Servo 29
29
Servo 30
30
Servo 31
31
Servo 32
SERVO_RC_FS_MSK: SERVO RC FAILSAFE MASK¶
Note: This parameter is for advanced users
Bitmask of scaled passthru output channels which will be set to their trim value
during rc failsafe instead of holding their last position before failsafe.
Bitmask
Bit
Meaning
0
RCIN1Scaled
1
RCIN2Scaled
2
RCIN3Scaled
3
RCIN4Scaled
4
RCIN5Scaled
5
RCIN6Scaled
6
RCIN7Scaled
7
RCIN8Scaled
8
RCIN9Scaled
9
RCIN10Scaled
10
RCIN11Scaled
11
SRCIN12Scaled
12
RCIN13Scaled
13
RCIN14Scaled
14
RCIN15Scaled
15
RCIN16Scaled
SERVO_32_ENABLE: ENABLE OUTPUTS 17 TO 31¶
Note: This parameter is for advanced users
This allows for up to 32 outputs, enabling parameters for outputs above 16
Values
Value
Meaning
0
Disabled
1
Enabled
SERVO10_ PARAMETERS¶
SERVO10_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO10_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO10_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO10_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO10_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO11_ PARAMETERS¶
SERVO11_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO11_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO11_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO11_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO11_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO12_ PARAMETERS¶
SERVO12_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO12_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO12_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO12_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO12_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO13_ PARAMETERS¶
SERVO13_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO13_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO13_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO13_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO13_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO14_ PARAMETERS¶
SERVO14_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO14_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO14_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO14_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO14_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO15_ PARAMETERS¶
SERVO15_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO15_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO15_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO15_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO15_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO16_ PARAMETERS¶
SERVO16_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO16_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO16_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO16_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO16_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO17_ PARAMETERS¶
SERVO17_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO17_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO17_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO17_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO17_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO18_ PARAMETERS¶
SERVO18_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO18_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO18_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO18_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO18_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO19_ PARAMETERS¶
SERVO19_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO19_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO19_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO19_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO19_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO1_ PARAMETERS¶
SERVO1_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO1_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO1_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO1_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO1_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO20_ PARAMETERS¶
SERVO20_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO20_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO20_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO20_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO20_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO21_ PARAMETERS¶
SERVO21_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO21_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO21_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO21_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO21_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO22_ PARAMETERS¶
SERVO22_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO22_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO22_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO22_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO22_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO23_ PARAMETERS¶
SERVO23_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO23_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO23_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO23_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO23_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO24_ PARAMETERS¶
SERVO24_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO24_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO24_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO24_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO24_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO25_ PARAMETERS¶
SERVO25_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO25_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO25_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO25_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO25_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO26_ PARAMETERS¶
SERVO26_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO26_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO26_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO26_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO26_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO27_ PARAMETERS¶
SERVO27_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO27_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO27_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO27_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO27_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO28_ PARAMETERS¶
SERVO28_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO28_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO28_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO28_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO28_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO29_ PARAMETERS¶
SERVO29_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO29_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO29_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO29_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO29_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO2_ PARAMETERS¶
SERVO2_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO2_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO2_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO2_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO2_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO30_ PARAMETERS¶
SERVO30_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO30_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO30_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO30_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO30_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO31_ PARAMETERS¶
SERVO31_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO31_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO31_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO31_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO31_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO32_ PARAMETERS¶
SERVO32_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO32_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO32_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO32_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO32_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO3_ PARAMETERS¶
SERVO3_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO3_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO3_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO3_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO3_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO4_ PARAMETERS¶
SERVO4_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO4_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO4_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO4_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO4_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO5_ PARAMETERS¶
SERVO5_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO5_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO5_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO5_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO5_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO6_ PARAMETERS¶
SERVO6_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO6_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO6_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO6_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO6_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO7_ PARAMETERS¶
SERVO7_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO7_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO7_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO7_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO7_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO8_ PARAMETERS¶
SERVO8_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO8_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO8_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO8_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO8_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO9_ PARAMETERS¶
SERVO9_MIN: MINIMUM PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO9_MAX: MAXIMUM PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO9_TRIM: TRIM PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is
neutral and 2000 is upper limit.
Increment
Range
Units
1
800 to 2200
PWM in microseconds
SERVO9_REVERSED: SERVO REVERSE¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this
output channel.
Values
Value
Meaning
0
Normal
1
Reversed
SERVO9_FUNCTION: SERVO OUTPUT FUNCTION¶
Note: Reboot required after change
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
Values
Value
Meaning
-1
GPIO
0
Disabled
1
RCPassThru
2
Flap
3
FlapAuto
4
Aileron
6
Mount1Yaw
7
Mount1Pitch
8
Mount1Roll
9
Mount1Retract
10
CameraTrigger
12
Mount2Yaw
13
Mount2Pitch
14
Mount2Roll
15
Mount2Retract
16
DifferentialSpoilerLeft1
17
DifferentialSpoilerRight1
19
Elevator
21
Rudder
22
SprayerPump
23
SprayerSpinner
24
FlaperonLeft
25
FlaperonRight
26
GroundSteering
27
Parachute
28
Gripper
29
LandingGear
30
EngineRunEnable
33
Motor1
34
Motor2
35
Motor3
36
Motor4
37
Motor5
38
Motor6
39
Motor7/TailTiltServo
40
Motor8
41
TiltMotorsFront
45
TiltMotorsRear
46
TiltMotorRearLeft
47
TiltMotorRearRight
51
RCIN1
52
RCIN2
53
RCIN3
54
RCIN4
55
RCIN5
56
RCIN6
57
RCIN7
58
RCIN8
59
RCIN9
60
RCIN10
61
RCIN11
62
RCIN12
63
RCIN13
64
RCIN14
65
RCIN15
66
RCIN16
67
Ignition
69
Starter
70
Throttle
73
ThrottleLeft
74
ThrottleRight
75
TiltMotorFrontLeft
76
TiltMotorFrontRight
77
ElevonLeft
78
ElevonRight
79
VTailLeft
80
VTailRight
82
Motor9
83
Motor10
84
Motor11
85
Motor12
86
DifferentialSpoilerLeft2
87
DifferentialSpoilerRight2
90
CameraISO
91
CameraAperture
92
CameraFocus
93
CameraShutterSpeed
94
Script1
95
Script2
96
Script3
97
Script4
98
Script5
99
Script6
100
Script7
101
Script8
102
Script9
103
Script10
104
Script11
105
Script12
106
Script13
107
Script14
108
Script15
109
Script16
110
Airbrakes
120
NeoPixel1
121
NeoPixel2
122
NeoPixel3
123
NeoPixel4
124
RateRoll
125
RatePitch
126
RateThrust
127
RateYaw
129
ProfiLED1
130
ProfiLED2
131
ProfiLED3
132
ProfiLEDClock
134
SERVOn_MIN
135
SERVOn_TRIM
136
SERVOn_MAX
138
Alarm
139
Alarm Inverted
140
RCIN1Scaled
141
RCIN2Scaled
142
RCIN3Scaled
143
RCIN4Scaled
144
RCIN5Scaled
145
RCIN6Scaled
146
RCIN7Scaled
147
RCIN8Scaled
148
RCIN9Scaled
149
RCIN10Scaled
150
RCIN11Scaled
151
RCIN12Scaled
152
RCIN13Scaled
153
RCIN14Scaled
154
RCIN15Scaled
155
RCIN16Scaled
SERVO_BLH_ PARAMETERS¶
SERVO_BLH_MASK: BLHELI CHANNEL BITMASK¶
Note: This parameter is for advanced users
Note: Reboot required after change
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)
Bitmask
Bit
Meaning
0
Channel1
1
Channel2
2
Channel3
3
Channel4
4
Channel5
5
Channel6
6
Channel7
7
Channel8
8
Channel9
9
Channel10
10
Channel11
11
Channel12
12
Channel13
13
Channel14
14
Channel15
15
Channel16
16
Channel 17
17
Channel 18
18
Channel 19
19
Channel 20
20
Channel 21
21
Channel 22
22
Channel 23
23
Channel 24
24
Channel 25
25
Channel 26
26
Channel 27
27
Channel 28
28
Channel 29
29
Channel 30
30
Channel 31
31
Channel 32
SERVO_BLH_AUTO: BLHELI PASS-THRU AUTO-ENABLE FOR MULTICOPTER MOTORS¶
Note: Reboot required after change
If set to 1 this auto-enables BLHeli pass-thru support for all multicopter
motors
Values
Value
Meaning
0
Disabled
1
Enabled
SERVO_BLH_TEST: BLHELI INTERNAL INTERFACE TEST¶
Note: This parameter is for advanced users
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.
Values
Value
Meaning
0
Disabled
1
TestMotor1
2
TestMotor2
3
TestMotor3
4
TestMotor4
5
TestMotor5
6
TestMotor6
7
TestMotor7
8
TestMotor8
SERVO_BLH_TMOUT: BLHELI PROTOCOL TIMEOUT¶
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
Range
Units
0 to 300
seconds
SERVO_BLH_TRATE: BLHELI TELEMETRY RATE¶
This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per
ESC. Setting to zero disables telemetry requests
Range
Units
0 to 500
hertz
SERVO_BLH_DEBUG: BLHELI DEBUG LEVEL¶
When set to 1 this enabled verbose debugging output over MAVLink when the blheli
protocol is active. This can be used to diagnose failures.
Values
Value
Meaning
0
Disabled
1
Enabled
SERVO_BLH_OTYPE: BLHELI OUTPUT TYPE OVERRIDE¶
Note: This parameter is for advanced users
Note: Reboot required after change
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.
Values
Value
Meaning
0
None
1
OneShot
2
OneShot125
3
Brushed
4
DShot150
5
DShot300
6
DShot600
7
DShot1200
SERVO_BLH_PORT: CONTROL PORT¶
Note: This parameter is for advanced users
This sets the mavlink channel to use for blheli pass-thru. The channel number is
determined by the number of serial ports configured to use mavlink. So 0 is
always the console, 1 is the next serial port using mavlink, 2 the next after
that and so on.
Values
Value
Meaning
0
Console
1
Mavlink Serial Channel1
2
Mavlink Serial Channel2
3
Mavlink Serial Channel3
4
Mavlink Serial Channel4
5
Mavlink Serial Channel5
SERVO_BLH_POLES: BLHELI MOTOR POLES¶
Note: This parameter is for advanced users
Note: Reboot required after change
This allows calculation of true RPM from ESC's eRPM. The default is 14.
Range
1 to 127
SERVO_BLH_3DMASK: BLHELI BITMASK OF 3D CHANNELS¶
Note: This parameter is for advanced users
Note: Reboot required after change
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. Do not
use for channels selected with SERVO_BLH_RVMASK.
Bitmask
Bit
Meaning
0
Channel1
1
Channel2
2
Channel3
3
Channel4
4
Channel5
5
Channel6
6
Channel7
7
Channel8
8
Channel9
9
Channel10
10
Channel11
11
Channel12
12
Channel13
13
Channel14
14
Channel15
15
Channel16
16
Channel 17
17
Channel 18
18
Channel 19
19
Channel 20
20
Channel 21
21
Channel 22
22
Channel 23
23
Channel 24
24
Channel 25
25
Channel 26
26
Channel 27
27
Channel 28
28
Channel 29
29
Channel 30
30
Channel 31
31
Channel 32
SERVO_BLH_BDMASK: BLHELI BITMASK OF BI-DIRECTIONAL DSHOT CHANNELS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Mask of channels which support bi-directional dshot telemetry. 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.
Bitmask
Bit
Meaning
0
Channel1
1
Channel2
2
Channel3
3
Channel4
4
Channel5
5
Channel6
6
Channel7
7
Channel8
8
Channel9
9
Channel10
10
Channel11
11
Channel12
12
Channel13
13
Channel14
14
Channel15
15
Channel16
16
Channel 17
17
Channel 18
18
Channel 19
19
Channel 20
20
Channel 21
21
Channel 22
22
Channel 23
23
Channel 24
24
Channel 25
25
Channel 26
26
Channel 27
27
Channel 28
28
Channel 29
29
Channel 30
30
Channel 31
31
Channel 32
SERVO_BLH_RVMASK: BLHELI BITMASK OF REVERSED CHANNELS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Mask of channels which are reversed. This is used to configure ESCs to reverse
motor direction for unidirectional rotation.Do not use for channels selected
with SERVO_BLH_RVMASK.Do not use for channels selected with SERVO_BLH_3DMASK.
Bitmask
Bit
Meaning
0
Channel1
1
Channel2
2
Channel3
3
Channel4
4
Channel5
5
Channel6
6
Channel7
7
Channel8
8
Channel9
9
Channel10
10
Channel11
11
Channel12
12
Channel13
13
Channel14
14
Channel15
15
Channel16
16
Channel 17
17
Channel 18
18
Channel 19
19
Channel 20
20
Channel 21
21
Channel 22
22
Channel 23
23
Channel 24
24
Channel 25
25
Channel 26
26
Channel 27
27
Channel 28
28
Channel 29
29
Channel 30
30
Channel 31
31
Channel 32
SERVO_FTW_ PARAMETERS¶
SERVO_FTW_MASK: SERVO CHANNEL OUTPUT BITMASK¶
Note: Reboot required after change
Servo channel mask specifying FETtec ESC output.
Bitmask
Bit
Meaning
0
SERVO1
1
SERVO2
2
SERVO3
3
SERVO4
4
SERVO5
5
SERVO6
6
SERVO7
7
SERVO8
8
SERVO9
9
SERVO10
10
SERVO11
11
SERVO12
SERVO_FTW_RVMASK: SERVO CHANNEL REVERSE ROTATION BITMASK¶
Servo channel mask to reverse rotation of FETtec ESC outputs.
Bitmask
Bit
Meaning
0
SERVO1
1
SERVO2
2
SERVO3
3
SERVO4
4
SERVO5
5
SERVO6
6
SERVO7
7
SERVO8
8
SERVO9
9
SERVO10
10
SERVO11
11
SERVO12
SERVO_FTW_POLES: NR. ELECTRICAL POLES¶
Number of motor electrical poles
Range
2 to 50
SERVO_ROB_ PARAMETERS¶
SERVO_ROB_POSMIN: ROBOTIS SERVO POSITION MIN¶
Position minimum at servo min value. This should be within the position control
range of the servos, normally 0 to 4095
Range
0 to 4095
SERVO_ROB_POSMAX: ROBOTIS SERVO POSITION MAX¶
Position maximum at servo max value. This should be within the position control
range of the servos, normally 0 to 4095
Range
0 to 4095
SERVO_SBUS_ PARAMETERS¶
SERVO_SBUS_RATE: SBUS DEFAULT OUTPUT RATE¶
Note: This parameter is for advanced users
This sets the SBUS output frame rate in Hz.
Range
Units
25 to 250
hertz
SERVO_VOLZ_ PARAMETERS¶
SERVO_VOLZ_MASK: CHANNEL BITMASK¶
Enable of volz servo protocol to specific channels
Bitmask
Bit
Meaning
0
Channel1
1
Channel2
2
Channel3
3
Channel4
4
Channel5
5
Channel6
6
Channel7
7
Channel8
8
Channel9
9
Channel10
10
Channel11
11
Channel12
12
Channel13
13
Channel14
14
Channel15
15
Channel16
16
Channel17
17
Channel18
18
Channel19
19
Channel20
20
Channel21
21
Channel22
22
Channel23
23
Channel24
24
Channel25
25
Channel26
26
Channel27
28
Channel29
29
Channel30
30
Channel31
31
Channel32
SIMULATION PARAMETERS¶
SIM_ACC1_BIAS_X: ACCEL 1 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (X-axis)
SIM_ACC1_BIAS_Y: ACCEL 1 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (Y-axis)
SIM_ACC1_BIAS_Z: ACCEL 1 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (Z-axis)
SIM_ACC1_SCAL_X: ACCEL 1 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (X-axis)
SIM_ACC1_SCAL_Y: ACCEL 1 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (Y-axis)
SIM_ACC1_SCAL_Z: ACCEL 1 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (Z-axis)
SIM_ACC2_BIAS_X: ACCEL 2 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (X-axis)
SIM_ACC2_BIAS_Y: ACCEL 2 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (Y-axis)
SIM_ACC2_BIAS_Z: ACCEL 2 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (Z-axis)
SIM_ACC2_SCAL_X: ACCEL 2 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (X-axis)
SIM_ACC2_SCAL_Y: ACCEL 2 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (Y-axis)
SIM_ACC2_SCAL_Z: ACCEL 2 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (Z-axis)
SIM_ACC3_BIAS_X: ACCEL 3 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (X-axis)
SIM_ACC3_BIAS_Y: ACCEL 3 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (Y-axis)
SIM_ACC3_BIAS_Z: ACCEL 3 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (Z-axis)
SIM_ACC3_SCAL_X: ACCEL 3 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (X-axis)
SIM_ACC3_SCAL_Y: ACCEL 3 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (Y-axis)
SIM_ACC3_SCAL_Z: ACCEL 3 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (Z-axis)
SIM_ACC4_BIAS_X: ACCEL 4 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (X-axis)
SIM_ACC4_BIAS_Y: ACCEL 4 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (Y-axis)
SIM_ACC4_BIAS_Z: ACCEL 4 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (Z-axis)
SIM_ACC4_SCAL_X: ACCEL 4 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (X-axis)
SIM_ACC4_SCAL_Y: ACCEL 4 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (Y-axis)
SIM_ACC4_SCAL_Z: ACCEL 4 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (Z-axis)
SIM_ACC5_BIAS_X: ACCEL 5 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (X-axis)
SIM_ACC5_BIAS_Y: ACCEL 5 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (Y-axis)
SIM_ACC5_BIAS_Z: ACCEL 5 BIAS¶
Note: This parameter is for advanced users
bias of simulated accelerometer sensor (Z-axis)
SIM_ACC5_SCAL_X: ACCEL 4 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (X-axis)
SIM_ACC5_SCAL_Y: ACCEL 4 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (Y-axis)
SIM_ACC5_SCAL_Z: ACCEL 4 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated accelerometer (Z-axis)
SIM_ACCEL1_FAIL: ACCEL1 FAILURE¶
Note: This parameter is for advanced users
Simulated failure of ACCEL1
Values
Value
Meaning
0
Disabled
1
ACCEL1 Failure
SIM_ACCEL2_FAIL: ACCEL2 FAILURE¶
Note: This parameter is for advanced users
Simulated failure of ACCEL2
Values
Value
Meaning
0
Disabled
1
ACCEL2 Failure
SIM_ACCEL3_FAIL: ACCEL3 FAILURE¶
Note: This parameter is for advanced users
Simulated failure of ACCEL3
Values
Value
Meaning
0
Disabled
1
ACCEL3 Failure
SIM_ACCEL4_FAIL: ACCEL4 FAILURE¶
Note: This parameter is for advanced users
Simulated failure of ACCEL4
Values
Value
Meaning
0
Disabled
1
ACCEL4 Failure
SIM_ACCEL5_FAIL: ACCEL5 FAILURE¶
Note: This parameter is for advanced users
Simulated failure of ACCEL5
Values
Value
Meaning
0
Disabled
1
ACCEL5 Failure
SIM_ACC_FAIL_MSK: ACCELEROMETER FAILURE MASK¶
Note: This parameter is for advanced users
Determines if the acclerometer reading updates are stopped when for an IMU
simulated failure by ACCELx_FAIL params
Values
Value
Meaning
0
Disabled
1
Readings stopped
SIM_ADSB_TYPES: SIMULATED ADSB TYPE MASK¶
Note: This parameter is for advanced users
specifies which simulated ADSB types are active
Bitmask
Bit
Meaning
0
MAVLink
3
SageTechMXS
SIM_ARSPD2_FAIL: AIRSPEED SENSOR FAILURE¶
Note: This parameter is for advanced users
Simulates Airspeed sensor 1 failure
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_ARSPD2_FAILP: AIRSPEED SENSOR FAILURE PRESSURE¶
Note: This parameter is for advanced users
Simulated airspeed sensor failure pressure
Units
pascal
SIM_ARSPD2_PITOT: AIRSPEED PITOT TUBE FAILURE PRESSURE¶
Note: This parameter is for advanced users
Simulated airspeed sensor pitot tube failure pressure
Units
pascal
SIM_ARSPD2_RATIO: AIRSPEED RATIOS¶
Note: This parameter is for advanced users
Simulated airspeed sensor ratio
SIM_ARSPD2_SIGN: AIRSPEED SIGNFLIP¶
Note: This parameter is for advanced users
Simulated airspeed sensor with reversed pitot/static connections
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_ARSPD_FAIL: AIRSPEED SENSOR FAILURE¶
Note: This parameter is for advanced users
Simulates Airspeed sensor 1 failure
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_ARSPD_FAILP: AIRSPEED SENSOR FAILURE PRESSURE¶
Note: This parameter is for advanced users
Simulated airspeed sensor failure pressure
Units
pascal
SIM_ARSPD_PITOT: AIRSPEED PITOT TUBE FAILURE PRESSURE¶
Note: This parameter is for advanced users
Simulated airspeed sensor pitot tube failure pressure
Units
pascal
SIM_ARSPD_RATIO: AIRSPEED RATIOS¶
Note: This parameter is for advanced users
Simulated airspeed sensor ratio
SIM_ARSPD_SIGN: AIRSPEED SIGNFLIP¶
Note: This parameter is for advanced users
Simulated airspeed sensor with reversed pitot/static connections
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_BAR2_GLITCH: BARO2 GLITCH¶
Note: This parameter is for advanced users
Glitch for 2nd baro
Units
meters
SIM_BAR2_RND: BARO2 NOISE¶
Note: This parameter is for advanced users
Amount of (evenly-distributed) noise injected into the 2nd baro
Units
meters
SIM_BAR3_GLITCH: BARO3 GLITCH¶
Note: This parameter is for advanced users
Glitch for 2nd baro
Units
meters
SIM_BAR3_RND: BARO3 NOISE¶
Note: This parameter is for advanced users
Amount of (evenly-distributed) noise injected into the 3rd baro
Units
meters
SIM_BARO_DRIFT: BARO ALTITUDE DRIFT¶
Note: This parameter is for advanced users
Barometer altitude drifts at this rate
Units
meters per second
SIM_BARO_GLITCH: BARO GLITCH¶
Note: This parameter is for advanced users
Glitch for 1st baro
Units
meters
SIM_BARO_RND: BARO NOISE¶
Note: This parameter is for advanced users
Amount of (evenly-distributed) noise injected into the 1st baro
Units
meters
SIM_BATT_VOLTAGE: SIMULATED BATTERY VOLTAGE¶
Note: This parameter is for advanced users
Simulated battery (constant) voltage
Units
volt
SIM_CAN_SRV_MSK: MASK OF CAN SERVOS/ESCS¶
Note: This parameter is for advanced users
The set of actuators controlled externally by CAN SITL AP_Periph
Bitmask
Bit
Meaning
0
Servo 1
1
Servo 2
2
Servo 3
3
Servo 4
4
Servo 5
5
Servo 6
6
Servo 7
7
Servo 8
8
Servo 9
9
Servo 10
10
Servo 11
11
Servo 12
12
Servo 13
13
Servo 14
14
Servo 15
15
Servo 16
16
Servo 17
17
Servo 18
18
Servo 19
19
Servo 20
20
Servo 21
21
Servo 22
22
Servo 23
23
Servo 24
24
Servo 25
25
Servo 26
26
Servo 27
27
Servo 28
28
Servo 29
29
Servo 30
30
Servo 31
31
Servo 32
SIM_CAN_TYPE1: TRANSPORT TYPE FOR FIRST CAN INTERFACE¶
Note: This parameter is for advanced users
transport type for first CAN interface
Values
Value
Meaning
0
MulticastUDP
1
SocketCAN
SIM_CAN_TYPE2: TRANSPORT TYPE FOR SECOND CAN INTERFACE¶
Note: This parameter is for advanced users
transport type for second CAN interface
Values
Value
Meaning
0
MulticastUDP
1
SocketCAN
SIM_CLAMP_CH: SIMULATED CLAMP CHANNEL¶
If non-zero the vehicle will be clamped in position until the value on this
servo channel passes 1800PWM
SIM_ESC_TELEM: SIMULATED ESC TELEMETRY¶
Note: This parameter is for advanced users
enable perfect simulated ESC telemetry
SIM_FLOAT_EXCEPT: GENERATE FLOATING POINT EXCEPTIONS¶
Note: This parameter is for advanced users
If set, if a numerical error occurs SITL will die with a floating point
exception.
SIM_FLOW_DELAY: OPFLOW DELAY¶
Opflow data delay
Units
milliseconds
SIM_FLOW_ENABLE: OPFLOW ENABLE¶
Enable simulated Optical Flow sensor
Values
Value
Meaning
0
Disable
1
Enabled
SIM_FLOW_POS_X: OPFLOW POS¶
XYZ position of the optical flow sensor focal point relative to the body frame
origin (X-axis)
Units
meters
SIM_FLOW_POS_Y: OPFLOW POS¶
XYZ position of the optical flow sensor focal point relative to the body frame
origin (Y-axis)
Units
meters
SIM_FLOW_POS_Z: OPFLOW POS¶
XYZ position of the optical flow sensor focal point relative to the body frame
origin (Z-axis)
Units
meters
SIM_FLOW_RATE: OPFLOW RATE¶
Opflow Data Rate
Units
hertz
SIM_FLOW_RND: OPFLOW NOISE¶
Optical Flow sensor measurement noise in rad/sec
SIM_GLD_BLN_BRST: BALLOON BURST HEIGHT¶
balloon burst height
Units
meters
SIM_GLD_BLN_RATE: BALLOON CLIMB RATE¶
balloon climb rate
Units
meters per second
SIM_GPS2_ACC: GPS 2 ACCURACY¶
Note: This parameter is for advanced users
GPS 2 Accuracy
SIM_GPS2_ALT_OFS: GPS 2 ALTITUDE OFFSET¶
GPS 2 Altitude Error
Units
meters
SIM_GPS2_BYTELOS: GPS 2 BYTELOSS¶
Note: This parameter is for advanced users
Percent of bytes lost from GPS 2
Units
percent
SIM_GPS2_DISABLE: GPS 2 DISABLE¶
Note: This parameter is for advanced users
Disables GPS 2
Values
Value
Meaning
0
Enable
1
GPS Disabled
SIM_GPS2_DRFTALT: GPS 2 ALTITUDE DRIFT¶
Note: This parameter is for advanced users
GPS 2 altitude drift error
Units
meters
SIM_GPS2_GLTCH_X: GPS 2 GLITCH¶
Note: This parameter is for advanced users
Glitch offsets of simulated GPS 2 sensor (X-axis)
SIM_GPS2_GLTCH_Y: GPS 2 GLITCH¶
Note: This parameter is for advanced users
Glitch offsets of simulated GPS 2 sensor (Y-axis)
SIM_GPS2_GLTCH_Z: GPS 2 GLITCH¶
Note: This parameter is for advanced users
Glitch offsets of simulated GPS 2 sensor (Z-axis)
SIM_GPS2_HDG: GPS 2 HEADING¶
Note: This parameter is for advanced users
Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_GPS2_HZ: GPS 2 HZ¶
GPS 2 Update rate
Units
hertz
SIM_GPS2_JAM: GPS JAMMING ENABLE¶
Note: This parameter is for advanced users
Enable simulated GPS jamming
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_GPS2_LAG_MS: GPS 2 LAG¶
Note: This parameter is for advanced users
GPS 2 lag in ms
Units
milliseconds
SIM_GPS2_LCKTIME: GPS 2 LOCK TIME¶
Note: This parameter is for advanced users
Delay in seconds before GPS2 acquires lock
Units
seconds
SIM_GPS2_NOISE: GPS 2 NOISE¶
Note: This parameter is for advanced users
Amplitude of the GPS2 altitude error
Units
meters
SIM_GPS2_NUMSATS: GPS 2 NUM SATELLITES¶
Number of satellites GPS 2 has in view
SIM_GPS2_POS_X: GPS 2 POSITION¶
GPS 2 antenna phase center position relative to the body frame origin (X-axis)
Units
meters
SIM_GPS2_POS_Y: GPS 2 POSITION¶
GPS 2 antenna phase center position relative to the body frame origin (Y-axis)
Units
meters
SIM_GPS2_POS_Z: GPS 2 POSITION¶
GPS 2 antenna phase center position relative to the body frame origin (Z-axis)
Units
meters
SIM_GPS2_TYPE: GPS 2 TYPE¶
Note: This parameter is for advanced users
Sets the type of simulation used for GPS 2
Values
Value
Meaning
0
None
1
UBlox
5
NMEA
6
SBP
7
File
8
Nova
9
SBP2
11
Trimble
19
MSP
SIM_GPS2_VERR_X: GPS 2 VELOCITY ERROR¶
Note: This parameter is for advanced users
GPS 2 Velocity Error Offsets in NED (X-axis)
SIM_GPS2_VERR_Y: GPS 2 VELOCITY ERROR¶
Note: This parameter is for advanced users
GPS 2 Velocity Error Offsets in NED (Y-axis)
SIM_GPS2_VERR_Z: GPS 2 VELOCITY ERROR¶
Note: This parameter is for advanced users
GPS 2 Velocity Error Offsets in NED (Z-axis)
SIM_GPS_ACC: GPS 1 ACCURACY¶
Note: This parameter is for advanced users
GPS 1 Accuracy
SIM_GPS_ALT_OFS: GPS 1 ALTITUDE OFFSET¶
GPS 1 Altitude Error
Units
meters
SIM_GPS_BYTELOSS: GPS BYTELOSS¶
Note: This parameter is for advanced users
Percent of bytes lost from GPS 1
Units
percent
SIM_GPS_DISABLE: GPS 1 DISABLE¶
Note: This parameter is for advanced users
Disables GPS 1
Values
Value
Meaning
0
Enable
1
GPS Disabled
SIM_GPS_DRIFTALT: GPS 1 ALTITUDE DRIFT¶
Note: This parameter is for advanced users
GPS 1 altitude drift error
Units
meters
SIM_GPS_GLITCH_X: GPS 1 GLITCH¶
Note: This parameter is for advanced users
Glitch offsets of simulated GPS 1 sensor (X-axis)
SIM_GPS_GLITCH_Y: GPS 1 GLITCH¶
Note: This parameter is for advanced users
Glitch offsets of simulated GPS 1 sensor (Y-axis)
SIM_GPS_GLITCH_Z: GPS 1 GLITCH¶
Note: This parameter is for advanced users
Glitch offsets of simulated GPS 1 sensor (Z-axis)
SIM_GPS_HDG: GPS 1 HEADING¶
Note: This parameter is for advanced users
Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_GPS_HZ: GPS 1 HZ¶
GPS 1 Update rate
Units
hertz
SIM_GPS_JAM: GPS JAMMING ENABLE¶
Note: This parameter is for advanced users
Enable simulated GPS jamming
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_GPS_LAG_MS: GPS 1 LAG¶
Note: This parameter is for advanced users
GPS 1 lag
Units
milliseconds
SIM_GPS_LOCKTIME: GPS 1 LOCK TIME¶
Note: This parameter is for advanced users
Delay in seconds before GPS1 acquires lock
Units
seconds
SIM_GPS_LOG_NUM: GPS LOG NUMBER¶
Log number for GPS:update_file()
SIM_GPS_NOISE: GPS 1 NOISE¶
Note: This parameter is for advanced users
Amplitude of the GPS1 altitude error
Units
meters
SIM_GPS_NUMSATS: GPS 1 NUM SATELLITES¶
Number of satellites GPS 1 has in view
SIM_GPS_POS_X: GPS 1 POSITION¶
GPS 1 antenna phase center position relative to the body frame origin (X-axis)
Units
meters
SIM_GPS_POS_Y: GPS 1 POSITION¶
GPS 1 antenna phase center position relative to the body frame origin (Y-axis)
Units
meters
SIM_GPS_POS_Z: GPS 1 POSITION¶
GPS 1 antenna phase center position relative to the body frame origin (Z-axis)
Units
meters
SIM_GPS_TYPE: GPS 1 TYPE¶
Note: This parameter is for advanced users
Sets the type of simulation used for GPS 1
Values
Value
Meaning
0
None
1
UBlox
5
NMEA
6
SBP
7
File
8
Nova
9
SBP2
11
Trimble
19
MSP
SIM_GPS_VERR_X: GPS 1 VELOCITY ERROR¶
Note: This parameter is for advanced users
GPS 1 Velocity Error Offsets in NED (X-axis)
SIM_GPS_VERR_Y: GPS 1 VELOCITY ERROR¶
Note: This parameter is for advanced users
GPS 1 Velocity Error Offsets in NED (Y-axis)
SIM_GPS_VERR_Z: GPS 1 VELOCITY ERROR¶
Note: This parameter is for advanced users
GPS 1 Velocity Error Offsets in NED (Z-axis)
SIM_GRPE_ENABLE: GRIPPER SERVO SIM ENABLE/DISABLE¶
Note: This parameter is for advanced users
Allows you to enable (1) or disable (0) the gripper servo simulation
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_GRPE_PIN: GRIPPER EMP PIN¶
Note: This parameter is for advanced users
The pin number that the gripper emp is connected to. (start at 1)
Range
0 to 15
SIM_GRPS_ENABLE: GRIPPER SERVO SIM ENABLE/DISABLE¶
Note: This parameter is for advanced users
Allows you to enable (1) or disable (0) the gripper servo simulation
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_GRPS_GRAB: GRIPPER GRAB PWM¶
Note: This parameter is for advanced users
PWM value in microseconds sent to Gripper to initiate grabbing the cargo
Range
Units
1000 to 2000
PWM in microseconds
SIM_GRPS_PIN: GRIPPER SERVO PIN¶
Note: This parameter is for advanced users
The pin number that the gripper servo is connected to. (start at 1)
Range
0 to 15
SIM_GRPS_RELEASE: GRIPPER RELEASE PWM¶
Note: This parameter is for advanced users
PWM value in microseconds sent to Gripper to release the cargo
Range
Units
1000 to 2000
PWM in microseconds
SIM_GRPS_REVERSE: GRIPPER CLOSE DIRECTION¶
Note: This parameter is for advanced users
Reverse the closing direction.
Values
Value
Meaning
0
Normal
1
Reverse
SIM_GYR1_BIAS_X: FIRST GYRO BIAS ON X AXIS¶
Note: This parameter is for advanced users
First Gyro bias on X axis
Units
radians per second
SIM_GYR1_BIAS_Y: FIRST GYRO BIAS ON Y AXIS¶
Note: This parameter is for advanced users
First Gyro bias on Y axis
Units
radians per second
SIM_GYR1_BIAS_Z: FIRST GYRO BIAS ON Z AXIS¶
Note: This parameter is for advanced users
First Gyro bias on Z axis
Units
radians per second
SIM_GYR1_SCALE_X: GYRO 1 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (X-axis)
SIM_GYR1_SCALE_Y: GYRO 1 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (Y-axis)
SIM_GYR1_SCALE_Z: GYRO 1 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (Z-axis)
SIM_GYR2_BIAS_X: SECOND GYRO BIAS ON X AXIS¶
Note: This parameter is for advanced users
Second Gyro bias on X axis
Units
radians per second
SIM_GYR2_BIAS_Y: SECOND GYRO BIAS ON Y AXIS¶
Note: This parameter is for advanced users
Second Gyro bias on Y axis
Units
radians per second
SIM_GYR2_BIAS_Z: SECOND GYRO BIAS ON Z AXIS¶
Note: This parameter is for advanced users
Second Gyro bias on Z axis
Units
radians per second
SIM_GYR2_SCALE_X: GYRO 2 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (X-axis)
SIM_GYR2_SCALE_Y: GYRO 2 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (Y-axis)
SIM_GYR2_SCALE_Z: GYRO 2 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (Z-axis)
SIM_GYR3_BIAS_X: THIRD GYRO BIAS ON X AXIS¶
Note: This parameter is for advanced users
Third Gyro bias on X axis
Units
radians per second
SIM_GYR3_BIAS_Y: THIRD GYRO BIAS ON Y AXIS¶
Note: This parameter is for advanced users
Third Gyro bias on Y axis
Units
radians per second
SIM_GYR3_BIAS_Z: THIRD GYRO BIAS ON Z AXIS¶
Note: This parameter is for advanced users
Third Gyro bias on Z axis
Units
radians per second
SIM_GYR3_SCALE_X: GYRO 3 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (X-axis)
SIM_GYR3_SCALE_Y: GYRO 3 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (Y-axis)
SIM_GYR3_SCALE_Z: GYRO 3 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (Z-axis)
SIM_GYR4_BIAS_X: FOURTH GYRO BIAS ON X AXIS¶
Note: This parameter is for advanced users
Fourth Gyro bias on X axis
Units
radians per second
SIM_GYR4_BIAS_Y: FOURTH GYRO BIAS ON Y AXIS¶
Note: This parameter is for advanced users
Fourth Gyro bias on Y axis
Units
radians per second
SIM_GYR4_BIAS_Z: FOURTH GYRO BIAS ON Z AXIS¶
Note: This parameter is for advanced users
Fourth Gyro bias on Z axis
Units
radians per second
SIM_GYR4_SCALE_X: GYRO 4 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (X-axis)
SIM_GYR4_SCALE_Y: GYRO 4 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (Y-axis)
SIM_GYR4_SCALE_Z: GYRO 4 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (Z-axis)
SIM_GYR5_BIAS_X: FIFTH GYRO BIAS ON X AXIS¶
Note: This parameter is for advanced users
Fifth Gyro bias on X axis
Units
radians per second
SIM_GYR5_BIAS_Y: FIFTH GYRO BIAS ON Y AXIS¶
Note: This parameter is for advanced users
Fifth Gyro bias on Y axis
Units
radians per second
SIM_GYR5_BIAS_Z: FIFTH GYRO BIAS ON Z AXIS¶
Note: This parameter is for advanced users
Fifth Gyro bias on Z axis
Units
radians per second
SIM_GYR5_SCALE_X: GYRO 5 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (X-axis)
SIM_GYR5_SCALE_Y: GYRO 5 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (Y-axis)
SIM_GYR5_SCALE_Z: GYRO 5 SCALING FACTOR¶
Note: This parameter is for advanced users
scaling factors applied to simulated gyroscope (Z-axis)
SIM_GYRO_FAIL_MSK: GYRO FAILURE MASK¶
Note: This parameter is for advanced users
Determines if the gyro reading updates are stopped when for an IMU simulated
failure by ACCELx_FAIL params
Values
Value
Meaning
0
Disabled
1
Readings stopped
SIM_IMU_COUNT: IMU COUNT¶
Number of simulated IMUs to create
SIM_IMU_POS_X: IMU OFFSETS¶
XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)
Units
meters
SIM_IMU_POS_Y: IMU OFFSETS¶
XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)
Units
meters
SIM_IMU_POS_Z: IMU OFFSETS¶
XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)
Units
meters
SIM_INIT_ALT_OFS: INITIAL ALTITUDE OFFSET¶
GPS initial alt offset from origin
SIM_INIT_LAT_OFS: INITIAL LATITUDE OFFSET¶
GPS initial lat offset from origin
SIM_INIT_LON_OFS: INITIAL LONGITUDE OFFSET¶
GPS initial lon offset from origin
SIM_JSON_MASTER: JSON MASTER INSTANCE¶
the instance number to take servos from
SIM_MAG1_DEVID: MAG1 DEVICE ID¶
Note: This parameter is for advanced users
Device ID of simulated compass 1
SIM_MAG1_FAIL: MAG1 FAILURE¶
Note: This parameter is for advanced users
Simulated failure of MAG1
Values
Value
Meaning
0
Disabled
1
MAG1 Failure
SIM_MAG2_FAIL: MAG2 FAILURE¶
Note: This parameter is for advanced users
Simulated failure of MAG2
Values
Value
Meaning
0
Disabled
1
MAG2 Failure
SIM_MAG3_FAIL: MAG3 FAILURE¶
Note: This parameter is for advanced users
Simulated failure of MAG3
Values
Value
Meaning
0
Disabled
1
MAG3 Failure
SIM_MAG_SAVE_IDS: SAVE MAG DEVIDS ON STARTUP¶
Note: This parameter is for advanced users
This forces saving of compass devids on startup so that simulated compasses
start as calibrated
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_OH_MASK: SIM-ON_HARDWARE OUTPUT ENABLE MASK¶
channels which are passed through to actual hardware when running sim on actual
hardware
SIM_OH_RELAY_MSK: SIM-ON_HARDWARE RELAY ENABLE MASK¶
Allow relay output operation when running SIM-on-hardware
SIM_OPOS_ALT: ORIGINAL POSITION (ALTITUDE)¶
Note: This parameter is for advanced users
Specifies vehicle's startup altitude (AMSL)
SIM_OPOS_HDG: ORIGINAL POSITION (HEADING)¶
Note: This parameter is for advanced users
Specifies vehicle's startup heading (0-360)
SIM_OPOS_LAT: ORIGINAL POSITION (LATITUDE)¶
Note: This parameter is for advanced users
Specifies vehicle's startup latitude
SIM_OPOS_LNG: ORIGINAL POSITION (LONGITUDE)¶
Note: This parameter is for advanced users
Specifies vehicle's startup longitude
SIM_OSD_COLUMNS: SIMULATED OSD NUMBER OF TEXT COLUMNS¶
Simulated OSD number of text columns
Range
10 to 100
SIM_OSD_ROWS: SIMULATED OSD NUMBER OF TEXT ROWS¶
Simulated OSD number of text rows
Range
10 to 100
SIM_PLD_ALT_LIMIT: PRECLAND DEVICE ALT RANGE¶
Note: This parameter is for advanced users
Precland device maximum range altitude
Range
Units
0 to 100
meters
SIM_PLD_DIST_LIMIT: PRECLAND DEVICE LATERAL RANGE¶
Note: This parameter is for advanced users
Precland device maximum lateral range
Range
Units
5 to 100
meters
SIM_PLD_ENABLE: PRELAND DEVICE SIM ENABLE/DISABLE¶
Note: This parameter is for advanced users
Allows you to enable (1) or disable (0) the Preland simulation
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_PLD_HEIGHT: PRECLAND DEVICE CENTER'S HEIGHT SITL ORIGIN¶
Note: This parameter is for advanced users
Precland device center's height above SITL origin. Assumes a 2x2m square as
station base
Increment
Range
Units
1
0 to 10000
meters
SIM_PLD_LAT: PRECLAND DEVICE CENTER'S LATITUDE¶
Note: This parameter is for advanced users
Precland device center's latitude
Increment
Range
Units
0.000001
-90 to 90
degrees
SIM_PLD_LON: PRECLAND DEVICE CENTER'S LONGITUDE¶
Note: This parameter is for advanced users
Precland device center's longitude
Increment
Range
Units
0.000001
-180 to 180
degrees
SIM_PLD_OPTIONS: SIM_PRECLAND EXTRA OPTIONS¶
Note: This parameter is for advanced users
SIM_Precland extra options
Bitmask
Bit
Meaning
0
Enable target distance
SIM_PLD_ORIENT: PRECLAND DEVICE ORIENTATION¶
Note: This parameter is for advanced users
Precland device orientation vector
Values
Value
Meaning
0
Front
4
Back
24
Up
SIM_PLD_RATE: PRECLAND DEVICE UPDATE RATE¶
Note: This parameter is for advanced users
Precland device rate. e.g led patter refresh rate, RF message rate, etc.
Range
Units
0 to 200
hertz
SIM_PLD_SHIP: SIM_PRECLAND FOLLOW SHIP¶
Note: This parameter is for advanced users
This makes the position of the landing beacon follow the simulated ship from
SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_PLD_TYPE: PRECLAND DEVICE RADIANCE TYPE¶
Note: This parameter is for advanced users
Precland device radiance type: it can be a cylinder, a cone, or a sphere.
Values
Value
Meaning
0
cylinder
1
cone
2
sphere
SIM_PLD_YAW: PRECLAND DEVICE SYSTEMS ROTATION FROM NORTH¶
Note: This parameter is for advanced users
Precland device systems rotation from north
Increment
Range
Units
1
-180 to +180
degrees
SIM_RC_FAIL: SIMULATED RC SIGNAL FAILURE¶
Note: This parameter is for advanced users
Allows you to emulate rc failures in sim
Values
Value
Meaning
0
Disabled
1
No RC pusles
2
All Channels neutral except Throttle is 950us
SIM_SB_ALT_TARG: ALTITUDE TARGET¶
altitude target
Units
meters
SIM_SB_ARM_LEN: ARM LENGTH¶
distance from center of mass to one motor
Units
meters
SIM_SB_CLMB_RT: TARGET CLIMB RATE¶
target climb rate
Units
meters per second
SIM_SB_COL: CENTER OF LIFT¶
center of lift position above CoG
Units
meters
SIM_SB_DRAG_FWD: DRAG IN FORWARD DIRECTION¶
drag on X axis
SIM_SB_DRAG_SIDE: DRAG IN SIDEWARDS DIRECTION¶
drag on Y axis
SIM_SB_DRAG_UP: DRAG IN UPWARD DIRECTION¶
drag on Z axis
SIM_SB_FLR: FREE LIFT RATE¶
amount of additional lift generated by the helper balloon (for the purpose of
ascent), as a proportion of the 'neutral buoyancy' lift
SIM_SB_HMASS: HELIUM MASS¶
mass of lifting gas
Units
kilograms
SIM_SB_MASS: MASS¶
mass of blimp not including lifting gas
Units
kilograms
SIM_SB_MOI_PITCH: MOMENT OF INERTIA IN PITCH¶
moment of inertia in pitch
SIM_SB_MOI_ROLL: MOMENT OF INERTIA IN ROLL¶
moment of inertia in roll
SIM_SB_MOI_YAW: MOMENT OF INERTIA IN YAW¶
moment of inertia in yaw
SIM_SB_MOT_ANG: MOTOR ANGLE¶
maximum motor tilt angle
Units
degrees
SIM_SB_MOT_THST: MOTOR THRUST¶
thrust at max throttle for one motor
Units
Newtons
SIM_SB_WVANE: WEATHERVANING OFFSET¶
center of drag for weathervaning
Units
meters
SIM_SB_YAW_RT: YAW RATE¶
maximum yaw rate with full left throttle at target altitude
Units
degrees per second
SIM_SERVO_DELAY: SERVO DELAY¶
servo delay
Units
seconds
SIM_SERVO_FILTER: SERVO FILTER¶
servo filter
Units
hertz
SIM_SERVO_SPEED: SERVO SPEED¶
servo speed (time for 60 degree deflection). If DELAY and FILTER are not set
then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then
this is treated as a rate of change limit
Units
seconds
SIM_SPEEDUP: SIM SPEEDUP¶
Runs the simulation at multiples of normal speed. Do not use if realtime
physics, like RealFlight, is being used
Range
1 to 10
SIM_SPR_ENABLE: SPRAYER SIM ENABLE/DISABLE¶
Note: This parameter is for advanced users
Allows you to enable (1) or disable (0) the Sprayer simulation
Values
Value
Meaning
0
Disabled
1
Enabled
SIM_SPR_PUMP: SPRAYER PUMP PIN¶
Note: This parameter is for advanced users
The pin number that the Sprayer pump is connected to. (start at 1)
Range
0 to 15
SIM_SPR_SPIN: SPRAYER SPINNER SERVO PIN¶
Note: This parameter is for advanced users
The pin number that the Sprayer spinner servo is connected to. (start at 1)
Range
0 to 15
SIM_UART_LOSS: UART BYTE LOSS PERCENTAGE¶
Note: This parameter is for advanced users
Sets percentage of outgoing byte loss on UARTs
Units
percent
SIM_VICON_FAIL: SITL VICON FAILURE¶
Note: This parameter is for advanced users
SITL vicon failure
Values
Value
Meaning
0
Vicon Healthy
1
Vicon Failed
SIM_VICON_GLIT_X: SITL VICON POSITION GLITCH NORTH¶
Note: This parameter is for advanced users
SITL vicon position glitch North
Units
meters
SIM_VICON_GLIT_Y: SITL VICON POSITION GLITCH EAST¶
Note: This parameter is for advanced users
SITL vicon position glitch East
Units
meters
SIM_VICON_GLIT_Z: SITL VICON POSITION GLITCH DOWN¶
Note: This parameter is for advanced users
SITL vicon position glitch Down
Units
meters
SIM_VICON_POS_X: SITL VICON POSITION ON VEHICLE IN FORWARD DIRECTION¶
Note: This parameter is for advanced users
SITL vicon position on vehicle in Forward direction
Range
Units
0 to 10
meters
SIM_VICON_POS_Y: SITL VICON POSITION ON VEHICLE IN RIGHT DIRECTION¶
Note: This parameter is for advanced users
SITL vicon position on vehicle in Right direction
Range
Units
0 to 10
meters
SIM_VICON_POS_Z: SITL VICON POSITION ON VEHICLE IN DOWN DIRECTION¶
SITL vicon position on vehicle in Down direction
Range
Units
0 to 10
meters
SIM_VICON_TMASK: SITL VICON TYPE MASK¶
Note: This parameter is for advanced users
SITL vicon messages sent
Bitmask
Bit
Meaning
0
VISION_POSITION_ESTIMATE
1
VISION_SPEED_ESTIMATE
2
VICON_POSITION_ESTIMATE
3
VISION_POSITION_DELTA
4
ODOMETRY
SIM_VICON_VGLI_X: SITL VICON VELOCITY GLITCH NORTH¶
Note: This parameter is for advanced users
SITL vicon velocity glitch North
Units
meters per second
SIM_VICON_VGLI_Y: SITL VICON VELOCITY GLITCH EAST¶
Note: This parameter is for advanced users
SITL vicon velocity glitch East
Units
meters per second
SIM_VICON_VGLI_Z: SITL VICON VELOCITY GLITCH DOWN¶
Note: This parameter is for advanced users
SITL vicon velocity glitch Down
Units
meters per second
SIM_VICON_YAW: SITL VICON YAW ANGLE IN EARTH FRAME¶
Note: This parameter is for advanced users
SITL vicon yaw angle in earth frame
Range
Units
0 to 360
degrees
SIM_VICON_YAWERR: SITL VICON YAW ERROR¶
Note: This parameter is for advanced users
SITL vicon yaw added to reported yaw sent to vehicle
Range
Units
-180 to 180
degrees
SIM_WIND_DIR: SIMULATED WIND DIRECTION¶
Note: This parameter is for advanced users
Allows you to set wind direction (true deg) in sim
Units
degrees
SIM_WIND_SPD: SIMULATED WIND SPEED¶
Note: This parameter is for advanced users
Allows you to emulate wind in sim
Units
meters per second
SIM_WIND_T: WIND PROFILE TYPE¶
Selects how wind varies from surface to WIND_T_ALT
Values
Value
Meaning
0
square law
1
none
2
linear-see WIND_T_COEF
SIM_WIND_TC: WIND VARIATION TIME CONSTANT¶
Note: This parameter is for advanced users
this controls the time over which wind changes take effect
Units
seconds
SIM_WIND_TURB: SIMULATED WIND VARIATION¶
Note: This parameter is for advanced users
Allows you to emulate random wind variations in sim
Units
meters per second
SIM_WIND_T_ALT: FULL WIND ALTITUDE¶
Note: This parameter is for advanced users
Altitude at which wind reaches full strength, decaying from full strength as
altitude lowers to ground level
Units
meters
SIM_WIND_T_COEF: LINEAR WIND CURVE COEFF¶
Note: This parameter is for advanced users
For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value
SIM_WOW_PIN: WEIGHT ON WHEELS PIN¶
Note: This parameter is for advanced users
SITL set this simulated pin to true if vehicle is on ground
SOAR_ PARAMETERS¶
SOAR_ENABLE: IS THE SOARING MODE ENABLED OR NOT¶
Note: This parameter is for advanced users
Toggles the soaring mode on and off
Values
Value
Meaning
0
Disable
1
Enable
SOAR_VSPEED: VERTICAL V-SPEED¶
Note: This parameter is for advanced users
Rate of climb to trigger themalling speed
Range
Units
0 to 10
meters per second
SOAR_Q1: PROCESS NOISE¶
Note: This parameter is for advanced users
Standard deviation of noise in process for strength
Range
0.0001 to 0.01
SOAR_Q2: PROCESS NOISE¶
Note: This parameter is for advanced users
Standard deviation of noise in process for position and radius
Range
0.01 to 1
SOAR_R: MEASUREMENT NOISE¶
Note: This parameter is for advanced users
Standard deviation of noise in measurement
Range
0.01 to 1
SOAR_DIST_AHEAD: DISTANCE TO THERMAL CENTER¶
Note: This parameter is for advanced users
Initial guess of the distance to the thermal center
Range
Units
0 to 100
meters
SOAR_MIN_THML_S: MINIMUM THERMALLING TIME¶
Note: This parameter is for advanced users
Minimum number of seconds to spend thermalling
Range
Units
0 to 600
seconds
SOAR_MIN_CRSE_S: MINIMUM CRUISING TIME¶
Note: This parameter is for advanced users
Minimum number of seconds to spend cruising
Range
Units
0 to 600
seconds
SOAR_POLAR_CD0: ZERO LIFT DRAG COEF.¶
Note: This parameter is for advanced users
Zero lift drag coefficient
Range
0.005 to 0.5
SOAR_POLAR_B: INDUCED DRAG COEFFIENT¶
Note: This parameter is for advanced users
Induced drag coeffient
Range
0.005 to 0.05
SOAR_POLAR_K: CL FACTOR¶
Note: This parameter is for advanced users
Cl factor 2*m*g/(rho*S)
Range
Units
20 to 400
square meter per square second
SOAR_ALT_MAX: MAXIMUM SOARING ALTITUDE, RELATIVE TO THE HOME LOCATION¶
Note: This parameter is for advanced users
Don't thermal any higher than this.
Range
Units
0 to 5000.0
meters
SOAR_ALT_MIN: MINIMUM SOARING ALTITUDE, RELATIVE TO THE HOME LOCATION¶
Note: This parameter is for advanced users
Don't get any lower than this.
Range
Units
0 to 1000.0
meters
SOAR_ALT_CUTOFF: MAXIMUM POWER ALTITUDE, RELATIVE TO THE HOME LOCATION¶
Note: This parameter is for advanced users
Cut off throttle at this alt.
Range
Units
0 to 5000.0
meters
SOAR_MAX_DRIFT: (OPTIONAL) MAXIMUM DRIFT DISTANCE TO ALLOW WHEN THERMALLING.¶
Note: This parameter is for advanced users
The previous mode will be restored if the horizontal distance to the thermalling
start location exceeds this value. -1 to disable.
Range
0 to 1000
SOAR_MAX_RADIUS: (OPTIONAL) MAXIMUM DISTANCE FROM HOME¶
Note: This parameter is for advanced users
RTL will be entered when a thermal is exited and the plane is more than this
distance from home. -1 to disable.
Range
0 to 1000
SOAR_THML_BANK: THERMALLING BANK ANGLE¶
Note: This parameter is for advanced users
This parameter sets the bank angle to use when thermalling. Typically 30 - 45
degrees works well.
Range
Units
20 to 50
degrees
SOAR_THML_ARSPD: SPECIFIC SETTING FOR AIRSPEED WHEN SOARING IN THERMAL MODE.¶
Note: This parameter is for advanced users
If non-zero this airspeed will be used when thermalling. A value of 0 will use
AIRSPEED_CRUISE.
Range
0 to 50
SOAR_CRSE_ARSPD: SPECIFIC SETTING FOR AIRSPEED WHEN SOARING IN AUTO MODE.¶
Note: This parameter is for advanced users
If non-zero this airspeed will be used when cruising between thermals in AUTO.
If set to -1, airspeed will be selected based on speed-to-fly theory. If set to
0, then AIRSPEED_CRUISE will be used while cruising between thermals.
Range
-1 to 50
SOAR_THML_FLAP: FLAP PERCENT TO BE USED DURING THERMALLING FLIGHT.¶
Note: This parameter is for advanced users
This sets the flap when in LOITER with soaring active. Overrides the usual auto
flap behaviour.
Range
0 to 100
SR0_ PARAMETERS¶
SR0_RAW_SENS: RAW SENSOR STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE,
SCALED_PRESSURE2, and SCALED_PRESSURE3
Increment
Range
Units
1
0 to 50
hertz
SR0_EXT_STAT: EXTENDED STATUS STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO,
CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if
available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and
GLOBAL_TARGET_POS_INT
Increment
Range
Units
1
0 to 50
hertz
SR0_RC_CHAN: RC CHANNEL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
Increment
Range
Units
1
0 to 50
hertz
SR0_RAW_CTRL: RAW CONTROL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Raw Control stream rate of SERVO_OUT
Increment
Range
Units
1
0 to 50
hertz
SR0_POSITION: POSITION STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
Increment
Range
Units
1
0 to 50
hertz
SR0_EXTRA1: EXTRA DATA TYPE 1 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA,
LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
Increment
Range
Units
1
0 to 50
hertz
SR0_EXTRA2: EXTRA DATA TYPE 2 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of VFR_HUD
Increment
Range
1
0 to 50
SR0_EXTRA3: EXTRA DATA TYPE 3 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR,
TERRAIN_REQUEST, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW,
MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and
BATTERY_STATUS
Increment
Range
Units
1
0 to 50
hertz
SR0_PARAMS: PARAMETER STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of PARAM_VALUE
Increment
Range
Units
1
0 to 50
hertz
SR0_ADSB: ADSB STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink ADSB stream rate
Increment
Range
Units
1
0 to 50
hertz
SR1_ PARAMETERS¶
SR1_RAW_SENS: RAW SENSOR STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE,
SCALED_PRESSURE2, and SCALED_PRESSURE3
Increment
Range
Units
1
0 to 50
hertz
SR1_EXT_STAT: EXTENDED STATUS STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO,
CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if
available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and
GLOBAL_TARGET_POS_INT
Increment
Range
Units
1
0 to 50
hertz
SR1_RC_CHAN: RC CHANNEL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
Increment
Range
Units
1
0 to 50
hertz
SR1_RAW_CTRL: RAW CONTROL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Raw Control stream rate of SERVO_OUT
Increment
Range
Units
1
0 to 50
hertz
SR1_POSITION: POSITION STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
Increment
Range
Units
1
0 to 50
hertz
SR1_EXTRA1: EXTRA DATA TYPE 1 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA,
LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
Increment
Range
Units
1
0 to 50
hertz
SR1_EXTRA2: EXTRA DATA TYPE 2 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of VFR_HUD
Increment
Range
1
0 to 50
SR1_EXTRA3: EXTRA DATA TYPE 3 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR,
TERRAIN_REQUEST, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW,
MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and
BATTERY_STATUS
Increment
Range
Units
1
0 to 50
hertz
SR1_PARAMS: PARAMETER STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of PARAM_VALUE
Increment
Range
Units
1
0 to 50
hertz
SR1_ADSB: ADSB STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink ADSB stream rate
Increment
Range
Units
1
0 to 50
hertz
SR2_ PARAMETERS¶
SR2_RAW_SENS: RAW SENSOR STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE,
SCALED_PRESSURE2, and SCALED_PRESSURE3
Increment
Range
Units
1
0 to 50
hertz
SR2_EXT_STAT: EXTENDED STATUS STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO,
CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if
available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and
GLOBAL_TARGET_POS_INT
Increment
Range
Units
1
0 to 50
hertz
SR2_RC_CHAN: RC CHANNEL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
Increment
Range
Units
1
0 to 50
hertz
SR2_RAW_CTRL: RAW CONTROL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Raw Control stream rate of SERVO_OUT
Increment
Range
Units
1
0 to 50
hertz
SR2_POSITION: POSITION STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
Increment
Range
Units
1
0 to 50
hertz
SR2_EXTRA1: EXTRA DATA TYPE 1 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA,
LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
Increment
Range
Units
1
0 to 50
hertz
SR2_EXTRA2: EXTRA DATA TYPE 2 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of VFR_HUD
Increment
Range
1
0 to 50
SR2_EXTRA3: EXTRA DATA TYPE 3 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR,
TERRAIN_REQUEST, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW,
MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and
BATTERY_STATUS
Increment
Range
Units
1
0 to 50
hertz
SR2_PARAMS: PARAMETER STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of PARAM_VALUE
Increment
Range
Units
1
0 to 50
hertz
SR2_ADSB: ADSB STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink ADSB stream rate
Increment
Range
Units
1
0 to 50
hertz
SR3_ PARAMETERS¶
SR3_RAW_SENS: RAW SENSOR STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE,
SCALED_PRESSURE2, and SCALED_PRESSURE3
Increment
Range
Units
1
0 to 50
hertz
SR3_EXT_STAT: EXTENDED STATUS STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO,
CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if
available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and
GLOBAL_TARGET_POS_INT
Increment
Range
Units
1
0 to 50
hertz
SR3_RC_CHAN: RC CHANNEL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
Increment
Range
Units
1
0 to 50
hertz
SR3_RAW_CTRL: RAW CONTROL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Raw Control stream rate of SERVO_OUT
Increment
Range
Units
1
0 to 50
hertz
SR3_POSITION: POSITION STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
Increment
Range
Units
1
0 to 50
hertz
SR3_EXTRA1: EXTRA DATA TYPE 1 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA,
LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
Increment
Range
Units
1
0 to 50
hertz
SR3_EXTRA2: EXTRA DATA TYPE 2 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of VFR_HUD
Increment
Range
1
0 to 50
SR3_EXTRA3: EXTRA DATA TYPE 3 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR,
TERRAIN_REQUEST, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW,
MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and
BATTERY_STATUS
Increment
Range
Units
1
0 to 50
hertz
SR3_PARAMS: PARAMETER STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of PARAM_VALUE
Increment
Range
Units
1
0 to 50
hertz
SR3_ADSB: ADSB STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink ADSB stream rate
Increment
Range
Units
1
0 to 50
hertz
SR4_ PARAMETERS¶
SR4_RAW_SENS: RAW SENSOR STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE,
SCALED_PRESSURE2, and SCALED_PRESSURE3
Increment
Range
Units
1
0 to 50
hertz
SR4_EXT_STAT: EXTENDED STATUS STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO,
CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if
available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and
GLOBAL_TARGET_POS_INT
Increment
Range
Units
1
0 to 50
hertz
SR4_RC_CHAN: RC CHANNEL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
Increment
Range
Units
1
0 to 50
hertz
SR4_RAW_CTRL: RAW CONTROL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Raw Control stream rate of SERVO_OUT
Increment
Range
Units
1
0 to 50
hertz
SR4_POSITION: POSITION STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
Increment
Range
Units
1
0 to 50
hertz
SR4_EXTRA1: EXTRA DATA TYPE 1 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA,
LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
Increment
Range
Units
1
0 to 50
hertz
SR4_EXTRA2: EXTRA DATA TYPE 2 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of VFR_HUD
Increment
Range
1
0 to 50
SR4_EXTRA3: EXTRA DATA TYPE 3 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR,
TERRAIN_REQUEST, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW,
MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and
BATTERY_STATUS
Increment
Range
Units
1
0 to 50
hertz
SR4_PARAMS: PARAMETER STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of PARAM_VALUE
Increment
Range
Units
1
0 to 50
hertz
SR4_ADSB: ADSB STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink ADSB stream rate
Increment
Range
Units
1
0 to 50
hertz
SR5_ PARAMETERS¶
SR5_RAW_SENS: RAW SENSOR STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE,
SCALED_PRESSURE2, and SCALED_PRESSURE3
Increment
Range
Units
1
0 to 50
hertz
SR5_EXT_STAT: EXTENDED STATUS STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO,
CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if
available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and
GLOBAL_TARGET_POS_INT
Increment
Range
Units
1
0 to 50
hertz
SR5_RC_CHAN: RC CHANNEL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
Increment
Range
Units
1
0 to 50
hertz
SR5_RAW_CTRL: RAW CONTROL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Raw Control stream rate of SERVO_OUT
Increment
Range
Units
1
0 to 50
hertz
SR5_POSITION: POSITION STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
Increment
Range
Units
1
0 to 50
hertz
SR5_EXTRA1: EXTRA DATA TYPE 1 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA,
LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
Increment
Range
Units
1
0 to 50
hertz
SR5_EXTRA2: EXTRA DATA TYPE 2 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of VFR_HUD
Increment
Range
1
0 to 50
SR5_EXTRA3: EXTRA DATA TYPE 3 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR,
TERRAIN_REQUEST, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW,
MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and
BATTERY_STATUS
Increment
Range
Units
1
0 to 50
hertz
SR5_PARAMS: PARAMETER STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of PARAM_VALUE
Increment
Range
Units
1
0 to 50
hertz
SR5_ADSB: ADSB STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink ADSB stream rate
Increment
Range
Units
1
0 to 50
hertz
SR6_ PARAMETERS¶
SR6_RAW_SENS: RAW SENSOR STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE,
SCALED_PRESSURE2, and SCALED_PRESSURE3
Increment
Range
Units
1
0 to 50
hertz
SR6_EXT_STAT: EXTENDED STATUS STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO,
CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if
available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and
GLOBAL_TARGET_POS_INT
Increment
Range
Units
1
0 to 50
hertz
SR6_RC_CHAN: RC CHANNEL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
Increment
Range
Units
1
0 to 50
hertz
SR6_RAW_CTRL: RAW CONTROL STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Raw Control stream rate of SERVO_OUT
Increment
Range
Units
1
0 to 50
hertz
SR6_POSITION: POSITION STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
Increment
Range
Units
1
0 to 50
hertz
SR6_EXTRA1: EXTRA DATA TYPE 1 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA,
LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
Increment
Range
Units
1
0 to 50
hertz
SR6_EXTRA2: EXTRA DATA TYPE 2 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of VFR_HUD
Increment
Range
1
0 to 50
SR6_EXTRA3: EXTRA DATA TYPE 3 STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR,
TERRAIN_REQUEST, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW,
MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and
BATTERY_STATUS
Increment
Range
Units
1
0 to 50
hertz
SR6_PARAMS: PARAMETER STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink Stream rate of PARAM_VALUE
Increment
Range
Units
1
0 to 50
hertz
SR6_ADSB: ADSB STREAM RATE¶
Note: This parameter is for advanced users
Note: Reboot required after change
MAVLink ADSB stream rate
Increment
Range
Units
1
0 to 50
hertz
STAT PARAMETERS¶
STAT_BOOTCNT: BOOT COUNT¶
Number of times board has been booted
ReadOnly
True
STAT_FLTTIME: TOTAL FLIGHTTIME¶
Total FlightTime (seconds)
ReadOnly
Units
True
seconds
STAT_RUNTIME: TOTAL RUNTIME¶
Total time autopilot has run
ReadOnly
Units
True
seconds
STAT_RESET: STATISTICS RESET TIME¶
Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset
(set to 0 to reset statistics, other set values will be ignored)
ReadOnly
Units
True
seconds
STEER2SRV_ PARAMETERS¶
STEER2SRV_TCONST: STEERING TIME CONSTANT¶
Note: This parameter is for advanced users
This controls the time constant in seconds from demanded to achieved steering
angle. A value of 0.75 is a good default and will work with nearly all rovers.
Ground steering in aircraft needs a bit smaller time constant, and a value of
0.5 is recommended for best ground handling in fixed wing aircraft. A value of
0.75 means that the controller will try to correct any deviation between the
desired and actual steering angle in 0.75 seconds. Advanced users may want to
reduce this time to obtain a faster response but there is no point setting a
time less than the vehicle can achieve.
Increment
Range
Units
0.1
0.4 to 1.0
seconds
STEER2SRV_P: STEERING TURNING GAIN¶
The proportional gain for steering. This should be approximately equal to the
diameter of the turning circle of the vehicle at low speed and maximum steering
angle
Increment
Range
0.1
0.1 to 10.0
STEER2SRV_I: INTEGRATOR GAIN¶
This is the gain from the integral of steering angle. Increasing this gain
causes the controller to trim out steady offsets due to an out of trim vehicle.
Increment
Range
0.05
0 to 1.0
STEER2SRV_D: DAMPING GAIN¶
This adjusts the damping of the steering control loop. This gain helps to reduce
steering jitter with vibration. It should be increased in 0.01 increments as too
high a value can lead to a high frequency steering oscillation that could
overstress the vehicle.
Increment
Range
0.01
0 to 0.1
STEER2SRV_IMAX: INTEGRATOR LIMIT¶
Note: This parameter is for advanced users
This limits the number of degrees of steering in centi-degrees over which the
integrator will operate. At the default setting of 1500 centi-degrees, the
integrator will be limited to +- 15 degrees of servo travel. The maximum servo
deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of
the total control throw which is adequate unless the vehicle is severely out of
trim.
Increment
Range
Units
10
0 to 4500
centidegrees
STEER2SRV_MINSPD: MINIMUM SPEED¶
This is the minimum assumed ground speed in meters/second for steering. Having a
minimum speed prevents oscillations when the vehicle first starts moving. The
vehicle can still drive slower than this limit, but the steering calculations
will be done based on this minimum speed.
Increment
Range
Units
0.1
0 to 5
meters per second
STEER2SRV_FF: STEERING FEED FORWARD¶
The feed forward gain for steering this is the ratio of the achieved turn rate
to applied steering. A value of 1 means that the vehicle would yaw at a rate of
45 degrees per second with full steering deflection at 1m/s ground speed.
Increment
Range
0.1
0.0 to 10.0
STEER2SRV_DRTSPD: DERATING SPEED¶
Note: This parameter is for advanced users
Speed after that the maximum degree of steering will start to derate. Set this
speed to a maximum speed that a plane can do controlled turn at maximum angle of
steering wheel without rolling to wing. If 0 then no derating is used.
Increment
Range
Units
0.1
0.0 to 30.0
meters per second
STEER2SRV_DRTFCT: DERATING FACTOR¶
Note: This parameter is for advanced users
Degrees of steering wheel to derate at each additional m/s of speed above
"Derating speed". Should be set so that at higher speeds the plane does not roll
to the wing in turns.
Increment
Range
Units
0.1
0.0 to 50.0
degrees per meter per second
STEER2SRV_DRTMIN: MINIMUM ANGLE OF WHEEL¶
Note: This parameter is for advanced users
The angle that limits smallest angle of steering wheel at maximum speed. Even if
it should derate below, it will stop derating at this angle.
Increment
Range
Units
10
0 to 4500
centidegrees
TECS_ PARAMETERS¶
TECS_CLMB_MAX: MAXIMUM CLIMB RATE (METRES/SEC)¶
Maximum demanded climb rate. Do not set higher than the climb speed at THR_MAX
at AIRSPEED_CRUISE when the battery is at low voltage. Reduce value if airspeed
cannot be maintained on ascent. Increase value if throttle does not increase
significantly to ascend.
Increment
Range
0.1
0.1 to 20.0
TECS_SINK_MIN: MINIMUM SINK RATE (METRES/SEC)¶
Minimum sink rate when at THR_MIN and AIRSPEED_CRUISE.
Increment
Range
0.1
0.1 to 10.0
TECS_TIME_CONST: CONTROLLER TIME CONSTANT (SEC)¶
Note: This parameter is for advanced users
Time constant of the TECS control algorithm. Small values make faster altitude
corrections but can cause overshoot and aggressive behavior.
Increment
Range
0.2
3.0 to 10.0
TECS_THR_DAMP: CONTROLLER THROTTLE DAMPING¶
Note: This parameter is for advanced users
Damping gain for throttle demand loop. Increase to add throttle activity to
dampen oscillations in speed and height.
Increment
Range
0.1
0.1 to 1.0
TECS_INTEG_GAIN: CONTROLLER INTEGRATOR¶
Note: This parameter is for advanced users
Integrator gain to trim out long-term speed and height errors.
Increment
Range
0.02
0.0 to 0.5
TECS_VERT_ACC: VERTICAL ACCELERATION LIMIT (METRES/SEC^2)¶
Note: This parameter is for advanced users
Maximum vertical acceleration used to correct speed or height errors.
Increment
Range
0.5
1.0 to 10.0
TECS_HGT_OMEGA: HEIGHT COMPLEMENTARY FILTER FREQUENCY (RADIANS/SEC)¶
Note: This parameter is for advanced users
This is the cross-over frequency of the complementary filter used to fuse
vertical acceleration and baro alt to obtain an estimate of height rate and
height.
Increment
Range
0.05
1.0 to 5.0
TECS_SPD_OMEGA: SPEED COMPLEMENTARY FILTER FREQUENCY (RADIANS/SEC)¶
Note: This parameter is for advanced users
This is the cross-over frequency of the complementary filter used to fuse
longitudinal acceleration and airspeed to obtain a lower noise and lag estimate
of airspeed.
Increment
Range
0.05
0.5 to 2.0
TECS_RLL2THR: BANK ANGLE COMPENSATION GAIN¶
Note: This parameter is for advanced users
Gain from bank angle to throttle to compensate for loss of airspeed from drag in
turns. Set to approximately 10x the sink rate in m/s caused by a 45-degree turn.
High efficiency models may need less while less efficient aircraft may need
more. Should be tuned in an automatic mission with waypoints and turns greater
than 90 degrees. Tune with PTCH2SRV_RLL and KFF_RDDRMIX to achieve constant
airspeed, constant altitude turns.
Increment
Range
1.0
5.0 to 30.0
TECS_SPDWEIGHT: WEIGHTING APPLIED TO SPEED CONTROL¶
Note: This parameter is for advanced users
Mixing of pitch and throttle correction for height and airspeed errors. Pitch
controls altitude and throttle controls airspeed if set to 0. Pitch controls
airspeed and throttle controls altitude if set to 2 (good for gliders). Blended
if set to 1.
Increment
Range
0.1
0.0 to 2.0
TECS_PTCH_DAMP: CONTROLLER PITCH DAMPING¶
Note: This parameter is for advanced users
Damping gain for pitch control from TECS control. Increasing may correct for
oscillations in speed and height, but too much may cause additional oscillation
and degraded control.
Increment
Range
0.1
0.1 to 1.0
TECS_SINK_MAX: MAXIMUM DESCENT RATE (METRES/SEC)¶
Maximum demanded descent rate. Do not set higher than the vertical speed the
aircraft can maintain at THR_MIN, TECS_PITCH_MIN, and AIRSPEED_MAX.
Increment
Range
0.1
0.0 to 20.0
TECS_LAND_ARSPD: AIRSPEED DURING LANDING APPROACH (M/S)¶
When performing an autonomus landing, this value is used as the goal airspeed
during approach. Max airspeed allowed is Trim Airspeed or AIRSPEED_MAX as
defined by LAND_OPTIONS bitmask. Note that this parameter is not useful if your
platform does not have an airspeed sensor (use TECS_LAND_THR instead). If
negative then this value is halfway between AIRSPEED_MIN and TRIM_CRUISE_CM
speed for fixed wing autolandings.
Increment
Range
1
-1 to 127
TECS_LAND_THR: CRUISE THROTTLE DURING LANDING APPROACH (PERCENTAGE)¶
Use this parameter instead of LAND_ARSPD if your platform does not have an
airspeed sensor. It is the cruise throttle during landing approach. If this
value is negative then it is disabled and TECS_LAND_ARSPD is used instead.
Increment
Range
0.1
-1 to 100
TECS_LAND_SPDWGT: WEIGHTING APPLIED TO SPEED CONTROL DURING LANDING.¶
Note: This parameter is for advanced users
Same as SPDWEIGHT parameter, with the exception that this parameter is applied
during landing flight stages. A value closer to 2 will result in the plane
ignoring height error during landing and our experience has been that the plane
will therefore keep the nose up -- sometimes good for a glider landing (with the
side effect that you will likely glide a ways past the landing point). A value
closer to 0 results in the plane ignoring speed error -- use caution when
lowering the value below 1 -- ignoring speed could result in a stall. Values
between 0 and 2 are valid values for a fixed landing weight. When using -1 the
weight will be scaled during the landing. At the start of the landing approach
it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the
land point. Example: Halfway down the landing approach you'll effectively have a
weight of TECS_SPDWEIGHT/2.
Increment
Range
0.1
-1.0 to 2.0
TECS_PITCH_MAX: MAXIMUM PITCH IN AUTO FLIGHT¶
Note: This parameter is for advanced users
Overrides PTCH_LIM_MAX_DEG in automatic throttle modes to reduce climb rates.
Uses PTCH_LIM_MAX_DEG if set to 0. For proper TECS tuning, set to the angle that
the aircraft can climb at AIRSPEED_CRUISE and THR_MAX.
Increment
Range
1
0 to 45
TECS_PITCH_MIN: MINIMUM PITCH IN AUTO FLIGHT¶
Note: This parameter is for advanced users
Overrides PTCH_LIM_MIN_DEG in automatic throttle modes to reduce descent rates.
Uses PTCH_LIM_MIN_DEG if set to 0. For proper TECS tuning, set to the angle that
the aircraft can descend at without overspeeding.
Increment
Range
1
-45 to 0
TECS_LAND_SINK: SINK RATE FOR FINAL LANDING STAGE¶
Note: This parameter is for advanced users
The sink rate in meters/second for the final stage of landing.
Increment
Range
0.1
0.0 to 2.0
TECS_LAND_TCONST: LAND CONTROLLER TIME CONSTANT (SEC)¶
Note: This parameter is for advanced users
This is the time constant of the TECS control algorithm when in final landing
stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster
flare
Increment
Range
0.2
1.0 to 5.0
TECS_LAND_DAMP: CONTROLLER SINK RATE TO PITCH GAIN DURING FLARE¶
Note: This parameter is for advanced users
This is the sink rate gain for the pitch demand loop when in final landing stage
of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate
control during flare.
Increment
Range
0.1
0.1 to 1.0
TECS_LAND_PMAX: MAXIMUM PITCH DURING FINAL STAGE OF LANDING¶
Note: This parameter is for advanced users
This limits the pitch used during the final stage of automatic landing. During
the final landing stage most planes need to keep their pitch small to avoid
stalling. A maximum of 10 degrees is usually good. A value of zero means to use
the normal pitch limits.
Increment
Range
1
-5 to 40
TECS_APPR_SMAX: SINK RATE MAX FOR LANDING APPROACH STAGE¶
Note: This parameter is for advanced users
The sink rate max for the landing approach stage of landing. This will need to
be large for steep landing approaches especially when using reverse thrust. If
0, then use TECS_SINK_MAX.
Increment
Range
Units
0.1
0.0 to 20.0
meters per second
TECS_LAND_SRC: LAND SINK RATE CHANGE¶
Note: This parameter is for advanced users
When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With
this enabled the flare sinkrate will increase/decrease the flare sink demand as
you get further beyond the LAND waypoint. Has no effect before the waypoint.
This value is added to TECS_LAND_SINK proportional to distance traveled after
wp. With an increasing sink rate you can still land in a given distance if
you're traveling too fast and cruise passed the land point. A positive value
will force the plane to land sooner proportional to distance passed land point.
A negative number will tell the plane to slowly climb allowing for a pitched-up
stall landing. Recommend 0.2 as initial value.
Increment
Range
Units
0.1
-2.0 to 2.0
meters per second per meter
TECS_LAND_TDAMP: CONTROLLER THROTTLE DAMPING WHEN LANDING¶
Note: This parameter is for advanced users
Damping gain for the throttle demand loop during an auto-landing. Same as
TECS_THR_DAMP but only in effect during an auto-land. Increase to add throttle
activity to dampen oscillations in speed and height. When set to 0 landing
throttle damping is controlled by TECS_THR_DAMP.
Increment
Range
0.1
0.1 to 1.0
TECS_LAND_IGAIN: CONTROLLER INTEGRATOR DURING LANDING¶
Note: This parameter is for advanced users
This is the integrator gain on the control loop during landing. When set to 0
then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and
height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work
best
Increment
Range
0.02
0.0 to 0.5
TECS_TKOFF_IGAIN: CONTROLLER INTEGRATOR DURING TAKEOFF¶
Note: This parameter is for advanced users
This is the integrator gain on the control loop during takeoff. When set to 0
then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and
height offsets are trimmed out. Typically values higher than TECS_INTEG_GAIN
work best
Increment
Range
0.02
0.0 to 0.5
TECS_LAND_PDAMP: PITCH DAMPING GAIN WHEN LANDING¶
Note: This parameter is for advanced users
This is the damping gain for the pitch demand loop during landing. Increase to
add damping to correct for oscillations in speed and height. If set to 0 then
TECS_PTCH_DAMP will be used instead.
Increment
Range
0.1
0.1 to 1.0
TECS_SYNAIRSPEED: ENABLE THE USE OF SYNTHETIC AIRSPEED¶
Note: This parameter is for advanced users
This enables the use of synthetic airspeed in TECS for aircraft that don't have
a real airspeed sensor. This is useful for development testing where the user is
aware of the considerable limitations of the synthetic airspeed system, such as
very poor estimates when a wind estimate is not accurate. Do not enable this
option unless you fully understand the limitations of a synthetic airspeed
estimate. This option has no effect if a healthy airspeed sensor is being used
for airspeed measurements.
Values
Value
Meaning
0
Disable
1
Enable
TECS_OPTIONS: EXTRA TECS OPTIONS¶
Note: This parameter is for advanced users
This allows the enabling of special features in the speed/height controller.
Bitmask
Bit
Meaning
0
GliderOnly
1
AllowDescentSpeedup
TECS_PTCH_FF_V0: BASELINE AIRSPEED FOR PITCH FEED-FORWARD.¶
Note: This parameter is for advanced users
This parameter sets the airspeed at which no feed-forward is applied between
demanded airspeed and pitch. It should correspond to the airspeed in metres per
second at which the plane glides at neutral pitch including STAB_PITCH_DOWN.
Range
5.0 to 50.0
TECS_PTCH_FF_K: GAIN FOR PITCH FEED-FORWARD.¶
Note: This parameter is for advanced users
This parameter sets the gain between demanded airspeed and pitch. It has units
of radians per metre per second and should generally be negative. A good
starting value is -0.04 for gliders and -0.08 for draggy airframes. The default
(0.0) disables this feed-forward.
Range
-5.0 to 0.0
TECS_FLARE_HGT: FLARE HOLDOFF HEIGHT¶
Note: This parameter is for advanced users
When height above ground is below this, the sink rate will be held at
TECS_LAND_SINK. Use this to perform a hold-off manoeuvre when combined with
small values for TECS_LAND_SINK.
Range
Units
0 to 15
meters
TECS_HDEM_TCONST: HEIGHT DEMAND TIME CONSTANT¶
Note: This parameter is for advanced users
This sets the time constant of the low pass filter that is applied to the height
demand input when bit 1 of TECS_OPTIONS is not selected.
Increment
Range
Units
0.2
1.0 to 5.0
seconds
TEMP PARAMETERS¶
TEMP_LOG: LOGGING¶
Enables temperature sensor logging
Values
Value
Meaning
0
Disabled
1
Enabled
TEMP1_ PARAMETERS¶
TEMP1_TYPE: TEMPERATURE SENSOR TYPE¶
Note: Reboot required after change
Enables temperature sensors
Values
Value
Meaning
0
Disabled
1
TSYS01
2
MCP9600
3
MAX31865
4
TSYS03
5
Analog
6
DroneCAN
TEMP1_BUS: TEMPERATURE SENSOR BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor bus number, typically used to select from multiple I2C buses
Range
0 to 3
TEMP1_ADDR: TEMPERATURE SENSOR ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor address, typically used for I2C address
Range
0 to 127
TEMP1_SRC: SENSOR SOURCE¶
Sensor Source is used to designate which device's temperature report will be
replaced by this temperature sensor's data. If 0 (None) then the data is only
available via log. In the future a new Motor temperature report will be created
for returning data directly.
Values
Value
Meaning
0
None
1
ESC
2
Motor
3
Battery Index
4
Battery ID/SerialNumber
5
CAN based Pitot tube
6
DroneCAN-out on AP_Periph
TEMP1_SRC_ID: SENSOR SOURCE IDENTIFICATION¶
Sensor Source Identification is used to replace a specific instance of a system
component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1
(ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3
(BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4
(BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that
have param BATTn_SERIAL = 42.
TEMP1_PIN: TEMPERATURE SENSOR ANALOG VOLTAGE SENSING PIN¶
Sets the analog input pin that should be used for temprature monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
TEMP1_A0: TEMPERATURE SENSOR ANALOG 0TH POLYNOMIAL COEFFICIENT¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP1_A1: TEMPERATURE SENSOR ANALOG 1ST POLYNOMIAL COEFFICIENT¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP1_A2: TEMPERATURE SENSOR ANALOG 2ND POLYNOMIAL COEFFICIENT¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP1_A3: TEMPERATURE SENSOR ANALOG 3RD POLYNOMIAL COEFFICIENT¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP1_A4: TEMPERATURE SENSOR ANALOG 4TH POLYNOMIAL COEFFICIENT¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP2_ PARAMETERS¶
TEMP2_TYPE: TEMPERATURE SENSOR TYPE¶
Note: Reboot required after change
Enables temperature sensors
Values
Value
Meaning
0
Disabled
1
TSYS01
2
MCP9600
3
MAX31865
4
TSYS03
5
Analog
6
DroneCAN
TEMP2_BUS: TEMPERATURE SENSOR BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor bus number, typically used to select from multiple I2C buses
Range
0 to 3
TEMP2_ADDR: TEMPERATURE SENSOR ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor address, typically used for I2C address
Range
0 to 127
TEMP2_SRC: SENSOR SOURCE¶
Sensor Source is used to designate which device's temperature report will be
replaced by this temperature sensor's data. If 0 (None) then the data is only
available via log. In the future a new Motor temperature report will be created
for returning data directly.
Values
Value
Meaning
0
None
1
ESC
2
Motor
3
Battery Index
4
Battery ID/SerialNumber
5
CAN based Pitot tube
6
DroneCAN-out on AP_Periph
TEMP2_SRC_ID: SENSOR SOURCE IDENTIFICATION¶
Sensor Source Identification is used to replace a specific instance of a system
component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1
(ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3
(BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4
(BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that
have param BATTn_SERIAL = 42.
TEMP2_PIN: TEMPERATURE SENSOR ANALOG VOLTAGE SENSING PIN¶
Sets the analog input pin that should be used for temprature monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
TEMP2_A0: TEMPERATURE SENSOR ANALOG 0TH POLYNOMIAL COEFFICIENT¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP2_A1: TEMPERATURE SENSOR ANALOG 1ST POLYNOMIAL COEFFICIENT¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP2_A2: TEMPERATURE SENSOR ANALOG 2ND POLYNOMIAL COEFFICIENT¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP2_A3: TEMPERATURE SENSOR ANALOG 3RD POLYNOMIAL COEFFICIENT¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP2_A4: TEMPERATURE SENSOR ANALOG 4TH POLYNOMIAL COEFFICIENT¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP3_ PARAMETERS¶
TEMP3_TYPE: TEMPERATURE SENSOR TYPE¶
Note: Reboot required after change
Enables temperature sensors
Values
Value
Meaning
0
Disabled
1
TSYS01
2
MCP9600
3
MAX31865
4
TSYS03
5
Analog
6
DroneCAN
TEMP3_BUS: TEMPERATURE SENSOR BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor bus number, typically used to select from multiple I2C buses
Range
0 to 3
TEMP3_ADDR: TEMPERATURE SENSOR ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor address, typically used for I2C address
Range
0 to 127
TEMP3_SRC: SENSOR SOURCE¶
Sensor Source is used to designate which device's temperature report will be
replaced by this temperature sensor's data. If 0 (None) then the data is only
available via log. In the future a new Motor temperature report will be created
for returning data directly.
Values
Value
Meaning
0
None
1
ESC
2
Motor
3
Battery Index
4
Battery ID/SerialNumber
5
CAN based Pitot tube
6
DroneCAN-out on AP_Periph
TEMP3_SRC_ID: SENSOR SOURCE IDENTIFICATION¶
Sensor Source Identification is used to replace a specific instance of a system
component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1
(ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3
(BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4
(BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that
have param BATTn_SERIAL = 42.
TEMP3_PIN: TEMPERATURE SENSOR ANALOG VOLTAGE SENSING PIN¶
Sets the analog input pin that should be used for temprature monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
TEMP3_A0: TEMPERATURE SENSOR ANALOG 0TH POLYNOMIAL COEFFICIENT¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP3_A1: TEMPERATURE SENSOR ANALOG 1ST POLYNOMIAL COEFFICIENT¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP3_A2: TEMPERATURE SENSOR ANALOG 2ND POLYNOMIAL COEFFICIENT¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP3_A3: TEMPERATURE SENSOR ANALOG 3RD POLYNOMIAL COEFFICIENT¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP3_A4: TEMPERATURE SENSOR ANALOG 4TH POLYNOMIAL COEFFICIENT¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP4_ PARAMETERS¶
TEMP4_TYPE: TEMPERATURE SENSOR TYPE¶
Note: Reboot required after change
Enables temperature sensors
Values
Value
Meaning
0
Disabled
1
TSYS01
2
MCP9600
3
MAX31865
4
TSYS03
5
Analog
6
DroneCAN
TEMP4_BUS: TEMPERATURE SENSOR BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor bus number, typically used to select from multiple I2C buses
Range
0 to 3
TEMP4_ADDR: TEMPERATURE SENSOR ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor address, typically used for I2C address
Range
0 to 127
TEMP4_SRC: SENSOR SOURCE¶
Sensor Source is used to designate which device's temperature report will be
replaced by this temperature sensor's data. If 0 (None) then the data is only
available via log. In the future a new Motor temperature report will be created
for returning data directly.
Values
Value
Meaning
0
None
1
ESC
2
Motor
3
Battery Index
4
Battery ID/SerialNumber
5
CAN based Pitot tube
6
DroneCAN-out on AP_Periph
TEMP4_SRC_ID: SENSOR SOURCE IDENTIFICATION¶
Sensor Source Identification is used to replace a specific instance of a system
component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1
(ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3
(BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4
(BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that
have param BATTn_SERIAL = 42.
TEMP4_PIN: TEMPERATURE SENSOR ANALOG VOLTAGE SENSING PIN¶
Sets the analog input pin that should be used for temprature monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
TEMP4_A0: TEMPERATURE SENSOR ANALOG 0TH POLYNOMIAL COEFFICIENT¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP4_A1: TEMPERATURE SENSOR ANALOG 1ST POLYNOMIAL COEFFICIENT¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP4_A2: TEMPERATURE SENSOR ANALOG 2ND POLYNOMIAL COEFFICIENT¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP4_A3: TEMPERATURE SENSOR ANALOG 3RD POLYNOMIAL COEFFICIENT¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP4_A4: TEMPERATURE SENSOR ANALOG 4TH POLYNOMIAL COEFFICIENT¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP5_ PARAMETERS¶
TEMP5_TYPE: TEMPERATURE SENSOR TYPE¶
Note: Reboot required after change
Enables temperature sensors
Values
Value
Meaning
0
Disabled
1
TSYS01
2
MCP9600
3
MAX31865
4
TSYS03
5
Analog
6
DroneCAN
TEMP5_BUS: TEMPERATURE SENSOR BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor bus number, typically used to select from multiple I2C buses
Range
0 to 3
TEMP5_ADDR: TEMPERATURE SENSOR ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor address, typically used for I2C address
Range
0 to 127
TEMP5_SRC: SENSOR SOURCE¶
Sensor Source is used to designate which device's temperature report will be
replaced by this temperature sensor's data. If 0 (None) then the data is only
available via log. In the future a new Motor temperature report will be created
for returning data directly.
Values
Value
Meaning
0
None
1
ESC
2
Motor
3
Battery Index
4
Battery ID/SerialNumber
5
CAN based Pitot tube
6
DroneCAN-out on AP_Periph
TEMP5_SRC_ID: SENSOR SOURCE IDENTIFICATION¶
Sensor Source Identification is used to replace a specific instance of a system
component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1
(ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3
(BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4
(BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that
have param BATTn_SERIAL = 42.
TEMP5_PIN: TEMPERATURE SENSOR ANALOG VOLTAGE SENSING PIN¶
Sets the analog input pin that should be used for temprature monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
TEMP5_A0: TEMPERATURE SENSOR ANALOG 0TH POLYNOMIAL COEFFICIENT¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP5_A1: TEMPERATURE SENSOR ANALOG 1ST POLYNOMIAL COEFFICIENT¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP5_A2: TEMPERATURE SENSOR ANALOG 2ND POLYNOMIAL COEFFICIENT¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP5_A3: TEMPERATURE SENSOR ANALOG 3RD POLYNOMIAL COEFFICIENT¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP5_A4: TEMPERATURE SENSOR ANALOG 4TH POLYNOMIAL COEFFICIENT¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP6_ PARAMETERS¶
TEMP6_TYPE: TEMPERATURE SENSOR TYPE¶
Note: Reboot required after change
Enables temperature sensors
Values
Value
Meaning
0
Disabled
1
TSYS01
2
MCP9600
3
MAX31865
4
TSYS03
5
Analog
6
DroneCAN
TEMP6_BUS: TEMPERATURE SENSOR BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor bus number, typically used to select from multiple I2C buses
Range
0 to 3
TEMP6_ADDR: TEMPERATURE SENSOR ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor address, typically used for I2C address
Range
0 to 127
TEMP6_SRC: SENSOR SOURCE¶
Sensor Source is used to designate which device's temperature report will be
replaced by this temperature sensor's data. If 0 (None) then the data is only
available via log. In the future a new Motor temperature report will be created
for returning data directly.
Values
Value
Meaning
0
None
1
ESC
2
Motor
3
Battery Index
4
Battery ID/SerialNumber
5
CAN based Pitot tube
6
DroneCAN-out on AP_Periph
TEMP6_SRC_ID: SENSOR SOURCE IDENTIFICATION¶
Sensor Source Identification is used to replace a specific instance of a system
component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1
(ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3
(BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4
(BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that
have param BATTn_SERIAL = 42.
TEMP6_PIN: TEMPERATURE SENSOR ANALOG VOLTAGE SENSING PIN¶
Sets the analog input pin that should be used for temprature monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
TEMP6_A0: TEMPERATURE SENSOR ANALOG 0TH POLYNOMIAL COEFFICIENT¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP6_A1: TEMPERATURE SENSOR ANALOG 1ST POLYNOMIAL COEFFICIENT¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP6_A2: TEMPERATURE SENSOR ANALOG 2ND POLYNOMIAL COEFFICIENT¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP6_A3: TEMPERATURE SENSOR ANALOG 3RD POLYNOMIAL COEFFICIENT¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP6_A4: TEMPERATURE SENSOR ANALOG 4TH POLYNOMIAL COEFFICIENT¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP7_ PARAMETERS¶
TEMP7_TYPE: TEMPERATURE SENSOR TYPE¶
Note: Reboot required after change
Enables temperature sensors
Values
Value
Meaning
0
Disabled
1
TSYS01
2
MCP9600
3
MAX31865
4
TSYS03
5
Analog
6
DroneCAN
TEMP7_BUS: TEMPERATURE SENSOR BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor bus number, typically used to select from multiple I2C buses
Range
0 to 3
TEMP7_ADDR: TEMPERATURE SENSOR ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor address, typically used for I2C address
Range
0 to 127
TEMP7_SRC: SENSOR SOURCE¶
Sensor Source is used to designate which device's temperature report will be
replaced by this temperature sensor's data. If 0 (None) then the data is only
available via log. In the future a new Motor temperature report will be created
for returning data directly.
Values
Value
Meaning
0
None
1
ESC
2
Motor
3
Battery Index
4
Battery ID/SerialNumber
5
CAN based Pitot tube
6
DroneCAN-out on AP_Periph
TEMP7_SRC_ID: SENSOR SOURCE IDENTIFICATION¶
Sensor Source Identification is used to replace a specific instance of a system
component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1
(ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3
(BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4
(BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that
have param BATTn_SERIAL = 42.
TEMP7_PIN: TEMPERATURE SENSOR ANALOG VOLTAGE SENSING PIN¶
Sets the analog input pin that should be used for temprature monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
TEMP7_A0: TEMPERATURE SENSOR ANALOG 0TH POLYNOMIAL COEFFICIENT¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP7_A1: TEMPERATURE SENSOR ANALOG 1ST POLYNOMIAL COEFFICIENT¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP7_A2: TEMPERATURE SENSOR ANALOG 2ND POLYNOMIAL COEFFICIENT¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP7_A3: TEMPERATURE SENSOR ANALOG 3RD POLYNOMIAL COEFFICIENT¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP7_A4: TEMPERATURE SENSOR ANALOG 4TH POLYNOMIAL COEFFICIENT¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP8_ PARAMETERS¶
TEMP8_TYPE: TEMPERATURE SENSOR TYPE¶
Note: Reboot required after change
Enables temperature sensors
Values
Value
Meaning
0
Disabled
1
TSYS01
2
MCP9600
3
MAX31865
4
TSYS03
5
Analog
6
DroneCAN
TEMP8_BUS: TEMPERATURE SENSOR BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor bus number, typically used to select from multiple I2C buses
Range
0 to 3
TEMP8_ADDR: TEMPERATURE SENSOR ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor address, typically used for I2C address
Range
0 to 127
TEMP8_SRC: SENSOR SOURCE¶
Sensor Source is used to designate which device's temperature report will be
replaced by this temperature sensor's data. If 0 (None) then the data is only
available via log. In the future a new Motor temperature report will be created
for returning data directly.
Values
Value
Meaning
0
None
1
ESC
2
Motor
3
Battery Index
4
Battery ID/SerialNumber
5
CAN based Pitot tube
6
DroneCAN-out on AP_Periph
TEMP8_SRC_ID: SENSOR SOURCE IDENTIFICATION¶
Sensor Source Identification is used to replace a specific instance of a system
component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1
(ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3
(BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4
(BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that
have param BATTn_SERIAL = 42.
TEMP8_PIN: TEMPERATURE SENSOR ANALOG VOLTAGE SENSING PIN¶
Sets the analog input pin that should be used for temprature monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
TEMP8_A0: TEMPERATURE SENSOR ANALOG 0TH POLYNOMIAL COEFFICIENT¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP8_A1: TEMPERATURE SENSOR ANALOG 1ST POLYNOMIAL COEFFICIENT¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP8_A2: TEMPERATURE SENSOR ANALOG 2ND POLYNOMIAL COEFFICIENT¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP8_A3: TEMPERATURE SENSOR ANALOG 3RD POLYNOMIAL COEFFICIENT¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP8_A4: TEMPERATURE SENSOR ANALOG 4TH POLYNOMIAL COEFFICIENT¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP9_ PARAMETERS¶
TEMP9_TYPE: TEMPERATURE SENSOR TYPE¶
Note: Reboot required after change
Enables temperature sensors
Values
Value
Meaning
0
Disabled
1
TSYS01
2
MCP9600
3
MAX31865
4
TSYS03
5
Analog
6
DroneCAN
TEMP9_BUS: TEMPERATURE SENSOR BUS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor bus number, typically used to select from multiple I2C buses
Range
0 to 3
TEMP9_ADDR: TEMPERATURE SENSOR ADDRESS¶
Note: This parameter is for advanced users
Note: Reboot required after change
Temperature sensor address, typically used for I2C address
Range
0 to 127
TEMP9_SRC: SENSOR SOURCE¶
Sensor Source is used to designate which device's temperature report will be
replaced by this temperature sensor's data. If 0 (None) then the data is only
available via log. In the future a new Motor temperature report will be created
for returning data directly.
Values
Value
Meaning
0
None
1
ESC
2
Motor
3
Battery Index
4
Battery ID/SerialNumber
5
CAN based Pitot tube
6
DroneCAN-out on AP_Periph
TEMP9_SRC_ID: SENSOR SOURCE IDENTIFICATION¶
Sensor Source Identification is used to replace a specific instance of a system
component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1
(ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3
(BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4
(BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that
have param BATTn_SERIAL = 42.
TEMP9_PIN: TEMPERATURE SENSOR ANALOG VOLTAGE SENSING PIN¶
Sets the analog input pin that should be used for temprature monitoring.
Values
Value
Meaning
-1
Disabled
2
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5
Navigator
13
Pixhawk2_PM2/CubeOrange_PM2
14
CubeOrange
16
Durandal
100
PX4-v1
TEMP9_A0: TEMPERATURE SENSOR ANALOG 0TH POLYNOMIAL COEFFICIENT¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP9_A1: TEMPERATURE SENSOR ANALOG 1ST POLYNOMIAL COEFFICIENT¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP9_A2: TEMPERATURE SENSOR ANALOG 2ND POLYNOMIAL COEFFICIENT¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP9_A3: TEMPERATURE SENSOR ANALOG 3RD POLYNOMIAL COEFFICIENT¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TEMP9_A4: TEMPERATURE SENSOR ANALOG 4TH POLYNOMIAL COEFFICIENT¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 +
a3*voltage^3 + a4*voltage^4
TERRAIN_ PARAMETERS¶
TERRAIN_ENABLE: TERRAIN DATA ENABLE¶
Note: This parameter is for advanced users
enable terrain data. This enables the vehicle storing a database of terrain data
on the SD card. The terrain data is requested from the ground station as needed,
and stored for later use on the SD card. To be useful the ground station must
support TERRAIN_REQUEST messages and have access to a terrain database, such as
the SRTM database.
Values
Value
Meaning
0
Disable
1
Enable
TERRAIN_SPACING: TERRAIN GRID SPACING¶
Note: This parameter is for advanced users
Distance between terrain grid points in meters. This controls the horizontal
resolution of the terrain data that is stored on te SD card and requested from
the ground station. If your GCS is using the ArduPilot SRTM database like
Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate.
Grid spacings lower than 100 meters waste SD card space if the GCS cannot
provide that resolution. The grid spacing also controls how much data is kept in
memory during flight. A larger grid spacing will allow for a larger amount of
data in memory. A grid spacing of 100 meters results in the vehicle keeping 12
grid squares in memory with each grid square having a size of 2.7 kilometers by
3.2 kilometers. Any additional grid squares are stored on the SD once they are
fetched from the GCS and will be loaded as needed.
Increment
Units
1
meters
TERRAIN_OPTIONS: TERRAIN OPTIONS¶
Note: This parameter is for advanced users
Options to change behaviour of terrain system
Bitmask
Bit
Meaning
0
Disable Download
TERRAIN_MARGIN: ACCEPTANCE MARGIN¶
Note: This parameter is for advanced users
Margin in centi-meters to accept terrain data from the GCS. This can be used to
allow older terrain data generated with less accurate latitude/longitude scaling
to be used
Range
Units
0.05 to 50000
meters
TERRAIN_OFS_MAX: TERRAIN REFERENCE OFFSET MAXIMUM¶
Note: This parameter is for advanced users
The maximum adjustment of terrain altitude based on the assumption that the
vehicle is on the ground when it is armed. When the vehicle is armed the
location of the vehicle is recorded, and when terrain data is available for that
location a height adjustment for terrain data is calculated that aligns the
terrain height at that location with the altitude recorded at arming. This
height adjustment is applied to all terrain data. This parameter clamps the
amount of adjustment. A value of zero disables the use of terrain height
adjustment.
Range
Units
0 to 50
meters
TERRAIN_CACHE_SZ: TERRAIN CACHE SIZE¶
Note: This parameter is for advanced users
The number of 32x28 cache blocks to keep in memory. Each block uses about 1800
bytes of memory
Range
0 to 128
TKOFF_ PARAMETERS¶
TKOFF_ALT: TAKEOFF MODE ALTITUDE¶
This is the target altitude for TAKEOFF mode
Increment
Range
Units
1
0 to 200
meters
TKOFF_LVL_ALT: TAKEOFF MODE ALTITUDE LEVEL ALTITUDE¶
This is the altitude below which the wings are held level for TAKEOFF and AUTO
modes. Below this altitude, roll demand is restricted to LEVEL_ROLL_LIMIT.
Normal-flight roll restriction resumes above TKOFF_LVL_ALT*3 or TKOFF_ALT,
whichever is lower. Roll limits are scaled while between TKOFF_LVL_ALT and those
altitudes for a smooth transition.
Increment
Range
Units
1
0 to 50
meters
TKOFF_LVL_PITCH: TAKEOFF MODE ALTITUDE INITIAL PITCH¶
This is the target pitch for the initial climb to TKOFF_LVL_ALT
Increment
Range
Units
1
0 to 30
degrees
TKOFF_DIST: TAKEOFF MODE DISTANCE¶
This is the distance from the takeoff location where the plane will loiter. The
loiter point will be in the direction of takeoff (the direction the plane is
facing when the plane begins takeoff)
Increment
Range
Units
1
0 to 500
meters
TKOFF_GND_PITCH: TAKEOFF RUN PITCH DEMAND¶
Degrees of pitch angle demanded during the takeoff run before speed reaches
TKOFF_ROTATE_SPD. For taildraggers set to 3-point ground pitch angle and use
TKOFF_TDRAG_ELEV to prevent nose tipover. For nose-wheel steer aircraft set to
the ground pitch angle and if a reduction in nose-wheel load is required as
speed rises, use a positive offset in TKOFF_GND_PITCH of up to 5 degrees above
the angle on ground, starting at the mesured pitch angle and incrementing in 1
degree steps whilst checking for premature rotation and takeoff with each
increment. To increase nose-wheel load, use a negative TKOFF_TDRAG_ELEV and
refer to notes on TKOFF_TDRAG_ELEV before making adjustments.
Increment
Range
Units
0.1
-5.0 to 10.0
degrees
TUNE_ PARAMETERS¶
TUNE_PARAM: TRANSMITTER TUNING PARAMETER OR SET OF PARAMETERS¶
This sets which parameter or set of parameters will be tuned. Values greater
than 100 indicate a set of parameters rather than a single parameter. Parameters
less than 50 are for QuadPlane vertical lift motors only.
Values
Value
Meaning
0
None
1
RateRollPI
2
RateRollP
3
RateRollI
4
RateRollD
5
RatePitchPI
6
RatePitchP
7
RatePitchI
8
RatePitchD
9
RateYawPI
10
RateYawP
11
RateYawI
12
RateYawD
13
AngleRollP
14
AnglePitchP
15
AngleYawP
16
PosXYP
17
PosZP
18
VelXYP
19
VelXYI
20
VelZP
21
AccelZP
22
AccelZI
23
AccelZD
24
RatePitchFF
25
RateRollFF
26
RateYawFF
50
FixedWingRollP
51
FixedWingRollI
52
FixedWingRollD
53
FixedWingRollFF
54
FixedWingPitchP
55
FixedWingPitchI
56
FixedWingPitchD
57
FixedWingPitchFF
101
Set_RateRollPitch
102
Set_RateRoll
103
Set_RatePitch
104
Set_RateYaw
105
Set_AngleRollPitch
106
Set_VelXY
107
Set_AccelZ
108
Set_RatePitchDP
109
Set_RateRollDP
110
Set_RateYawDP
TUNE_CHAN: TRANSMITTER TUNING CHANNEL¶
This sets the channel for transmitter tuning. This should be connected to a knob
or slider on your transmitter. It needs to be setup to use the PWM range given
by TUNE_CHAN_MIN to TUNE_CHAN_MAX
Values
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
TUNE_CHAN_MIN: TRANSMITTER TUNING CHANNEL MINIMUM PWM¶
This sets the PWM lower limit for the tuning channel
Range
900 to 2100
TUNE_CHAN_MAX: TRANSMITTER TUNING CHANNEL MAXIMUM PWM¶
This sets the PWM upper limit for the tuning channel
Range
900 to 2100
TUNE_SELECTOR: TRANSMITTER TUNING SELECTOR CHANNEL¶
This sets the channel for the transmitter tuning selector switch. This should be
a 2 position switch, preferably spring loaded. A PWM above 1700 means high,
below 1300 means low. If no selector is set then you won't be able to switch
between parameters during flight or re-center the tuning knob
Values
Value
Meaning
0
Disable
1
Chan1
2
Chan3
3
Chan3
4
Chan4
5
Chan5
6
Chan6
7
Chan7
8
Chan8
9
Chan9
10
Chan10
11
Chan11
12
Chan12
13
Chan13
14
Chan14
15
Chan15
16
Chan16
TUNE_RANGE: TRANSMITTER TUNING RANGE¶
This sets the range over which tuning will change a parameter. A value of 2
means the tuning parameter will go from 0.5 times the start value to 2x the
start value over the range of the tuning channel
TUNE_MODE_REVERT: REVERT ON MODE CHANGE¶
This controls whether tuning values will revert on a flight mode change.
Values
Value
Meaning
0
Disable
1
Enable
TUNE_ERR_THRESH: CONTROLLER ERROR THRESHOLD¶
This sets the controller error threshold above which an alarm will sound and a
message will be sent to the GCS to warn of controller instability while tuning.
The error is the rms value of the P+D corrections in the loop. High values in
hover indicate possible instability due to too high PID gains or excessively
high D to P gain ratios.-1 will disable this message.
Range
0 to 1
VISO PARAMETERS¶
VISO_TYPE: VISUAL ODOMETRY CAMERA CONNECTION TYPE¶
Note: This parameter is for advanced users
Note: Reboot required after change
Visual odometry camera connection type
Values
Value
Meaning
0
None
1
MAVLink
2
IntelT265
3
VOXL(ModalAI)
VISO_POS_X: VISUAL ODOMETRY CAMERA X POSITION OFFSET¶
Note: This parameter is for advanced users
X position of the camera in body frame. Positive X is forward of the origin.
Increment
Range
Units
0.01
-5 to 5
meters
VISO_POS_Y: VISUAL ODOMETRY CAMERA Y POSITION OFFSET¶
Note: This parameter is for advanced users
Y position of the camera in body frame. Positive Y is to the right of the
origin.
Increment
Range
Units
0.01
-5 to 5
meters
VISO_POS_Z: VISUAL ODOMETRY CAMERA Z POSITION OFFSET¶
Note: This parameter is for advanced users
Z position of the camera in body frame. Positive Z is down from the origin.
Increment
Range
Units
0.01
-5 to 5
meters
VISO_ORIENT: VISUAL ODOMETERY CAMERA ORIENTATION¶
Note: This parameter is for advanced users
Visual odometery camera orientation
Values
Value
Meaning
0
Forward
2
Right
4
Back
6
Left
24
Up
25
Down
VISO_SCALE: VISUAL ODOMETRY SCALING FACTOR¶
Note: This parameter is for advanced users
Visual odometry scaling factor applied to position estimates from sensor
VISO_DELAY_MS: VISUAL ODOMETRY SENSOR DELAY¶
Note: This parameter is for advanced users
Visual odometry sensor delay relative to inertial measurements
Range
Units
0 to 250
milliseconds
VISO_VEL_M_NSE: VISUAL ODOMETRY VELOCITY MEASUREMENT NOISE¶
Note: This parameter is for advanced users
Visual odometry velocity measurement noise in m/s
Range
Units
0.05 to 5.0
meters per second
VISO_POS_M_NSE: VISUAL ODOMETRY POSITION MEASUREMENT NOISE¶
Note: This parameter is for advanced users
Visual odometry position measurement noise minimum (meters). This value will be
used if the sensor provides a lower noise value (or no noise value)
Range
Units
0.1 to 10.0
meters
VISO_YAW_M_NSE: VISUAL ODOMETRY YAW MEASUREMENT NOISE¶
Note: This parameter is for advanced users
Visual odometry yaw measurement noise minimum (radians), This value will be used
if the sensor provides a lower noise value (or no noise value)
Range
Units
0.05 to 1.0
radians
VISO_QUAL_MIN: VISUAL ODOMETRY MINIMUM QUALITY¶
Note: This parameter is for advanced users
Visual odometry will only be sent to EKF if over this value. -1 to always send
(even bad values), 0 to send if good or unknown
Range
Units
-1 to 100
percent
VTX_ PARAMETERS¶
VTX_ENABLE: IS THE VIDEO TRANSMITTER ENABLED OR NOT¶
Toggles the Video Transmitter on and off
Values
Value
Meaning
0
Disable
1
Enable
VTX_POWER: VIDEO TRANSMITTER POWER LEVEL¶
Video Transmitter Power Level. Different VTXs support different power levels,
the power level chosen will be rounded down to the nearest supported power level
Range
1 to 1000
VTX_CHANNEL: VIDEO TRANSMITTER CHANNEL¶
Video Transmitter Channel
Range
0 to 7
VTX_BAND: VIDEO TRANSMITTER BAND¶
Video Transmitter Band
Values
Value
Meaning
0
Band A
1
Band B
2
Band E
3
Airwave
4
RaceBand
5
Low RaceBand
6
1G3 Band A
7
1G3 Band B
8
Band X
VTX_FREQ: VIDEO TRANSMITTER FREQUENCY¶
Video Transmitter Frequency. The frequency is derived from the setting of BAND
and CHANNEL
Range
ReadOnly
1000 to 6000
True
VTX_OPTIONS: VIDEO TRANSMITTER OPTIONS¶
Note: This parameter is for advanced users
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. One stop-bit may be required for VTXs that
erroneously mimic iNav behaviour.
Bitmask
Bit
Meaning
0
Pitmode
1
Pitmode until armed
2
Pitmode when disarmed
3
Unlocked
4
Add leading zero byte to requests
5
Use 1 stop-bit in SmartAudio
6
Ignore CRC in SmartAudio
7
Ignore status updates in CRSF and blindly set VTX options
VTX_MAX_POWER: VIDEO TRANSMITTER MAX POWER LEVEL¶
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.
Range
25 to 1000
YAW PARAMETERS¶
YAW2SRV_SLIP: SIDESLIP CONTROL GAIN¶
Note: This parameter is for advanced users
Gain from lateral acceleration to demanded yaw rate for aircraft with enough
fuselage area to detect lateral acceleration and sideslips. Do not enable for
flying wings and gliders. Actively coordinates flight more than just yaw
damping. Set after YAW2SRV_DAMP and YAW2SRV_INT are tuned.
Increment
Range
0.25
0 to 4
YAW2SRV_INT: SIDESLIP CONTROL INTEGRATOR¶
Note: This parameter is for advanced users
Integral gain from lateral acceleration error. Effectively trims rudder to
eliminate long-term sideslip.
Increment
Range
0.25
0 to 2
YAW2SRV_DAMP: YAW DAMPING¶
Note: This parameter is for advanced users
Gain from yaw rate to rudder. Most effective at yaw damping and should be tuned
after KFF_RDDRMIX. Also disables YAW2SRV_INT if set to 0.
Increment
Range
0.25
0 to 2
YAW2SRV_RLL: YAW COORDINATION GAIN¶
Note: This parameter is for advanced users
Gain to the yaw rate required to keep it consistent with the turn rate in a
coordinated turn. Corrects for yaw tendencies after the turn is established.
Increase yaw into the turn by raising. Increase yaw out of the turn by
decreasing. Values outside of 0.9-1.1 range indicate airspeed calibration
problems.
Increment
Range
0.05
0.8 to 1.2
YAW2SRV_IMAX: INTEGRATOR LIMIT¶
Note: This parameter is for advanced users
Limit of yaw integrator gain in centi-degrees of servo travel. Servos are
assumed to have +/- 4500 centi-degrees of travel, so a value of 1500 allows trim
of up to 1/3 of servo travel range.
Increment
Range
1
0 to 4500
YAW_RATE_ENABLE: YAW RATE ENABLE¶
Note: This parameter is for advanced users
Enable yaw rate controller for aerobatic flight
Values
Value
Meaning
0
Disable
1
Enable
YAW_RATE_P: YAW AXIS RATE CONTROLLER P GAIN¶
Yaw axis rate controller P gain. Corrects in proportion to the difference
between the desired yaw rate vs actual yaw rate
Increment
Range
0.005
0.08 to 0.35
YAW_RATE_I: YAW AXIS RATE CONTROLLER I GAIN¶
Yaw axis rate controller I gain. Corrects long-term difference in desired yaw
rate vs actual yaw rate
Increment
Range
0.01
0.01 to 0.6
YAW_RATE_IMAX: YAW AXIS RATE CONTROLLER I GAIN MAXIMUM¶
Yaw axis rate controller I gain maximum. Constrains the maximum that the I term
will output
Increment
Range
0.01
0 to 1
YAW_RATE_D: YAW AXIS RATE CONTROLLER D GAIN¶
Yaw axis rate controller D gain. Compensates for short-term change in desired
yaw rate vs actual yaw rate
Increment
Range
0.001
0.001 to 0.03
YAW_RATE_FF: YAW AXIS RATE CONTROLLER FEED FORWARD¶
Yaw axis rate controller feed forward
Increment
Range
0.001
0 to 3.0
YAW_RATE_FLTT: YAW AXIS RATE CONTROLLER TARGET FREQUENCY IN HZ¶
Yaw axis rate controller target frequency in Hz
Increment
Range
Units
1
2 to 50
hertz
YAW_RATE_FLTE: YAW AXIS RATE CONTROLLER ERROR FREQUENCY IN HZ¶
Yaw axis rate controller error frequency in Hz
Increment
Range
Units
1
2 to 50
hertz
YAW_RATE_FLTD: YAW AXIS RATE CONTROLLER DERIVATIVE FREQUENCY IN HZ¶
Yaw axis rate controller derivative frequency in Hz
Increment
Range
Units
1
0 to 50
hertz
YAW_RATE_SMAX: YAW SLEW RATE LIMIT¶
Note: This parameter is for advanced users
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.
Increment
Range
0.5
0 to 200
YAW_RATE_PDMX: YAW AXIS RATE CONTROLLER PD SUM MAXIMUM¶
Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum
of the P and D term can output
Increment
Range
0.01
0 to 1
YAW_RATE_D_FF: YAW DERIVATIVE FEEDFORWARD GAIN¶
Note: This parameter is for advanced users
FF D Gain which produces an output that is proportional to the rate of change of
the target
Increment
Range
0.001
0 to 0.03
YAW_RATE_NTF: YAW TARGET NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Yaw Target notch filter index
Range
1 to 8
YAW_RATE_NEF: YAW ERROR NOTCH FILTER INDEX¶
Note: This parameter is for advanced users
Yaw Error notch filter index
Range
1 to 8
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