This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.
[toc exclude="Complete Parameter List"]This value is incremented when changes are made to the eeprom format
Value of 0 requests any ID from a DNA server, any other value sets that ID ignoring DNA
Bit rate can be set up to from 10000 to 1000000
CAN Interface ID to be routed to SLCAN, 0 means no routing
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | First interface |
| 2 | Second interface |
Enable CAN software termination in this node
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UAVCAN |
| 4 | PiccoloCAN |
| 6 | EFI_NWPMU |
| 7 | USD1 |
| 8 | KDECAN |
Bit rate can be set up to from 10000 to 1000000
Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UAVCAN |
| 4 | PiccoloCAN |
| 6 | EFI_NWPMU |
| 7 | USD1 |
| 8 | KDECAN |
Enable CAN software termination in this node
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Bit rate can be set up to from 10000 to 1000000
Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UAVCAN |
| 4 | PiccoloCAN |
| 6 | EFI_NWPMU |
| 7 | USD1 |
| 8 | KDECAN |
Enable CAN software termination in this node
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Enabling this option sets the CAN bus to be in CANFD mode with BRS.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the bitrate for the data section of CAN1.
| Value | Meaning |
|---|---|
| 1 | 1M |
| 2 | 2M |
| 4 | 4M |
| 5 | 5M |
| 8 | 8M |
This sets the bitrate for the data section of CAN2.
| Value | Meaning |
|---|---|
| 1 | 1M |
| 2 | 2M |
| 4 | 4M |
| 5 | 5M |
| 8 | 8M |
DANGER! When enabled, the App will perform a bootloader update by copying the embedded bootloader over the existing bootloader. This may take a few seconds to perform and should only be done if you know what you're doing.
Debug
Non-zero positive values will be shown on the CAN App Name string
Control the volume of the buzzer
This is the serial port number where SERIALx_PROTOCOL will be set to GPS.
Autoselect dedicated CAN port on which moving baseline data will be transmitted.
| Value | Meaning |
|---|---|
| 0 | Sends moving baseline data on all ports |
| 1 | auto select remaining port for transmitting Moving baseline Data |
Instance mask of local battery index(es) to prevent transmitting their status over CAN. This is useful for hiding a "battery" instance that is used locally in the peripheral but don't want them to be treated as a battery source(s) to the autopilot. For example, an AP_Periph battery monitor with multiple batteries that monitors each locally for diagnostic or other purposes, but only reports as a single SUM battery monitor to the autopilot.
Barometer Enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Select the RGB LED brightness level.
Rangefinder serial baudrate.
| 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 |
This is the serial port number where SERIALx_PROTOCOL will be set to Rangefinder.
Rangefinder serial baudrate.
| 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 |
This is the serial port number where SERIALx_PROTOCOL will be set to Rangefinder.
This is the maximum rate we send rangefinder data in Hz. Zero means no limit
ADSB serial baudrate.
| 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 |
This is the serial port number where SERIALx_PROTOCOL will be set to ADSB.
Hardpoint ID
Hardpoint PWM rate
This is the ESC number to report as in UAVCAN ESC telemetry feedback packets.
Rate in Hz that ESC PWM outputs (function is MotorN) will update at
This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
| Value | Meaning |
|---|---|
| 1 | Normal |
| 2 | OneShot |
| 3 | OneShot125 |
| 4 | Brushed |
| 5 | DShot150 |
| 6 | DShot300 |
| 7 | DShot600 |
| 8 | DShot1200 |
This is the duration (ms) with which to hold the last driven ESC command before timing out and zeroing the ESC outputs. To disable zeroing of outputs in event of CAN loss, use 0. Use values greater than the expected duration between two CAN frames to ensure Periph is not starved of ESC Raw Commands.
This is the serial port number where SERIALx_PROTOCOL will be set to ESC Telemetry
This is the rate at which ESC Telemetry will be sent across the CAN bus
This is the serial port number where SERIALx_PROTOCOL will be set to MSP
4 byte bitmap of log types to enable
EFI serial baudrate.
| 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 |
This is the serial port number where SERIALx_PROTOCOL will be set to EFI.
Proximity Sensor serial baudrate.
| 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 |
This is the serial port number where SERIALx_PROTOCOL will be set to Proximity Sensor.
This is the maximum rate we send Proximity Sensor data in Hz. Zero means no limit
Which serial port to use for APD ESC data
Which serial port to use for APD ESC data
Any set ports will participate in blindly mirroring traffic from one port to the other. It is the users responsibility to ensure that no loops exist that cause traffic to be infinitly repeated, and both ports must be running the same baud rates.
This is the rate Temperature sensor data is sent in Hz. Zero means no send. Each sensor with source DroneCAN is sent in turn.
Bitmask of AP Periph Options
This is the rate RPM sensor data is sent in Hz. Zero means no send. Each sensor with a set ID is sent in turn.
This is the rate at which extended ESC Telemetry will be sent across the CAN bus for each ESC
IMU Sample Rate
This is the duration (ms) with which to hold the last driven servo command before timing out and zeroing the servo outputs. To disable zeroing of outputs in event of CAN loss, use 0. Use values greater than the expected duration between two CAN frames to ensure Periph is not starved of ESC Raw Commands.
Video stream camera model
| Value | Meaning |
|---|---|
| 0 | Unknown |
| 1 | Siyi A8 |
| 2 | Siyi ZR10 |
| 3 | Siyi ZR30 |
| 4 | Siyi ZT30 Zoom |
| 5 | Siyi ZT30 Wide |
| 6 | Siyi ZT30 IR |
| 7 | Siyi ZT6 RGB |
| 8 | Siyi ZT6 IR |
| 9 | Herelink WifiAP |
| 10 | Herelink USB-tethering |
| 11 | Topotek 1080p |
| 12 | Topotek 480p |
| 13 | Viewpro |
Video stream id
Video stream type
| Value | Meaning |
|---|---|
| 0 | RTSP |
| 1 | RTPUDP |
| 2 | TCP_MPEG |
| 3 | MPEG_TS |
Video stream flags
Video stream frame rate
Video stream horizontal resolution
Video stream vertical resolution
Video stream bitrate
Video stream horizontal FOV
Video stream encoding
| Value | Meaning |
|---|---|
| 0 | Unknown |
| 1 | H264 |
| 2 | H265 |
Video stream IP Address first octet
Video stream IP Address second octet
Video stream IP Address third octet
Video stream IP Address fourth octet
Video stream IP Address Port
enable battery info support
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
max battery cycles for arming
this is the highest value for battery cycles for all connected batteries
Follow Target Send Enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
MAVLink channel to which FOLLOW_TARGET should be sent
Maximum rate when retracting line
Maximum rate when releasing line
RCn_OPTION number to use to control winch rate
| Value | Meaning |
|---|---|
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing
The distance from target beyond which the target is ignored
Slung Payload enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload
Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress
Slung Payload mavlink system id. 0 to use any/all system ids
WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint
payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response
Slung payload debug output, set to 1 to enable debug
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder).
Enable quicktune system
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
axes to tune
Ratio between measured response and FF gain. Raise this to get a higher FF gain
Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged
Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged
Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value
Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged
Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged
When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
RCn_OPTION number to use to control tuning stop/start/save
| Value | Meaning |
|---|---|
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
The mimimum speed in m/s required for tuning to start
thermal image colour palette
| Value | Meaning |
|---|---|
| -1 | Leave Unchanged |
| 0 | WhiteHot |
| 2 | Sepia |
| 3 | IronBow |
| 4 | Rainbow |
| 5 | Night |
| 6 | Aurora |
| 7 | RedHot |
| 8 | Jungle |
| 9 | Medical |
| 10 | BlackHot |
| 11 | GloryHot |
thermal image temperature range
| Value | Meaning |
|---|---|
| -1 | Leave Unchanged |
| 0 | LowGain (50C to 550C) |
| 1 | HighGain (-20C to 150C) |
save images with raw temperatures
| Value | Meaning |
|---|---|
| -1 | Leave Unchanged |
| 0 | Disabled (30fps) |
| 1 | Enabled (25 fps) |
ExternalNav may be used if innovations are below this threshold
ExternalNav may be used if quality is above this threshold
OpticalFlow may be used if innovations are below this threshold
OpticalFlow may be used if quality is above this threshold
OpticalFlow may be used if rangefinder distance is below this threshold
enable web server
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
web server TCP port
web server debugging
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
web server block size for download
timeout for inactive connections
sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
Setting an RC channel's _OPTION to this value will use it for Terrain Avoidance enable/disable
If the downward distance is less than this value then start Pitching up to gain altitude.
If the farwardward distance is less than this value then start Pitching up to gain altitude.
If the downward distance is less than this value then start Quading up to gain altitude.
If the farwardward distance is less than this value then start Quading up to gain altitude.
Minimum Groundspeed (not airspeed) to be flying for Pitching to be used.
Minimum down or forward distance must be triggered for more than this many seconds to start Pitching
Terrain avoidance will not be applied if the vehicle is less than this distance from home
This is a limit on how high the terrain avoidane will take the vehicle. It acts a failsafe to prevent vertical flyaways.
This is a limit on how fast in groundspeeed terrain avoidance will take the vehicle. This is to allow for reliable sensor readings. -1 for disabled.
This is the limit for triggering airbrake to slow groundspeed as a difference between the airspeed and groundspeed. -1 for disabled.
The minimum Height above terrain to maintain when following an AUTO mission or RTL. If zero(0) use TA_PTCH_DOW_MIN.
Whether to enable Can't Make That Climb while running Terrain Avoidance
Avoidance processing rate
Use this radius for the loiter when trying to gain altitude. If not set or <=0 use WP_LOITER_RAD
enable Auto land script action
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Altitude of final approach waypoint created by script
Distance from landing point (HOME) to final approach waypoint created by script in the opposite direction of initial takeoff
AHRS/EKF origin will be set to this latitude if not already set
AHRS/EKF origin will be set to this longitude if not already set
AHRS/EKF origin will be set to this altitude (in meters above sea level) if not already set
Enable quicktune system
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
axes to tune
Time to double a tuning parameter. Raise this for a slower tune.
Reduction in gain after oscillation detected. Raise this number to get a more conservative tune
Threshold for oscillation detection. A lower value will lead to a more conservative tune.
Maximum value for yaw P gain
Maximum value for yaw D gain
Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain
Ratio between P and I gains for yaw. Raise this to get a lower I gain
When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune
RCn_OPTION number to use to control tuning stop/start/save
This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.
Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
If while tuning the angle error goes over this limit then the tune will aborts to prevent a bad oscillation in the case of the tuning algorithm failing. If you get an error "Tuning: attitude error ABORTING" and you think it is a false positive then you can either raise this parameter or you can try increasing the QUIK_DOUBLE_TIME to do the tune more slowly. A value of zero disables this check.
Enable parameter reversion system
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
RCn_OPTION number to used to trigger parameter reversion
Automatically enables High Latency mode if not already enabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Enabled on telemetry loss |
When in High Latency mode, send Rockblock updates every N seconds
Sends Rockblock debug text to GCS via statustexts
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Enables the Rockblock sending and recieving
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
If RCK_FORCEHL=2, this is the number of seconds of GCS timeout until High Latency mode is auto-enabled
POI's max distance (in meters) from the vehicle
Check that MAV_SYSID (or SYDID_THISMAV) has been set. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
If FOLL_ENABLE = 1, check that FOLL_SYSID has been set. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
If FOLL_ENABLE = 1, check that FOLL_SYSID is different to MAV_SYSID. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Follow offsets should not be left as default (zero) if FOLL_ENABLE = 1. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
If FOLL_ENABLE = 1 and MNTx_SYSID_DEFLT is set, check that FOLL_SYSID is equal MNTx. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
RTL_CLIMB_MIN should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Emergency Stop disables arming. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Fences loaded but no fence enabled. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Rally Point more than RALLY_LIMIT_KM kilometers away. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
RTL_ALT should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Notify the user that on failsafe a QuadPlan will land. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Notify the user that on failsafe a QuadPlan will QRTL. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Validate that AIRSPEED_STALL(if set) < MIN < CRUISE < MAX d. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Validate that AIRSPEED_MIN is at least 25% above AIRSPEED_STALL(if set). 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Validate that SCALING_SPEED is within 20% of AIRSPEED_CRUISE. If SCALING_SPEED changes the vehicle may need to be retuned. 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
RTL_ALTITITUDE should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Q_RTL_ALT should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Emergency(PreArm) |
| 1 | Alert(PreArm) |
| 2 | Critical(PreArm) |
| 3 | Error(PreArm) |
| 4 | Warning |
| 5 | Notice |
| 6 | Info |
| 7 | Debug |
Legal max altitude for UAV/RPAS/drones in your jurisdiction
terrain brake enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode.
terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate
terrain brake speed threshold. Don't trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change.
Deadreckoning Enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Distance from home (in meters) beyond which the dead reckoning will be enabled
GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy
GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count
GPS checks must fail for this many seconds before dead reckoning will be triggered
lean angle (in degrees) during deadreckoning
Copter will fly at at least this altitude (in meters) above home during deadreckoning
Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout
Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered
| Value | Meaning |
|---|---|
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 9 | Land |
| 16 | PosHold |
| 17 | Brake |
| 20 | Guided_NoGPS |
| 21 | Smart_RTL |
| 27 | Auto RTL |
Param Set enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Number of battery SOC estimators
Battery estimator index
Battery estimator cell count
Battery estimator coefficient1
Battery estimator coefficient2
Battery estimator coefficient3
Battery estimator coefficient4
Battery estimator index
Battery estimator cell count
Battery estimator coefficient1
Battery estimator coefficient2
Battery estimator coefficient3
Battery estimator coefficient4
Battery estimator index
Battery estimator cell count
Battery estimator coefficient1
Battery estimator coefficient2
Battery estimator coefficient3
Battery estimator coefficient4
Battery estimator index
Battery estimator cell count
Battery estimator coefficient1
Battery estimator coefficient2
Battery estimator coefficient3
Battery estimator coefficient4
Enable ship landing system
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.
Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Trigger |
Maximum angular acceleration in maneuvers
This is the time over which we filter the desired roll to smooth it
This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch
This controls how rapidly the throttle is raised to compensate for a speed error
This controls how rapidly the throttle is raised to compensate for a speed error
This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections
This is the time constant for correcting path position errors
This controls how rapidly we correct back onto the desired path
This controls how rapidly we correct back onto the desired path
This controls how rapidly we roll into a new orientation
This controls how far ahead we look in time along the path for the target throttle
This controls the printing of extra debug information on paths
Lowest throttle used during maneuvers
This is the extra throttle added in schedule elements marked as needing a throttle boost
This is maximum yaw acceleration to use
This is how much time to look ahead in the path for calculating path rates
Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.
Length of aerobatic "box"
Amount of throttle to reduce to for a stall turn
Pitch threashold for moving to final stage of stall turn
Percent of rudder normally uses to sustain knife-edge at trick speed
Time to look ahead in the path to calculate rudder correction for bank angle
Maximum allowable loss in altitude during a trick or sequence from its starting altitude.
This controls how rapidly two aircraft are brought back into time sync
This controls how rapidly two aircraft are brought back into time sync
This sets the maximum speed adjustment for time sync between aircraft
This sets the rate we send data for time sync between aircraft
When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used
Options to control aerobatic behavior
Enables Tricks on Switch. TRIK params hidden until enabled
Setting an RC channel's _OPTION to this value will use it for trick selection
Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)
Number of tricks which can be selected over the range of the trik selection RC channel
Enable HFE EFI driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
HFI EFI Update rate
HFI EFI ECU index, 0 for automatic
HFI EFI fuel density in gram per litre
HFI EFI relay index
HFI EFI CAN driver
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | 1stCANDriver |
| 2 | 2ndCanDriver |
HFI EFI options
Enable Halo6000 EFI driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | FirstCAN |
| 2 | SecondCAN |
The RC auxilliary function number for start/stop of the generator. Zero to disable start function
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 300 | 300 |
| 301 | 301 |
| 302 | 302 |
| 303 | 303 |
| 304 | 304 |
| 305 | 305 |
| 306 | 306 |
| 307 | 307 |
The rate that additional generator telemetry is sent
The capacity of the tank in litres
Halo6000 options
Mask of UltraMotion servos
Set CAN driver
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | 1stCANDriver |
| 2 | 2ndCanDriver |
Update rate for UltraMotion servos
Optional settings
ViewPro debug
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Enabled including attitude reporting |
Camera selection when switch is in low position
| Value | Meaning |
|---|---|
| 0 | No change in camera selection |
| 1 | EO1 |
| 2 | IR thermal |
| 3 | EO1 + IR Picture-in-picture |
| 4 | IR + EO1 Picture-in-picture |
| 5 | Fusion |
| 6 | IR1 13mm |
| 7 | IR2 52mm |
Camera selection when switch is in middle position
| Value | Meaning |
|---|---|
| 0 | No change in camera selection |
| 1 | EO1 |
| 2 | IR thermal |
| 3 | EO1 + IR Picture-in-picture |
| 4 | IR + EO1 Picture-in-picture |
| 5 | Fusion |
| 6 | IR1 13mm |
| 7 | IR2 52mm |
Camera selection when switch is in high position
| Value | Meaning |
|---|---|
| 0 | No change in camera selection |
| 1 | EO1 |
| 2 | IR thermal |
| 3 | EO1 + IR Picture-in-picture |
| 4 | IR + EO1 Picture-in-picture |
| 5 | Fusion |
| 6 | IR1 13mm |
| 7 | IR2 52mm |
ViewPro Zoom Speed. Higher numbers result in faster zooming
ViewPro Zoom Times Max
Enable NMEA 2000 EFI driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | FirstCAN |
| 2 | SecondCAN |
NMEA 2000 driver options
Enable DJIRS2 debug
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Enabled with attitude reporting |
DJIRS2 upside down
| Value | Meaning |
|---|---|
| 0 | Right side up |
| 1 | Upside down |
Enable SkyPower EFI support
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Set SkyPower EFI CAN driver
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | 1stCANDriver |
| 2 | 2ndCanDriver |
SkyPower EFI update rate
SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 70 | FixedWing |
| 31 | HeliRSC |
SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine
SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 300 | 300 |
| 301 | 301 |
| 302 | 302 |
| 303 | 303 |
| 304 | 304 |
| 305 | 305 |
| 306 | 306 |
| 307 | 307 |
SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 300 | 300 |
| 301 | 301 |
| 302 | 302 |
| 303 | 303 |
| 304 | 304 |
| 305 | 305 |
| 306 | 306 |
| 307 | 307 |
SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped
SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS
SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed
SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
SkyPower EFI ECU model
| Value | Meaning |
|---|---|
| 0 | SRE_180 |
| 1 | SP_275 |
SkyPower EFI enable generator control
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.
Enable EFI DLA64 driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Torqeedo TorqLink Enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Torqeedo TorqLink Debug Level
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Low |
| 2 | Medium |
| 3 | High |
Enable EFI DLA driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
EFI DLA litres of fuel per second of injection time
Enable ANX battery support
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Set ANX CAN driver
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | 1stCANDriver |
| 2 | 2ndCanDriver |
ANX CAN battery index
ANX CAN battery options
Enable SVFFI generator support
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Check for Generator ARM state before arming
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Enable EFI INF-Inject driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
EFI INF driver options
EFI INF throttle output rate
EFI INF throttle ignition aux function
Enable or disable the LTE modem driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Serial port to use for the LTE modem. This is the index of the SERIALn_ ports that are set to 28 for "scripting"
Scripting Serial port to use for the LTE modem. This is the index of the SCR_SDEV ports that are set to 2 for "MAVLink2"
First octet of the server IP address to connect to
Second octet of the server IP address to connect to
Third octet of the server IP address to connect to
Fourth octet of the server IP address to connect to
IPv4 Port of the server to connect to
Baud rate for the serial port to the LTE modem when connected. Initial power on baudrate is in LTE_IBAUD
| Value | Meaning |
|---|---|
| 19200 | 19200 |
| 38400 | 38400 |
| 57600 | 57600 |
| 115200 | 115200 |
| 230400 | 230400 |
| 460800 | 460800 |
| 921600 | 921600 |
| 3686400 | 3686400 |
Timeout in seconds for the LTE connection. If no data is received for this time, the connection will be reset. A value of zero disables the timeout
The protocol that we will use in communication with the LTE modem. If this is PPP then the LTE_SERVER parameters are not used and instead a PPP connection will be established and you should use the NET_ parameters to enable network ports. If this is MAVLink2 then the LTE_SERVER parameters are used to create a TCP or UDP connection to a single server.
| Value | Meaning |
|---|---|
| 2 | MavLink2 |
| 48 | PPP |
Options to control the LTE modem driver. If VerboseSignalInfoGCS is set then additional NAMED_VALUE_FLOAT values are sent with verbose signal information
This is the initial baud rate on power on for the modem. This is set in the modem with the AT+IREX=baud command
| Value | Meaning |
|---|---|
| 19200 | 19200 |
| 38400 | 38400 |
| 57600 | 57600 |
| 115200 | 115200 |
| 230400 | 230400 |
| 460800 | 460800 |
| 921600 | 921600 |
| 3686400 | 3686400 |
This allows selection of network operator
| Value | Meaning |
|---|---|
| -1 | NoChange |
| 0 | Default |
| AU-Telstra | 50501 |
| AU-Optus | 50502 |
| AU-Vodaphone | 50503 |
Maximum data transmit rate to the modem in bytes/second. Use zero for unlimited
This allows selection of LTE band. A value of -1 means no band setting change is made. A value of 0 sets all bands. Otherwise the specified band is set.
Enable Hobbywing ESC telemetry
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Number of motor poles for eRPM scaling
Motor number offset of first ESC
Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)
| Value | Meaning |
|---|---|
| 0 | Set as Rangefinder |
| 1 | Set as Proximity sensor |
Number of TOFSENSE-M CAN sensors connected
TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode
| Value | Meaning |
|---|---|
| 0 | 8x8 mode |
| 1 | 4x4 mode |
First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)
First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software
Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)
Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software
Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)
Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software
Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)
| Value | Meaning |
|---|---|
| 0 | Set as Rangefinder |
| 1 | Set as Proximity sensor |
UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.
Serial Port baud rate. Sensor baud rate can be changed from Nassistant software
This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.
This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS 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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Use GPS for DCM position |
| 2 | Use GPS for DCM position and height |
This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
This controls how fast the accelerometers correct the attitude
This sets the maximum allowable difference between ground speed and airspeed. 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.
Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.
Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.
Not Used
Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. 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.
| 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 |
This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.
Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.
This controls which NavEKF Kalman filter version is used for attitude and position estimation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 2 | Enable EKF2 |
| 3 | Enable EKF3 |
| 10 | Sim |
| 11 | ExternalAHRS |
Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
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. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency
Enable airspeed sensor support
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Swapped |
| 2 | Auto Detect |
This selects which airspeed sensor will be the primary if multiple sensors are found
| Value | Meaning |
|---|---|
| 0 | FirstSensor |
| 1 | 2ndSensor |
Bitmask of options to use with airspeed. 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
If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTIONS this health value can be used to disable the sensor.
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.
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.
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 AIRSPEED_MIN. 0 disables. Helps warn of calibrations without pitot being covered.
Type of airspeed sensor
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | I2C-MS4525D0 |
| 2 | Analog |
| 3 | I2C-MS5525 |
| 4 | I2C-MS5525 (0x76) |
| 5 | I2C-MS5525 (0x77) |
| 6 | I2C-SDP3X |
| 7 | I2C-DLVR-5in |
| 8 | 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 |
| 17 | AUAV-10in |
| 18 | AUAV-5in |
| 19 | AUAV-30in |
| 100 | SITL |
Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).
| Value | Meaning |
|---|---|
| 0 | DoNotUse |
| 1 | Use |
| 2 | UseWhenZeroThrottle |
Airspeed calibration offset
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
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.
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Swapped |
| 2 | Auto Detect |
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration or requiring a manual calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Do not require offset calibration before flight. Manual calibration should be performed during initial setup. |
| 2 | Do not calibrate on start up. Manual calibration must be performed once per boot. |
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
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.
| Value | Meaning |
|---|---|
| 0 | Bus0 |
| 1 | Bus1 |
| 2 | Bus2 |
| 3 | Bus3 |
Airspeed sensor ID, taking into account its type, bus and instance
Type of airspeed sensor
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | I2C-MS4525D0 |
| 2 | Analog |
| 3 | I2C-MS5525 |
| 4 | I2C-MS5525 (0x76) |
| 5 | I2C-MS5525 (0x77) |
| 6 | I2C-SDP3X |
| 7 | I2C-DLVR-5in |
| 8 | 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 |
| 17 | AUAV-10in |
| 18 | AUAV-5in |
| 19 | AUAV-30in |
| 100 | SITL |
Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).
| Value | Meaning |
|---|---|
| 0 | DoNotUse |
| 1 | Use |
| 2 | UseWhenZeroThrottle |
Airspeed calibration offset
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
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.
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Swapped |
| 2 | Auto Detect |
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration or requiring a manual calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Do not require offset calibration before flight. Manual calibration should be performed during initial setup. |
| 2 | Do not calibrate on start up. Manual calibration must be performed once per boot. |
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
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.
| Value | Meaning |
|---|---|
| 0 | Bus0 |
| 1 | Bus1 |
| 2 | Bus2 |
| 3 | Bus3 |
Airspeed sensor ID, taking into account its type, bus and instance
Number of battery cells to monitor
Battery ID to match against other batteries
Rate to send cell information
Analog pin of the first cell. Later cells must be sequential
calibrated ground pressure in Pascals
User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.
altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.
This selects which barometer will be the primary if multiple barometers are found
| Value | Meaning |
|---|---|
| 0 | FirstBaro |
| 1 | 2ndBaro |
| 2 | 3rdBaro |
This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Bus0 |
| 1 | Bus1 |
| 6 | Bus6 |
calibrated ground pressure in Pascals
calibrated ground pressure in Pascals
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on 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.
Barometer sensor ID, taking into account its type, bus and instance
Barometer2 sensor ID, taking into account its type, bus and instance
Barometer3 sensor ID, taking into account its type, bus and instance
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.
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.
Barometer options
Thrust scaling in Pascals. This value scaled by the normalized thrust is subtracted from the barometer pressure. This is used to adjust linearly based on the thrust output for local pressure difference induced by the props.
This enables the use of wind coefficients for barometer compensation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the 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.
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.
This enables the use of wind coefficients for barometer compensation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the 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.
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.
This enables the use of wind coefficients for barometer compensation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the 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.
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.
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
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.
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.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
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.
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.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
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.
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.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
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.
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.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
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.
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.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
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.
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.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
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.
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.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Controls enabling monitoring of the battery's voltage and current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 3 | Analog Voltage Only |
| 4 | Analog Voltage and Current |
| 5 | Solo |
| 6 | Bebop |
| 7 | SMBus-Generic |
| 8 | 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 |
| 30 | INA3221 |
Capacity of the battery in mAh when full
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Voltage type used for detection of low voltage event
| Value | Meaning |
|---|---|
| 0 | Raw Voltage |
| 1 | Sag Compensated Voltage |
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter.
This sets options to change the behaviour of the battery monitor
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Sets the analog input pin that should be used for voltage monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
Sets the analog input pin that should be used for current monitoring.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 4 | CubeOrange_PM2/Navigator |
| 14 | Pixhawk2_PM2 |
| 15 | CubeOrange |
| 17 | Durandal |
| 101 | PX4-v1 |
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
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.
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Battery monitor I2C bus number
Battery monitor I2C address
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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.
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.
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.
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
First order polynomial fit term
Second order polynomial fit term
Third order polynomial fit term
Offset polynomial fit term
Maximum voltage of battery. Provides scaling of current versus voltage
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
This controls the maximum current the INS2XX sensor will work with.
This sets the shunt resistor used in the device
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
This controls the maximum current the INA239 sensor will work with.
This sets the shunt resistor used in the device
Battery monitor I2C bus number
Battery monitor I2C address. If this is zero then probe list of supported addresses
INA3221 channel to return data for
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
Number of amps that a 1V reading on the current sensor corresponds to.
Voltage offset at zero current on current sensor
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Number of cycles the battery has been through
Number of hours the battery has been armed
Battery capacity in mAh
First use time in minutes since 1/1/1970
Last use time in minutes since 1/1/1970
Serial number
Cycle minimum time. Minimum time that vehicle is armed in minutes for counting a battery cycle
Offset to be added to the compass x-axis values to compensate for metal in the frame
Offset to be added to the compass y-axis values to compensate for metal in the frame
Offset to be added to the compass z-axis values to compensate for metal in the frame
An angle to compensate between the true north and magnetic north
Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 2 | EKF-Learning |
| 3 | InFlight-Learning |
Enable or disable the use of the compass (instead of the GPS) for determining heading
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Enable or disable the automatic calculation of the declination based on gps location
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Set motor interference compensation type to disabled, throttle or current. Do not change manually.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Use Throttle |
| 2 | Use Current |
Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. 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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Internal |
| 1 | External |
| 2 | ForcedExternal |
Offset to be added to compass2's x-axis values to compensate for metal in the frame
Offset to be added to compass2's y-axis values to compensate for metal in the frame
Offset to be added to compass2's z-axis values to compensate for metal in the frame
Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Offset to be added to compass3's x-axis values to compensate for metal in the frame
Offset to be added to compass3's y-axis values to compensate for metal in the frame
Offset to be added to compass3's z-axis values to compensate for metal in the frame
Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Compass device id. Automatically detected, do not set manually
Second compass's device id. Automatically detected, do not set manually
Third compass's device id. Automatically detected, do not set manually
Enable or disable the secondary compass for determining heading.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. 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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Internal |
| 1 | External |
| 2 | ForcedExternal |
Enable or disable the tertiary compass for determining heading.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. 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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Internal |
| 1 | External |
| 2 | ForcedExternal |
DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
| Value | Meaning |
|---|---|
| 4 | Very Strict |
| 8 | Strict |
| 16 | Default |
| 32 | Relaxed |
This sets the maximum allowed compass offset in calibration and arming checks
This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | CheckOnly |
| 2 | CheckAndFix |
| 3 | use same tolerance to auto rotate 45 deg rotations |
Compass device id with 1st order priority, set automatically if 0. Reboot required after change.
Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.
Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.
Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
This sets options to change the behaviour of the compass
Extra 4th compass's device id. Automatically detected, do not set manually
Extra 5th compass's device id. Automatically detected, do not set manually
Extra 6th compass's device id. Automatically detected, do not set manually
Extra 7th compass's device id. Automatically detected, do not set manually
Extra 8th compass's device id. Automatically detected, do not set manually
Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
This enables per-motor compass corrections
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is the exponential correction for the power output of the motor for per-motor compass correction
Compensation for X axis of motor1
Compensation for Y axis of motor1
Compensation for Z axis of motor1
Compensation for X axis of motor2
Compensation for Y axis of motor2
Compensation for Z axis of motor2
Compensation for X axis of motor3
Compensation for Y axis of motor3
Compensation for Z axis of motor3
Compensation for X axis of motor4
Compensation for Y axis of motor4
Compensation for Z axis of motor4
DAC Type
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TIx3204 |
| 2 | MCP401x |
I2C bus number
I2C address
Voltage reference
Voltage
What method of communication is used for EFI #1
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Serial-MS |
| 2 | NWPMU |
| 3 | Serial-Lutan |
| 4 | Loweheiser |
| 5 | DroneCAN |
| 6 | Currawong-ECU |
| 7 | Scripting |
| 8 | Hirth |
| 9 | MAVLink |
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
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
Used to calculate fuel consumption
Enable EFI throttle linearisation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)
Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)
Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)
Offset for throttle linearization
Navigation filter engine setting
| Value | Meaning |
|---|---|
| 0 | Portable |
| 2 | Stationary |
| 3 | Pedestrian |
| 4 | Automotive |
| 5 | Sea |
| 6 | Airborne1G |
| 7 | Airborne2G |
| 8 | Airborne4G |
Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary
| Value | Meaning |
|---|---|
| 0 | Use primary |
| 1 | UseBest |
| 2 | Blend |
| 4 | Use primary if 3D fix or better |
This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | NoChange |
This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.
The GGS can send raw serial packets to inject data to multiple GPSes.
| Value | Meaning |
|---|---|
| 0 | send to first GPS |
| 1 | send to 2nd GPS |
| 127 | send to all |
Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
| Value | Meaning |
|---|---|
| 0 | None (0x0000) |
| -1 | All (0xFFFF) |
| -256 | External only (0xFF00) |
Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming
| Value | Meaning |
|---|---|
| 0 | Ignore |
| 1 | Always log |
| 2 | Stop logging when disarmed (SBF only) |
| 5 | Only log every five samples (uBlox only) |
Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.
| Value | Meaning |
|---|---|
| 0 | Do not save config |
| 1 | Save config |
| 2 | Save only when needed |
Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
| Value | Meaning |
|---|---|
| 0 | Disables automatic configuration |
| 1 | Enable automatic configuration for Serial GPSes only |
| 2 | Enable automatic configuration for DroneCAN as well |
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)
Additional backend specific options
This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
| Value | Meaning |
|---|---|
| 0 | FirstGPS |
| 1 | SecondGPS |
GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE
| 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 type of 2nd GPS
| 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 |
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE.
Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE
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.Renamed in 4.6 and later to GPS1_RATE_MS
| Value | Meaning |
|---|---|
| 100 | 10Hz |
| 125 | 8Hz |
| 200 | 5Hz |
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS
| Value | Meaning |
|---|---|
| 100 | 10Hz |
| 125 | 8Hz |
| 200 | 5Hz |
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X.
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.Renamed in 4.6 and later to GPS1_POS_Y.
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.Renamed in 4.6 and later to GPS1_POS_Z.
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.Renamed in 4.6 and later to GPS2_POS_X.
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.Renamed in 4.6 and later to GPS2_POS_Y.
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.Renamed in 4.6 and later to GPS2_POS_Z.
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.Renamed in 4.6 and later to GPS1_DELAY_MS.
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.Renamed in 4.6 and later to GPS2_DELAY_MS.
The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT.
| Value | Meaning |
|---|---|
| 0 | COM1(RS232) on GSOF |
| 1 | COM2(TTL) on GSOF |
The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT.
GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID.
GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID.
GPS type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | AUTO |
| 2 | uBlox |
| 5 | NMEA |
| 6 | SiRF |
| 7 | HIL |
| 8 | SwiftNav |
| 9 | DroneCAN |
| 10 | Septentrio(SBF) |
| 11 | Trimble(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 | Septentrio-DualAntenna(SBF) |
Bitmask for what GNSS system to use (all unchecked or zero to leave GPS as configured)
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
| Value | Meaning |
|---|---|
| 100 | 10Hz |
| 125 | 8Hz |
| 200 | 5Hz |
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
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.
The physical COM port on the connected device, currently only applies to SBF and GSOF GPS
| Value | Meaning |
|---|---|
| 0 | COM1(RS232) on GSOF |
| 1 | COM2(TTL) on GSOF |
GPS Node id for GPS. Detected node unless CAN_OVRIDE is set
GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
| Value | Meaning |
|---|---|
| 0 | Relative to alternate GPS instance |
| 1 | RelativeToCustomBase |
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.This is renamed in 4.6 and later to GPSx_MB_OFS_X.
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.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.
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.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.
GPS type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | AUTO |
| 2 | uBlox |
| 5 | NMEA |
| 6 | SiRF |
| 7 | HIL |
| 8 | SwiftNav |
| 9 | DroneCAN |
| 10 | Septentrio(SBF) |
| 11 | Trimble(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 | Septentrio-DualAntenna(SBF) |
Bitmask for what GNSS system to use (all unchecked or zero to leave GPS as configured)
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
| Value | Meaning |
|---|---|
| 100 | 10Hz |
| 125 | 8Hz |
| 200 | 5Hz |
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
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.
The physical COM port on the connected device, currently only applies to SBF and GSOF GPS
| Value | Meaning |
|---|---|
| 0 | COM1(RS232) on GSOF |
| 1 | COM2(TTL) on GSOF |
GPS Node id for GPS. Detected node unless CAN_OVRIDE is set
GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
| Value | Meaning |
|---|---|
| 0 | Relative to alternate GPS instance |
| 1 | RelativeToCustomBase |
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.This is renamed in 4.6 and later to GPSx_MB_OFS_X.
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.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.
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.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
| Value | Meaning |
|---|---|
| 0 | Relative to alternate GPS instance |
| 1 | RelativeToCustomBase |
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.This is renamed in 4.6 and later to GPSx_MB_OFS_X.
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.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.
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.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
| Value | Meaning |
|---|---|
| 0 | Relative to alternate GPS instance |
| 1 | RelativeToCustomBase |
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.This is renamed in 4.6 and later to GPSx_MB_OFS_X.
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.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.
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.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine
Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine
Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine
Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations
Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations
Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations
Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine
Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine
Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine
Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations
Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations
Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations
Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Use first IMU for attitude, velocity and position estimates
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Use second IMU for attitude, velocity and position estimates
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Use third IMU for attitude, velocity and position estimates
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
Conrols when automatic gyro calibration is performed
| Value | Meaning |
|---|---|
| 0 | Never |
| 1 | Start-up only |
Specifies how the accel cal routine determines the trims
| Value | Meaning |
|---|---|
| 0 | Don't adjust the trims |
| 1 | Assume first orientation was level |
| 2 | Assume ACC_BODYFIX is perfectly aligned to the vehicle |
The body-fixed accelerometer to be used for trim calculation
| Value | Meaning |
|---|---|
| 1 | IMU 1 |
| 2 | IMU 2 |
| 3 | IMU 3 |
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Gyro sensor ID, taking into account its type, bus and instance
Gyro2 sensor ID, taking into account its type, bus and instance
Gyro3 sensor ID, taking into account its type, bus and instance
Accelerometer sensor ID, taking into account its type, bus and instance
Accelerometer2 sensor ID, taking into account its type, bus and instance
Accelerometer3 sensor ID, taking into account its type, bus and instance
Mask of IMUs to enable fast sampling on, if available
Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.
| Value | Meaning |
|---|---|
| 0 | 1kHz |
| 1 | 2kHz |
| 2 | 4kHz |
| 3 | 8kHz |
Temperature that the 1st accelerometer was calibrated at
Temperature that the 1st gyroscope was calibrated at
Temperature that the 2nd accelerometer was calibrated at
Temperature that the 2nd gyroscope was calibrated at
Temperature that the 3rd accelerometer was calibrated at
Temperature that the 3rd gyroscope was calibrated at
This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.
Raw logging options bitmask
Use first IMU for attitude, velocity and position estimates
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Accelerometer sensor ID, taking into account its type, bus and instance
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Temperature that the accelerometer was calibrated at
Gyro sensor ID, taking into account its type, bus and instance
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Temperature that the gyroscope was calibrated at
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | LearnCalibration |
The minimum temperature that the calibration is valid for
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
Use first IMU for attitude, velocity and position estimates
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Accelerometer sensor ID, taking into account its type, bus and instance
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Temperature that the accelerometer was calibrated at
Gyro sensor ID, taking into account its type, bus and instance
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Temperature that the gyroscope was calibrated at
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | LearnCalibration |
The minimum temperature that the calibration is valid for
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
Harmonic Notch Filter enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
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).
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.
| Value | Meaning |
|---|---|
| 0 | Fixed |
| 1 | Throttle |
| 2 | RPM Sensor |
| 3 | ESC Telemetry |
| 4 | Dynamic FFT |
| 5 | Second RPM Sensor |
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.
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.
Harmonic Notch Filter enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
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).
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.
| Value | Meaning |
|---|---|
| 0 | Fixed |
| 1 | Throttle |
| 2 | RPM Sensor |
| 3 | ESC Telemetry |
| 4 | Dynamic FFT |
| 5 | Second RPM Sensor |
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.
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.
Harmonic Notch Filter enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
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).
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.
| Value | Meaning |
|---|---|
| 0 | Fixed |
| 1 | Throttle |
| 2 | RPM Sensor |
| 3 | ESC Telemetry |
| 4 | Dynamic FFT |
| 5 | Second RPM Sensor |
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.
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.
Harmonic Notch Filter enable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
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).
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.
| Value | Meaning |
|---|---|
| 0 | Fixed |
| 1 | Throttle |
| 2 | RPM Sensor |
| 3 | ESC Telemetry |
| 4 | Dynamic FFT |
| 5 | Second RPM Sensor |
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.
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.
Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.
Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.
Options for the BatchSampler.
Interval between pushing samples to the AP_Logger log
Number of samples to push to count every INS_LOG_BAT_LGIN
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | LearnCalibration |
The minimum temperature that the calibration is valid for
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | LearnCalibration |
The minimum temperature that the calibration is valid for
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | LearnCalibration |
The minimum temperature that the calibration is valid for
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 1st order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 2nd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
This is the 3rd order temperature coefficient from a temperature calibration
Sets the number of motor poles to calculate the correct RPM value
Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.
The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging but increases memory usage. This buffer size may be reduced to free up available memory
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Disabled on USB connection |
| 3 | Discard log on reboot if never armed |
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Maximum amount of memory to allocate to AP_Logger-over-mavlink
This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.
Set this such that the free space is larger than your largest typical flight log
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.
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.
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.
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.
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.
Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network.
This sets what MAVLink source system IDs are accepted for GCS failsafe handling, RC overrides and manual control. When MAV_GCS_SYSID_HI is less than MAV_GCS_SYSID then only this value is considered to be a GCS. When MAV_GCS_SYSID_HI is greater than or equal to MAV_GCS_SYSID then the range of values between MAV_GCS_SYSID and MAV_GCS_SYSID_HI (inclusive) are all treated as valid GCS MAVLink system IDs
Upper limit of MAVLink source system IDs considered to be from the GCS. When this is less than MAV_GCS_SYSID then only MAV_GCS_SYSID is used as GCS ID. When this is greater than or equal to MAV_GCS_SYSID then the range of values from MAV_GCS_SYSID to MAV_GCS_SYSID_HI (inclusive) is treated as a GCS ID.
Alters various behaviour of the MAVLink interface
The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
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
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
MAVLink Raw Control stream rate of SERVO_OUT
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
MAVLink Stream rate of VFR_HUD
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
MAVLink Stream rate of PARAM_VALUE
MAVLink ADSB stream rate
Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
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
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
MAVLink Raw Control stream rate of SERVO_OUT
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
MAVLink Stream rate of VFR_HUD
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
MAVLink Stream rate of PARAM_VALUE
MAVLink ADSB stream rate
Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
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
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
MAVLink Raw Control stream rate of SERVO_OUT
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
MAVLink Stream rate of VFR_HUD
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
MAVLink Stream rate of PARAM_VALUE
MAVLink ADSB stream rate
Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
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
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
MAVLink Raw Control stream rate of SERVO_OUT
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
MAVLink Stream rate of VFR_HUD
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
MAVLink Stream rate of PARAM_VALUE
MAVLink ADSB stream rate
Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
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
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
MAVLink Raw Control stream rate of SERVO_OUT
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
MAVLink Stream rate of VFR_HUD
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
MAVLink Stream rate of PARAM_VALUE
MAVLink ADSB stream rate
Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
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
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
MAVLink Raw Control stream rate of SERVO_OUT
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
MAVLink Stream rate of VFR_HUD
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
MAVLink Stream rate of PARAM_VALUE
MAVLink ADSB stream rate
Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
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
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
MAVLink Raw Control stream rate of SERVO_OUT
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
MAVLink Stream rate of VFR_HUD
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
MAVLink Stream rate of PARAM_VALUE
MAVLink ADSB stream rate
Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
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
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
MAVLink Raw Control stream rate of SERVO_OUT
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
MAVLink Stream rate of VFR_HUD
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
MAVLink Stream rate of PARAM_VALUE
MAVLink ADSB stream rate
Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
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
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
MAVLink Raw Control stream rate of SERVO_OUT
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
MAVLink Stream rate of VFR_HUD
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
MAVLink Stream rate of PARAM_VALUE
MAVLink ADSB stream rate
Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED
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
MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS
MAVLink Raw Control stream rate of SERVO_OUT
MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED
MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING
MAVLink Stream rate of VFR_HUD
MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS
MAVLink Stream rate of PARAM_VALUE
MAVLink ADSB stream rate
Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.
PPP serial port
PPP serial baudrate
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UDP client |
| 2 | UDP server |
| 3 | TCP client |
| 4 | TCP server |
Networked serial port protocol
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Port number
IPv4 address. Example: 192.xxx.xxx.xxx
IPv4 address. Example: xxx.168.xxx.xxx
IPv4 address. Example: xxx.xxx.144.xxx
IPv4 address. Example: xxx.xxx.xxx.14
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UDP client |
| 2 | UDP server |
| 3 | TCP client |
| 4 | TCP server |
Networked serial port protocol
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Port number
IPv4 address. Example: 192.xxx.xxx.xxx
IPv4 address. Example: xxx.168.xxx.xxx
IPv4 address. Example: xxx.xxx.144.xxx
IPv4 address. Example: xxx.xxx.xxx.14
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UDP client |
| 2 | UDP server |
| 3 | TCP client |
| 4 | TCP server |
Networked serial port protocol
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Port number
IPv4 address. Example: 192.xxx.xxx.xxx
IPv4 address. Example: xxx.168.xxx.xxx
IPv4 address. Example: xxx.xxx.144.xxx
IPv4 address. Example: xxx.xxx.xxx.14
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UDP client |
| 2 | UDP server |
| 3 | TCP client |
| 4 | TCP server |
Networked serial port protocol
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Port number
IPv4 address. Example: 192.xxx.xxx.xxx
IPv4 address. Example: xxx.168.xxx.xxx
IPv4 address. Example: xxx.xxx.144.xxx
IPv4 address. Example: xxx.xxx.xxx.14
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UDP client |
| 2 | UDP server |
| 3 | TCP client |
| 4 | TCP server |
Networked serial port protocol
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Port number
IPv4 address. Example: 192.xxx.xxx.xxx
IPv4 address. Example: xxx.168.xxx.xxx
IPv4 address. Example: xxx.xxx.144.xxx
IPv4 address. Example: xxx.xxx.xxx.14
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UDP client |
| 2 | UDP server |
| 3 | TCP client |
| 4 | TCP server |
Networked serial port protocol
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Port number
IPv4 address. Example: 192.xxx.xxx.xxx
IPv4 address. Example: xxx.168.xxx.xxx
IPv4 address. Example: xxx.xxx.144.xxx
IPv4 address. Example: xxx.xxx.xxx.14
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UDP client |
| 2 | UDP server |
| 3 | TCP client |
| 4 | TCP server |
Networked serial port protocol
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Port number
IPv4 address. Example: 192.xxx.xxx.xxx
IPv4 address. Example: xxx.168.xxx.xxx
IPv4 address. Example: xxx.xxx.144.xxx
IPv4 address. Example: xxx.xxx.xxx.14
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UDP client |
| 2 | UDP server |
| 3 | TCP client |
| 4 | TCP server |
Networked serial port protocol
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Port number
IPv4 address. Example: 192.xxx.xxx.xxx
IPv4 address. Example: xxx.168.xxx.xxx
IPv4 address. Example: xxx.xxx.144.xxx
IPv4 address. Example: xxx.xxx.xxx.14
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.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | UDP client |
| 2 | UDP server |
| 3 | TCP client |
| 4 | TCP server |
Networked serial port protocol
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Port number
IPv4 address. Example: 192.xxx.xxx.xxx
IPv4 address. Example: xxx.168.xxx.xxx
IPv4 address. Example: xxx.xxx.144.xxx
IPv4 address. Example: xxx.xxx.xxx.14
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
The baud rate used for Endpoint 1. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
The baud rate used for Endpoint 2. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control over UART options for Endpoint 1. Only applies to serial ports.
Control over UART options for Endpoint 2. Only applies to serial ports.
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
The baud rate used for Endpoint 1. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
The baud rate used for Endpoint 2. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control over UART options for Endpoint 1. Only applies to serial ports.
Control over UART options for Endpoint 2. Only applies to serial ports.
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
The baud rate used for Endpoint 1. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
The baud rate used for Endpoint 2. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control over UART options for Endpoint 1. Only applies to serial ports.
Control over UART options for Endpoint 2. Only applies to serial ports.
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
The baud rate used for Endpoint 1. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
The baud rate used for Endpoint 2. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control over UART options for Endpoint 1. Only applies to serial ports.
Control over UART options for Endpoint 2. Only applies to serial ports.
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
The baud rate used for Endpoint 1. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
The baud rate used for Endpoint 2. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control over UART options for Endpoint 1. Only applies to serial ports.
Control over UART options for Endpoint 2. Only applies to serial ports.
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
The baud rate used for Endpoint 1. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
The baud rate used for Endpoint 2. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control over UART options for Endpoint 1. Only applies to serial ports.
Control over UART options for Endpoint 2. Only applies to serial ports.
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
The baud rate used for Endpoint 1. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
The baud rate used for Endpoint 2. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control over UART options for Endpoint 1. Only applies to serial ports.
Control over UART options for Endpoint 2. Only applies to serial ports.
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
The baud rate used for Endpoint 1. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
The baud rate used for Endpoint 2. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control over UART options for Endpoint 1. Only applies to serial ports.
Control over UART options for Endpoint 2. Only applies to serial ports.
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0(usually USB) |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
| 7 | Serial7 |
| 8 | Serial8 |
| 9 | Serial9 |
| 21 | Network Port1 |
| 22 | Network Port2 |
| 23 | Network Port3 |
| 24 | Network Port4 |
| 25 | Network Port5 |
| 26 | Network Port6 |
| 27 | Network Port7 |
| 28 | Network Port8 |
| 29 | Network Port9 |
| 41 | CAN1 Port1 |
| 42 | CAN1 Port2 |
| 43 | CAN1 Port3 |
| 44 | CAN1 Port4 |
| 45 | CAN1 Port5 |
| 46 | CAN1 Port6 |
| 47 | CAN1 Port7 |
| 48 | CAN1 Port8 |
| 49 | CAN1 Port9 |
| 51 | CAN2 Port1 |
| 52 | CAN2 Port2 |
| 53 | CAN2 Port3 |
| 54 | CAN2 Port4 |
| 55 | CAN2 Port5 |
| 56 | CAN2 Port6 |
| 57 | CAN2 Port7 |
| 58 | CAN2 Port8 |
| 59 | CAN2 Port9 |
The baud rate used for Endpoint 1. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
The baud rate used for Endpoint 2. Only applies to serial ports.
| 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 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control over UART options for Endpoint 1. Only applies to serial ports.
Control over UART options for Endpoint 2. Only applies to serial ports.
NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.
This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval
Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | Low |
| 2 | Medium |
| 3 | High |
Controls what types of Buzzer will be enabled
Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
| Value | Meaning |
|---|---|
| 0 | Standard |
| 1 | MAVLink/Scripting/AP_Periph |
| 2 | OutbackChallenge |
| 3 | TrafficLight |
This sets up the type of on-board I2C display. Disabled by default.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | ssd1306 |
| 2 | sh1106 |
| 10 | SITL |
Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Aircraft |
| 2 | Rover |
Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| Value | Meaning |
|---|---|
| -1 | Disabled |
Controls what types of LEDs will be enabled
Specifies pin level that indicates buzzer should play
| Value | Meaning |
|---|---|
| 0 | LowIsOn |
| 1 | HighIsOn |
Control the volume of the buzzer
The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
Number of times board has been booted
Total FlightTime (seconds)
Total time autopilot has run
Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)
Total number of flights
Default output rate in Hz for all PWM outputs.
DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.
| Value | Meaning |
|---|---|
| 0 | 1Khz |
| 1 | loop-rate |
| 2 | double loop-rate |
| 3 | triple loop-rate |
| 4 | quadruple loop rate |
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.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | BLHeli32/Kiss/AM32 |
| 2 | BLHeli_S/BlueJay |
| 3 | BLHeli32/AM32/Kiss+EDT |
| 4 | BLHeli_S/BlueJay+EDT |
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 of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.
This allows for up to 32 outputs, enabling parameters for outputs above 16
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
| Value | Meaning |
|---|---|
| -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 |
| 31 | HeliRSC |
| 32 | HeliTailRSC |
| 33 | Motor1 |
| 34 | Motor2 |
| 35 | Motor3 |
| 36 | Motor4 |
| 37 | Motor5 |
| 38 | Motor6 |
| 39 | Motor7 |
| 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 |
| 71 | TrackerYaw |
| 72 | TrackerPitch |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 77 | ElevonLeft |
| 78 | ElevonRight |
| 79 | VTailLeft |
| 80 | VTailRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 86 | DifferentialSpoilerLeft2 |
| 87 | DifferentialSpoilerRight2 |
| 88 | Winch |
| 89 | Main Sail |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 128 | WingSailElevator |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 137 | SailMastRotation |
| 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 |
| 180 | CameraZoom |
Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)
If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TestMotor1 |
| 2 | TestMotor2 |
| 3 | TestMotor3 |
| 4 | TestMotor4 |
| 5 | TestMotor5 |
| 6 | TestMotor6 |
| 7 | TestMotor7 |
| 8 | TestMotor8 |
This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout
This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests
When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | OneShot |
| 2 | OneShot125 |
| 3 | Brushed |
| 4 | DShot150 |
| 5 | DShot300 |
| 6 | DShot600 |
| 7 | DShot1200 |
This sets the 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.
| Value | Meaning |
|---|---|
| 0 | Console |
| 1 | Mavlink Serial Channel1 |
| 2 | Mavlink Serial Channel2 |
| 3 | Mavlink Serial Channel3 |
| 4 | Mavlink Serial Channel4 |
| 5 | Mavlink Serial Channel5 |
This allows calculation of true RPM from ESC's eRPM. The default is 14.
Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Note that setting an ESC as reversible with this option on AM32 will result in the forward direction of the ESC changing. You can combine with parameter with the SERVO_BLH_RVMASK parameter to maintain the same direction when the ESC is in 3D mode as it has in unidirectional (non-3D) mode.
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.
Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction. Note that when combined with SERVO_BLH_3DMASK this will change what direction is considered to be forward.
Servo channel mask specifying FETtec ESC output.
Servo channel mask to reverse rotation of FETtec ESC outputs.
Number of motor electrical poles
Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095
Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095
This sets the SBUS output frame rate in Hz.
Enable of volz servo protocol to specific channels
Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.
Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
Cutoff frequency for low pass filter applied to each face in the proximity boundary
What type of proximity sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 7 | LightwareSF40c |
| 2 | MAVLink |
| 3 | TeraRangerTower |
| 4 | RangeFinder |
| 5 | RPLidarA2 |
| 6 | TeraRangerTowerEvo |
| 8 | LightwareSF45B |
| 10 | SITL |
| 12 | AirSimSITL |
| 13 | CygbotD1 |
| 14 | DroneCAN |
| 15 | Scripting |
| 16 | LD06 |
| 17 | MR72_CAN |
| 18 | HexsoonRadar |
Proximity sensor orientation
| Value | Meaning |
|---|---|
| 0 | Default |
| 1 | Upside Down |
Proximity sensor yaw correction
Proximity sensor ignore angle 1
Proximity sensor ignore width 1
Proximity sensor ignore angle 2
Proximity sensor ignore width 2
Proximity sensor ignore angle 3
Proximity sensor ignore width 3
Proximity sensor ignore angle 4
Proximity sensor ignore width 4
Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
What type of proximity sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 7 | LightwareSF40c |
| 2 | MAVLink |
| 3 | TeraRangerTower |
| 4 | RangeFinder |
| 5 | RPLidarA2 |
| 6 | TeraRangerTowerEvo |
| 8 | LightwareSF45B |
| 10 | SITL |
| 12 | AirSimSITL |
| 13 | CygbotD1 |
| 14 | DroneCAN |
| 15 | Scripting |
| 16 | LD06 |
| 17 | MR72_CAN |
| 18 | HexsoonRadar |
Proximity sensor orientation
| Value | Meaning |
|---|---|
| 0 | Default |
| 1 | Upside Down |
Proximity sensor yaw correction
Proximity sensor ignore angle 1
Proximity sensor ignore width 1
Proximity sensor ignore angle 2
Proximity sensor ignore width 2
Proximity sensor ignore angle 3
Proximity sensor ignore width 3
Proximity sensor ignore angle 4
Proximity sensor ignore width 4
Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
What type of proximity sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 7 | LightwareSF40c |
| 2 | MAVLink |
| 3 | TeraRangerTower |
| 4 | RangeFinder |
| 5 | RPLidarA2 |
| 6 | TeraRangerTowerEvo |
| 8 | LightwareSF45B |
| 10 | SITL |
| 12 | AirSimSITL |
| 13 | CygbotD1 |
| 14 | DroneCAN |
| 15 | Scripting |
| 16 | LD06 |
| 17 | MR72_CAN |
| 18 | HexsoonRadar |
Proximity sensor orientation
| Value | Meaning |
|---|---|
| 0 | Default |
| 1 | Upside Down |
Proximity sensor yaw correction
Proximity sensor ignore angle 1
Proximity sensor ignore width 1
Proximity sensor ignore angle 2
Proximity sensor ignore width 2
Proximity sensor ignore angle 3
Proximity sensor ignore width 3
Proximity sensor ignore angle 4
Proximity sensor ignore width 4
Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
What type of proximity sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 7 | LightwareSF40c |
| 2 | MAVLink |
| 3 | TeraRangerTower |
| 4 | RangeFinder |
| 5 | RPLidarA2 |
| 6 | TeraRangerTowerEvo |
| 8 | LightwareSF45B |
| 10 | SITL |
| 12 | AirSimSITL |
| 13 | CygbotD1 |
| 14 | DroneCAN |
| 15 | Scripting |
| 16 | LD06 |
| 17 | MR72_CAN |
| 18 | HexsoonRadar |
Proximity sensor orientation
| Value | Meaning |
|---|---|
| 0 | Default |
| 1 | Upside Down |
Proximity sensor yaw correction
Proximity sensor ignore angle 1
Proximity sensor ignore width 1
Proximity sensor ignore angle 2
Proximity sensor ignore width 2
Proximity sensor ignore angle 3
Proximity sensor ignore width 3
Proximity sensor ignore angle 4
Proximity sensor ignore width 4
Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
What type of proximity sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 7 | LightwareSF40c |
| 2 | MAVLink |
| 3 | TeraRangerTower |
| 4 | RangeFinder |
| 5 | RPLidarA2 |
| 6 | TeraRangerTowerEvo |
| 8 | LightwareSF45B |
| 10 | SITL |
| 12 | AirSimSITL |
| 13 | CygbotD1 |
| 14 | DroneCAN |
| 15 | Scripting |
| 16 | LD06 |
| 17 | MR72_CAN |
| 18 | HexsoonRadar |
Proximity sensor orientation
| Value | Meaning |
|---|---|
| 0 | Default |
| 1 | Upside Down |
Proximity sensor yaw correction
Proximity sensor ignore angle 1
Proximity sensor ignore width 1
Proximity sensor ignore angle 2
Proximity sensor ignore width 2
Proximity sensor ignore angle 3
Proximity sensor ignore width 3
Proximity sensor ignore angle 4
Proximity sensor ignore width 4
Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
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.
Rate at which RC input is sent via DroneCAN
This is the serial port number where SERIALx_PROTOCOL will be set to RC input.
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.
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 10 | DroneCAN Hardpoint ID 0 |
| 11 | DroneCAN Hardpoint ID 1 |
| 12 | DroneCAN Hardpoint ID 2 |
| 13 | DroneCAN Hardpoint ID 3 |
| 14 | DroneCAN Hardpoint ID 4 |
| 15 | DroneCAN Hardpoint ID 5 |
| 16 | DroneCAN Hardpoint ID 6 |
| 17 | DroneCAN Hardpoint ID 7 |
| 18 | DroneCAN Hardpoint ID 8 |
| 19 | DroneCAN Hardpoint ID 9 |
| 20 | DroneCAN Hardpoint ID 10 |
| 21 | DroneCAN Hardpoint ID 11 |
| 22 | DroneCAN Hardpoint ID 12 |
| 23 | DroneCAN Hardpoint ID 13 |
| 24 | DroneCAN Hardpoint ID 14 |
| 25 | DroneCAN Hardpoint ID 15 |
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.
| 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 |
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.
| Value | Meaning |
|---|---|
| 0 | Off |
| 1 | On |
| 2 | NoChange |
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.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Inverted |
Type of connected rangefinder
| 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 | BenewakeTFmini-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFmini-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 |
| 44 | HexsoonRadar |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
| 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 |
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.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in metres that rangefinder can reliably read
Maximum distance in metres that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| 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 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RangeFinder Minimum signal strength (SNR) to accept distance
Type of connected rangefinder
| 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 | BenewakeTFmini-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFmini-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 |
| 44 | HexsoonRadar |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
| 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 |
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.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in metres that rangefinder can reliably read
Maximum distance in metres that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| 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 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RangeFinder Minimum signal strength (SNR) to accept distance
Type of connected rangefinder
| 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 | BenewakeTFmini-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFmini-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 |
| 44 | HexsoonRadar |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
| 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 |
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.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in metres that rangefinder can reliably read
Maximum distance in metres that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| 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 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RangeFinder Minimum signal strength (SNR) to accept distance
Type of connected rangefinder
| 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 | BenewakeTFmini-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFmini-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 |
| 44 | HexsoonRadar |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
| 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 |
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.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in metres that rangefinder can reliably read
Maximum distance in metres that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| 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 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RangeFinder Minimum signal strength (SNR) to accept distance
Type of connected rangefinder
| 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 | BenewakeTFmini-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFmini-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 |
| 44 | HexsoonRadar |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
| 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 |
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.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in metres that rangefinder can reliably read
Maximum distance in metres that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| 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 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RangeFinder Minimum signal strength (SNR) to accept distance
Type of connected rangefinder
| 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 | BenewakeTFmini-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFmini-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 |
| 44 | HexsoonRadar |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
| 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 |
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.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in metres that rangefinder can reliably read
Maximum distance in metres that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| 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 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RangeFinder Minimum signal strength (SNR) to accept distance
Type of connected rangefinder
| 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 | BenewakeTFmini-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFmini-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 |
| 44 | HexsoonRadar |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
| 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 |
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.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in metres that rangefinder can reliably read
Maximum distance in metres that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| 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 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RangeFinder Minimum signal strength (SNR) to accept distance
Type of connected rangefinder
| 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 | BenewakeTFmini-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFmini-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 |
| 44 | HexsoonRadar |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
| 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 |
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.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in metres that rangefinder can reliably read
Maximum distance in metres that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| 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 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RangeFinder Minimum signal strength (SNR) to accept distance
Type of connected rangefinder
| 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 | BenewakeTFmini-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFmini-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 |
| 44 | HexsoonRadar |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
| 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 |
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.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in metres that rangefinder can reliably read
Maximum distance in metres that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| 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 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RangeFinder Minimum signal strength (SNR) to accept distance
Type of connected rangefinder
| 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 | BenewakeTFmini-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFmini-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 |
| 44 | HexsoonRadar |
| 100 | SITL |
Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
| 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 |
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.
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
| Value | Meaning |
|---|---|
| 0 | Linear |
| 1 | Inverted |
| 2 | Hyperbolic |
Minimum distance in metres that rangefinder can reliably read
Maximum distance in metres that rangefinder can reliably read
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| 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 |
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
| Value | Meaning |
|---|---|
| 0 | No |
| 1 | Yes |
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.
This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Orientation of rangefinder
| Value | Meaning |
|---|---|
| 0 | Forward |
| 1 | Forward-Right |
| 2 | Right |
| 3 | Back-Right |
| 4 | Back |
| 5 | Back-Left |
| 6 | Left |
| 7 | Forward-Left |
| 24 | Up |
| 25 | Down |
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Desired baud rate
| Value | Meaning |
|---|---|
| 0 | Low Speed |
| 1 | High Speed |
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RangeFinder Minimum signal strength (SNR) to accept distance
What type of RPM sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Not Used |
| 2 | GPIO |
| 3 | EFI |
| 4 | Harmonic Notch |
| 5 | ESC Telemetry Motors Bitmask |
| 6 | Generator |
| 7 | DroneCAN |
Scaling factor between sensor reading and RPM.
Maximum RPM to report. Only used on type = GPIO.
Minimum RPM to report. Only used on type = GPIO.
Minimum data quality to be used
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.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUX1 |
| 51 | AUX2 |
| 52 | AUX3 |
| 53 | AUX4 |
| 54 | AUX5 |
| 55 | AUX6 |
Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
ESC Telemetry Index to write RPM to. Use 0 to disable.
DroneCAN sensor ID to send as on AP-Periph -1 disables
What type of RPM sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Not Used |
| 2 | GPIO |
| 3 | EFI |
| 4 | Harmonic Notch |
| 5 | ESC Telemetry Motors Bitmask |
| 6 | Generator |
| 7 | DroneCAN |
Scaling factor between sensor reading and RPM.
Maximum RPM to report. Only used on type = GPIO.
Minimum RPM to report. Only used on type = GPIO.
Minimum data quality to be used
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.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUX1 |
| 51 | AUX2 |
| 52 | AUX3 |
| 53 | AUX4 |
| 54 | AUX5 |
| 55 | AUX6 |
Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
ESC Telemetry Index to write RPM to. Use 0 to disable.
DroneCAN sensor ID to send as on AP-Periph -1 disables
What type of RPM sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Not Used |
| 2 | GPIO |
| 3 | EFI |
| 4 | Harmonic Notch |
| 5 | ESC Telemetry Motors Bitmask |
| 6 | Generator |
| 7 | DroneCAN |
Scaling factor between sensor reading and RPM.
Maximum RPM to report. Only used on type = GPIO.
Minimum RPM to report. Only used on type = GPIO.
Minimum data quality to be used
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.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUX1 |
| 51 | AUX2 |
| 52 | AUX3 |
| 53 | AUX4 |
| 54 | AUX5 |
| 55 | AUX6 |
Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
ESC Telemetry Index to write RPM to. Use 0 to disable.
DroneCAN sensor ID to send as on AP-Periph -1 disables
What type of RPM sensor is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Not Used |
| 2 | GPIO |
| 3 | EFI |
| 4 | Harmonic Notch |
| 5 | ESC Telemetry Motors Bitmask |
| 6 | Generator |
| 7 | DroneCAN |
Scaling factor between sensor reading and RPM.
Maximum RPM to report. Only used on type = GPIO.
Minimum RPM to report. Only used on type = GPIO.
Minimum data quality to be used
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.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUX1 |
| 51 | AUX2 |
| 52 | AUX3 |
| 53 | AUX4 |
| 54 | AUX5 |
| 55 | AUX6 |
Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
ESC Telemetry Index to write RPM to. Use 0 to disable.
DroneCAN sensor ID to send as on AP-Periph -1 disables
Specifies which sources of UTC time will be accepted
Adds offset in +- minutes from UTC to calculate local time
Controls if scripting is enabled
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Lua Scripts |
The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time
Amount of memory available for scripting
Debugging options
General purpose user variable input for scripts
General purpose user variable input for scripts
General purpose user variable input for scripts
General purpose user variable input for scripts
General purpose user variable input for scripts
General purpose user variable input for scripts
This will stop scripts being loaded from the given locations
Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables
Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables
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.
| 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 |
Enable scripting serial devices
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Serial protocol of scripting serial device
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Serial protocol of scripting serial device
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
Serial protocol of scripting serial device
| 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control what protocol to use on the console.
| Value | Meaning |
|---|---|
| 1 | MAVLink1 |
| 2 | MAVLink2 |
Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!
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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!
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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!
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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!
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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!
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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!
This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port. This parameter is normally reset to -1 on reboot, disabling passthrough. If SERIAL_PASSTIMO is set to -1 then it is not reset on reboot.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout. A value of -1 means no timeout and the SERIAL_PASS2 parameter is not reset on reboot.
Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!
Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!
Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
| Value | Meaning |
|---|---|
| -1 | None |
| 1 | MAVLink1 |
| 2 | MAVLink2 |
| 3 | Frsky D |
| 4 | Frsky SPort |
| 5 | GPS |
| 7 | Alexmos Gimbal Serial |
| 8 | 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 |
| 48 | PPP |
| 49 | i-BUS Telemetry |
| 50 | IOMCU |
The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
| Value | Meaning |
|---|---|
| 1 | 1200 |
| 2 | 2400 |
| 4 | 4800 |
| 9 | 9600 |
| 19 | 19200 |
| 38 | 38400 |
| 57 | 57600 |
| 111 | 111100 |
| 115 | 115200 |
| 230 | 230400 |
| 256 | 256000 |
| 460 | 460800 |
| 500 | 500000 |
| 921 | 921600 |
| 1500 | 1.5MBaud |
| 2000 | 2MBaud |
| 12500000 | 12.5MBaud |
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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!
Gyro drift rate of change in degrees/second/minute
Gyro drift duration of one full drift cycle (period in minutes)
Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor
Allows you to emulate wind in sim
Allows you to set wind direction (true deg) in sim
Allows you to emulate random wind variations in sim
this controls the time over which wind changes take effect
Sonar rotation from rotations enumeration
Simulated battery (constant) voltage
Simulated battery capacity
Probablility a sonar glitch would happen
Scaling factor for simulated sonar noise
Allows you to emulate rc failures in sim
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | No RC pusles |
| 2 | All Channels neutral except Throttle is 950us |
If set, if a numerical error occurs SITL will die with a floating point exception.
The set of actuators controlled externally by CAN SITL AP_Periph
transport type for first CAN interface
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | MulticastUDP |
| 2 | SocketCAN |
transport type for second CAN interface
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | MulticastUDP |
| 2 | SocketCAN |
Sonar conversion scale from distance to voltage
Enable simulated Optical Flow sensor
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enabled |
Enable using terrain for height
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enabled |
Opflow Data Rate
Opflow data delay
Total number of ADSB simulated aircraft
Simulated standard deviation of radius in ADSB of another aircraft
Simulated ADSB altitude of another aircraft
SITL GPIO emulation
ADSB transceiever enable and disable
| Value | Meaning |
|---|---|
| 0 | Transceiever disable |
| 1 | Transceiever enable |
Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used
XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)
XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)
XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)
XYZ position of the sonar relative to the body frame origin (X-axis)
XYZ position of the sonar relative to the body frame origin (Y-axis)
XYZ position of the sonar relative to the body frame origin (Z-axis)
XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)
XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)
XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)
mask of motors which SIM_ENGINE_MUL will be applied to
Baro start temperature
Barometer board temperature offset from atmospheric temperature
Barometer warmup temperature time constant
A pressure change with temperature that closely matches what has been observed with a ICM-20789
Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.
Selects how wind varies from surface to WIND_T_ALT
| Value | Meaning |
|---|---|
| 0 | square law |
| 1 | none |
| 2 | linear-see WIND_T_COEF |
Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level
For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value
SITL RC channel count
SITL set this simulated pin to true if vehicle is on ground
SITL enable bandwidth limitting on telemetry ports with non-zero values
Acceleration of shove to vehicle in x axis
Acceleration of shove to vehicle in y axis
Acceleration of shove to vehicle in z axis
Force to the vehicle over a period of time
Optical Flow sensor measurement noise
Rotational acceleration of twist x axis
Rotational acceleration of twist y axis
Rotational acceleration of twist z axis
Time that twist is applied on the vehicle
Ground behavior of aircraft (tailsitter, no movement, forward only)
Simulated orientation of the IMUs
| 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 |
Wave enable and modes
| Value | Meaning |
|---|---|
| 0 | disabled |
| 1 | roll and pitch |
| 2 | roll and pitch and heave |
Wave length in SITL
Wave amplitude in SITL
Direction wave is coming from
Wave speed in SITL
Tide direction wave is coming from
Tide speed in simulation
Specifies vehicle's startup latitude
Specifies vehicle's startup longitude
Specifies vehicle's startup altitude (AMSL)
Specifies vehicle's startup heading (0-360)
Extra time delay per main loop
Different types of Electronic Fuel Injection (EFI) systems
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | MegaSquirt EFI system |
| 2 | Löweheiser EFI system |
| 8 | Hirth engines |
Motor harmonics generated in SITL
Motor mask, allowing external simulators to mark motors
Max frequency to use as baseline for adding motor noise for the gyros and accels
Minimum throttle for simulated ins noise
Amplitude scaling of motor noise relative to gyro/accel noise
SITL odometry enabl
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
LED layout config value
Scenario for thermalling simulation, for soaring
SITL Loop rate
Number of simulated IMUs to create
Number of simulated baros to create in SITL
Upper limit of random jitter in loop time
enable perfect simulated ESC telemetry
Simulated RPM when motors are armed
Sets percentage of outgoing byte loss on UARTs
specifies which simulated ADSB types are active
Simulated OSD number of text columns
Simulated OSD number of text rows
GPS initial lat offset from origin
GPS initial lon offset from origin
GPS initial alt offset from origin
Log number for GPS:update_file()
Scaling factor for simulated vibration from motors
Magnetometer measurement delay
Height above ground where anomally strength has decayed to 1/8 of the ground level value
MAG1 external compass orientation
Scale the compass 1 to simulate sensor scale factor errors
Device ID of simulated compass 1
Device ID of simulated compass 2
Device ID of simulated compass 3
Device ID of simulated compass 4
Device ID of simulated compass 5
Device ID of simulated compass 6
Device ID of simulated compass 7
Device ID of simulated compass 8
Simulated failure of MAG1
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | MAG1 Failure |
MAG2 external compass orientation
Simulated failure of MAG2
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | MAG2 Failure |
Scale the compass 2 to simulate sensor scale factor errors
Simulated failure of MAG3
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | MAG3 Failure |
Scale the compass 3 to simulate sensor scale factor errors
MAG3 external compass orientation
This forces saving of compass devids on startup so that simulated compasses start as calibrated
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Starting IMU temperature of a curve
Ending IMU temperature of a curve
IMU temperature time constant of the curve
IMU fixed temperature by user
bias of simulated accelerometer sensor (X-axis)
bias of simulated accelerometer sensor (Y-axis)
bias of simulated accelerometer sensor (Z-axis)
bias of simulated accelerometer sensor (X-axis)
bias of simulated accelerometer sensor (Y-axis)
bias of simulated accelerometer sensor (Z-axis)
bias of simulated accelerometer sensor (X-axis)
bias of simulated accelerometer sensor (Y-axis)
bias of simulated accelerometer sensor (Z-axis)
scaling factor for simulated vibration from motors
scaling factor for simulated vibration from motors
scaling factor for simulated vibration from motors
scaling factor for simulated vibration from motors
scaling factor for simulated vibration from motors
scaling factor for simulated vibration from motors
scaling factors applied to simulated gyroscope (X-axis)
scaling factors applied to simulated gyroscope (Y-axis)
scaling factors applied to simulated gyroscope (Z-axis)
scaling factors applied to simulated gyroscope (X-axis)
scaling factors applied to simulated gyroscope (Y-axis)
scaling factors applied to simulated gyroscope (Z-axis)
scaling factors applied to simulated gyroscope (X-axis)
scaling factors applied to simulated gyroscope (Y-axis)
scaling factors applied to simulated gyroscope (Z-axis)
Simulated failure of ACCEL1
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | ACCEL1 Failure |
Simulated failure of ACCEL2
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | ACCEL2 Failure |
Simulated failure of ACCEL3
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | ACCEL3 Failure |
Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Readings stopped |
Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Readings stopped |
scaling factors applied to simulated accelerometer (X-axis)
scaling factors applied to simulated accelerometer (Y-axis)
scaling factors applied to simulated accelerometer (Z-axis)
scaling factors applied to simulated accelerometer (X-axis)
scaling factors applied to simulated accelerometer (Y-axis)
scaling factors applied to simulated accelerometer (Z-axis)
scaling factors applied to simulated accelerometer (X-axis)
scaling factors applied to simulated accelerometer (Y-axis)
scaling factors applied to simulated accelerometer (Z-axis)
Trim applied to simulated accelerometer (X-axis)
Trim applied to simulated accelerometer (Y-axis)
Trim applied to simulated accelerometer (Z-axis)
the instance number to take servos from
channels which are passed through to actual hardware when running sim on actual hardware
Read and write gyro data to/from files
| Value | Meaning |
|---|---|
| 0 | Stop writing data |
| 1 | Read data from file |
| 2 | Write data to a file |
| 3 | Read data from file and stop on EOF |
Read and write accelerometer data to/from files
| Value | Meaning |
|---|---|
| 0 | Stop writing data |
| 1 | Read data from file |
| 2 | Write data to a file |
| 3 | Read data from file and stop on EOF |
First Gyro bias on X axis
First Gyro bias on Y axis
First Gyro bias on Z axis
Second Gyro bias on X axis
Second Gyro bias on Y axis
Second Gyro bias on Z axis
Third Gyro bias on X axis
Third Gyro bias on Y axis
Third Gyro bias on Z axis
scaling factors applied to simulated accelerometer (X-axis)
scaling factors applied to simulated accelerometer (Y-axis)
scaling factors applied to simulated accelerometer (Z-axis)
Simulated failure of ACCEL4
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | ACCEL4 Failure |
scaling factors applied to simulated gyroscope (X-axis)
scaling factors applied to simulated gyroscope (Y-axis)
scaling factors applied to simulated gyroscope (Z-axis)
scaling factor for simulated vibration from motors
scaling factor for simulated vibration from motors
bias of simulated accelerometer sensor (X-axis)
bias of simulated accelerometer sensor (Y-axis)
bias of simulated accelerometer sensor (Z-axis)
Fourth Gyro bias on X axis
Fourth Gyro bias on Y axis
Fourth Gyro bias on Z axis
scaling factors applied to simulated accelerometer (X-axis)
scaling factors applied to simulated accelerometer (Y-axis)
scaling factors applied to simulated accelerometer (Z-axis)
Simulated failure of ACCEL5
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | ACCEL5 Failure |
scaling factors applied to simulated gyroscope (X-axis)
scaling factors applied to simulated gyroscope (Y-axis)
scaling factors applied to simulated gyroscope (Z-axis)
scaling factor for simulated vibration from motors
scaling factor for simulated vibration from motors
bias of simulated accelerometer sensor (X-axis)
bias of simulated accelerometer sensor (Y-axis)
bias of simulated accelerometer sensor (Z-axis)
Fifth Gyro bias on X axis
Fifth Gyro bias on Y axis
Fifth Gyro bias on Z axis
Allow relay output operation when running SIM-on-hardware
If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM
Total number of AIS simulated vessels
Simulated standard deviation of radius in AIS of a vessel
Simulated Airspeed sensor noise
Simulated Airspeed sensor offset
Simulates Airspeed sensor 1 failure
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Simulated airspeed sensor failure pressure
Simulated airspeed sensor pitot tube failure pressure
Simulated airspeed sensor with reversed pitot/static connections
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Simulated airspeed sensor ratio
Simulated Airspeed sensor noise
Simulated Airspeed sensor offset
Simulates Airspeed sensor 1 failure
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Simulated airspeed sensor failure pressure
Simulated airspeed sensor pitot tube failure pressure
Simulated airspeed sensor with reversed pitot/static connections
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Simulated airspeed sensor ratio
Barometer noise in height
Barometer altitude drifts at this rate
Disable barometer in SITL
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Barometer glitch height in SITL
Freeze barometer to last recorded altitude
Barometer data time delay
Barometer wind coefficient direction forward in SITL
Barometer wind coefficient direction backward in SITL
Barometer wind coefficient direction right in SITL
Barometer wind coefficient direction left in SITL
Barometer wind coefficient direction up in SITL
Barometer wind coefficient direction down in SITL
Barometer noise in height
Barometer altitude drifts at this rate
Disable barometer in SITL
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Barometer glitch height in SITL
Freeze barometer to last recorded altitude
Barometer data time delay
Barometer wind coefficient direction forward in SITL
Barometer wind coefficient direction backward in SITL
Barometer wind coefficient direction right in SITL
Barometer wind coefficient direction left in SITL
Barometer wind coefficient direction up in SITL
Barometer wind coefficient direction down in SITL
Barometer noise in height
Barometer altitude drifts at this rate
Disable barometer in SITL
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Barometer glitch height in SITL
Freeze barometer to last recorded altitude
Barometer data time delay
Barometer wind coefficient direction forward in SITL
Barometer wind coefficient direction backward in SITL
Barometer wind coefficient direction right in SITL
Barometer wind coefficient direction left in SITL
Barometer wind coefficient direction up in SITL
Barometer wind coefficient direction down in SITL
Allows you to enable (1) or disable (0) the simulated buzzer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The pin number that the Buzzer is connected to (start at 1)
Allows you to enable (1) or disable (0) the FETtecOneWireESC simulator
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Allows you to turn power off to the simulated ESCs. Bits correspond to the ESC ID, *NOT* their servo channel.
balloon burst height
balloon climb rate. If the value is less than zero then the balloon is disabled.
Enable simulated GPS
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
GPS lag
Sets the type of simulation used for GPS
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | UBlox |
| 5 | NMEA |
| 6 | SBP |
| 7 | File |
| 8 | Nova |
| 9 | SBP2 |
| 11 | Trimble |
| 19 | MSP |
Percent of bytes lost from GPS
Number of satellites GPS has in view
Glitch offsets of simulated GPS sensor (X-axis)
Glitch offsets of simulated GPS sensor (Y-axis)
Glitch offsets of simulated GPS sensor (Z-axis)
GPS Update rate
GPS altitude drift error
GPS antenna phase center position relative to the body frame origin (X-axis)
GPS antenna phase center position relative to the body frame origin (Y-axis)
GPS antenna phase center position relative to the body frame origin (Z-axis)
Amplitude of the GPS altitude error
Delay in seconds before GPS acquires lock
GPS Altitude Error
Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Emit HDT |
| 2 | Emit THS |
| 3 | KSXT |
| 4 | Be Moving Baseline Base |
GPS Accuracy
GPS Velocity Error Offsets in NED (X-axis)
GPS Velocity Error Offsets in NED (Y-axis)
GPS Velocity Error Offsets in NED (Z-axis)
Enable simulated GPS jamming
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading
Enable simulated GPS
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
GPS lag
Sets the type of simulation used for GPS
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | UBlox |
| 5 | NMEA |
| 6 | SBP |
| 7 | File |
| 8 | Nova |
| 9 | SBP2 |
| 11 | Trimble |
| 19 | MSP |
Percent of bytes lost from GPS
Number of satellites GPS has in view
Glitch offsets of simulated GPS sensor (X-axis)
Glitch offsets of simulated GPS sensor (Y-axis)
Glitch offsets of simulated GPS sensor (Z-axis)
GPS Update rate
GPS altitude drift error
GPS antenna phase center position relative to the body frame origin (X-axis)
GPS antenna phase center position relative to the body frame origin (Y-axis)
GPS antenna phase center position relative to the body frame origin (Z-axis)
Amplitude of the GPS altitude error
Delay in seconds before GPS acquires lock
GPS Altitude Error
Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Emit HDT |
| 2 | Emit THS |
| 3 | KSXT |
| 4 | Be Moving Baseline Base |
GPS Accuracy
GPS Velocity Error Offsets in NED (X-axis)
GPS Velocity Error Offsets in NED (Y-axis)
GPS Velocity Error Offsets in NED (Z-axis)
Enable simulated GPS jamming
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading
Enable simulated GPS
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
GPS lag
Sets the type of simulation used for GPS
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | UBlox |
| 5 | NMEA |
| 6 | SBP |
| 7 | File |
| 8 | Nova |
| 9 | SBP2 |
| 11 | Trimble |
| 19 | MSP |
Percent of bytes lost from GPS
Number of satellites GPS has in view
Glitch offsets of simulated GPS sensor (X-axis)
Glitch offsets of simulated GPS sensor (Y-axis)
Glitch offsets of simulated GPS sensor (Z-axis)
GPS Update rate
GPS altitude drift error
GPS antenna phase center position relative to the body frame origin (X-axis)
GPS antenna phase center position relative to the body frame origin (Y-axis)
GPS antenna phase center position relative to the body frame origin (Z-axis)
Amplitude of the GPS altitude error
Delay in seconds before GPS acquires lock
GPS Altitude Error
Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Emit HDT |
| 2 | Emit THS |
| 3 | KSXT |
| 4 | Be Moving Baseline Base |
GPS Accuracy
GPS Velocity Error Offsets in NED (X-axis)
GPS Velocity Error Offsets in NED (Y-axis)
GPS Velocity Error Offsets in NED (Z-axis)
Enable simulated GPS jamming
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading
Enable simulated GPS
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
GPS lag
Sets the type of simulation used for GPS
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | UBlox |
| 5 | NMEA |
| 6 | SBP |
| 7 | File |
| 8 | Nova |
| 9 | SBP2 |
| 11 | Trimble |
| 19 | MSP |
Percent of bytes lost from GPS
Number of satellites GPS has in view
Glitch offsets of simulated GPS sensor (X-axis)
Glitch offsets of simulated GPS sensor (Y-axis)
Glitch offsets of simulated GPS sensor (Z-axis)
GPS Update rate
GPS altitude drift error
GPS antenna phase center position relative to the body frame origin (X-axis)
GPS antenna phase center position relative to the body frame origin (Y-axis)
GPS antenna phase center position relative to the body frame origin (Z-axis)
Amplitude of the GPS altitude error
Delay in seconds before GPS acquires lock
GPS Altitude Error
Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Emit HDT |
| 2 | Emit THS |
| 3 | KSXT |
| 4 | Be Moving Baseline Base |
GPS Accuracy
GPS Velocity Error Offsets in NED (X-axis)
GPS Velocity Error Offsets in NED (Y-axis)
GPS Velocity Error Offsets in NED (Z-axis)
Enable simulated GPS jamming
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading
Allows you to enable (1) or disable (0) the gripper servo simulation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The pin number that the gripper emp is connected to. (start at 1)
Allows you to enable (1) or disable (0) the gripper servo simulation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The pin number that the gripper servo is connected to. (start at 1)
PWM value in microseconds sent to Gripper to initiate grabbing the cargo
PWM value in microseconds sent to Gripper to release the cargo
Reverse the closing direction.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reverse |
Allows you to enable (1) or disable (0) the FuelCell simulator
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | V1 Protocol |
| 2 | V2 Protocol |
Explicitly specify a state for the generator to be in
Explicitly specify an error code to send to the generator
Allows you to enable (1) or disable (0) the Parachute simulation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The pin number that the Parachute pyrotechnics are connected to. (start at 1)
Allows you to enable (1) or disable (0) the Preland simulation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Precland device center's latitude
Precland device center's longitude
Precland device center's height above SITL origin. Assumes a 2x2m square as station base
Precland device systems rotation from north
Precland device rate. e.g led patter refresh rate, RF message rate, etc.
Precland device radiance type: it can be a cylinder, a cone, or a sphere.
| Value | Meaning |
|---|---|
| 0 | cylinder |
| 1 | cone |
| 2 | sphere |
Precland device maximum range altitude
Precland device maximum lateral range
Precland device orientation vector
| Value | Meaning |
|---|---|
| 0 | Front |
| 4 | Back |
| 24 | Up |
SIM_Precland extra options
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
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Bitmask of FlightAxis options
Allows you to enable (1) or disable (0) the RichenPower simulator
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The pin number that the RichenPower spinner servo is connected to. (start at 1)
mass of blimp not including lifting gas
mass of lifting gas
distance from center of mass to one motor
thrust at max throttle for one motor
drag on X axis
drag on Y axis
drag on Z axis
moment of inertia in yaw
moment of inertia in roll
moment of inertia in pitch
altitude target
target climb rate
maximum yaw rate with full left throttle at target altitude
maximum motor tilt angle
center of lift position above CoG
center of drag for weathervaning
amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift
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
servo delay
servo filter
Enable ship landing simulation
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enabled |
Speed of the ship
Diameter of the circle the ship is traveling on
System ID of the ship
Size of the ship's deck
Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (X-axis)
Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (Y-axis)
Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (Z-axis)
Slung Payload Sim enable/disable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Slung Payload weight in kg
Slung Payload line length in meters
Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly
Slung Payload MAVLink system id to distinguish it from others on the same network
Allows you to enable (1) or disable (0) the Sprayer simulation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
The pin number that the Sprayer pump is connected to. (start at 1)
The pin number that the Sprayer spinner servo is connected to. (start at 1)
Allows you to enable (1) or disable (0) the simulated tonealarm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Enable or disable the tether simulation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Linear mass density of the tether wire
Maximum length of the tether line in meters
MAVLink system ID for the tether simulation, used to distinguish it from other systems on the network
Enable or disable a stuck tether simulation
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Spring constant for the tether to simulate elastic forces when stretched beyond its maximum length
Damping constant for the tether to simulate resistance based on change in stretch
SITL vicon position on vehicle in Forward direction
SITL vicon position on vehicle in Right direction
SITL vicon position on vehicle in Down direction
SITL vicon position glitch North
SITL vicon position glitch East
SITL vicon position glitch Down
SITL vicon failure
| Value | Meaning |
|---|---|
| 0 | Vicon Healthy |
| 1 | Vicon Failed |
SITL vicon yaw angle in earth frame
SITL vicon yaw added to reported yaw sent to vehicle
SITL vicon messages sent
SITL vicon velocity glitch North
SITL vicon velocity glitch East
SITL vicon velocity glitch Down
SITL vicon position standard deviation for gaussian noise
SITL vicon velocity standard deviation for gaussian noise
SITL vicon rate
Allows you to enable (1) or disable (0) the Volz simulator
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
mask of servo output channels to override with values from Volz protocol. Note these are indexed from 0 - so channel 3 (usually throttle) has value 4 in this bitmask (1<<2).
fail servo at current position. Channel 1 is bit 0.
Enables temperature sensor logging
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Log all instances |
| 2 | Log only instances with sensor source set to None |
Enables temperature sensors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TSYS01 |
| 2 | MCP9600 |
| 3 | MAX31865 2 or 4 wire |
| 4 | TSYS03 |
| 5 | Analog |
| 6 | DroneCAN |
| 7 | MLX90614 |
| 8 | SHT3x |
| 9 | MAX31865 3 wire |
Temperature sensor bus number, typically used to select from multiple I2C buses
Temperature sensor address, typically used for I2C address
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.
| 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 |
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.
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
Sets the message device ID this backend listens for
Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.
Reference resistance used to calculate temperature, in ohms
Enables temperature sensors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TSYS01 |
| 2 | MCP9600 |
| 3 | MAX31865 2 or 4 wire |
| 4 | TSYS03 |
| 5 | Analog |
| 6 | DroneCAN |
| 7 | MLX90614 |
| 8 | SHT3x |
| 9 | MAX31865 3 wire |
Temperature sensor bus number, typically used to select from multiple I2C buses
Temperature sensor address, typically used for I2C address
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.
| 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 |
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.
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
Sets the message device ID this backend listens for
Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.
Reference resistance used to calculate temperature, in ohms
Enables temperature sensors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TSYS01 |
| 2 | MCP9600 |
| 3 | MAX31865 2 or 4 wire |
| 4 | TSYS03 |
| 5 | Analog |
| 6 | DroneCAN |
| 7 | MLX90614 |
| 8 | SHT3x |
| 9 | MAX31865 3 wire |
Temperature sensor bus number, typically used to select from multiple I2C buses
Temperature sensor address, typically used for I2C address
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.
| 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 |
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.
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
Sets the message device ID this backend listens for
Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.
Reference resistance used to calculate temperature, in ohms
Enables temperature sensors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TSYS01 |
| 2 | MCP9600 |
| 3 | MAX31865 2 or 4 wire |
| 4 | TSYS03 |
| 5 | Analog |
| 6 | DroneCAN |
| 7 | MLX90614 |
| 8 | SHT3x |
| 9 | MAX31865 3 wire |
Temperature sensor bus number, typically used to select from multiple I2C buses
Temperature sensor address, typically used for I2C address
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.
| 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 |
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.
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
Sets the message device ID this backend listens for
Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.
Reference resistance used to calculate temperature, in ohms
Enables temperature sensors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TSYS01 |
| 2 | MCP9600 |
| 3 | MAX31865 2 or 4 wire |
| 4 | TSYS03 |
| 5 | Analog |
| 6 | DroneCAN |
| 7 | MLX90614 |
| 8 | SHT3x |
| 9 | MAX31865 3 wire |
Temperature sensor bus number, typically used to select from multiple I2C buses
Temperature sensor address, typically used for I2C address
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.
| 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 |
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.
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
Sets the message device ID this backend listens for
Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.
Reference resistance used to calculate temperature, in ohms
Enables temperature sensors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TSYS01 |
| 2 | MCP9600 |
| 3 | MAX31865 2 or 4 wire |
| 4 | TSYS03 |
| 5 | Analog |
| 6 | DroneCAN |
| 7 | MLX90614 |
| 8 | SHT3x |
| 9 | MAX31865 3 wire |
Temperature sensor bus number, typically used to select from multiple I2C buses
Temperature sensor address, typically used for I2C address
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.
| 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 |
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.
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
Sets the message device ID this backend listens for
Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.
Reference resistance used to calculate temperature, in ohms
Enables temperature sensors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TSYS01 |
| 2 | MCP9600 |
| 3 | MAX31865 2 or 4 wire |
| 4 | TSYS03 |
| 5 | Analog |
| 6 | DroneCAN |
| 7 | MLX90614 |
| 8 | SHT3x |
| 9 | MAX31865 3 wire |
Temperature sensor bus number, typically used to select from multiple I2C buses
Temperature sensor address, typically used for I2C address
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.
| 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 |
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.
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
Sets the message device ID this backend listens for
Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.
Reference resistance used to calculate temperature, in ohms
Enables temperature sensors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TSYS01 |
| 2 | MCP9600 |
| 3 | MAX31865 2 or 4 wire |
| 4 | TSYS03 |
| 5 | Analog |
| 6 | DroneCAN |
| 7 | MLX90614 |
| 8 | SHT3x |
| 9 | MAX31865 3 wire |
Temperature sensor bus number, typically used to select from multiple I2C buses
Temperature sensor address, typically used for I2C address
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.
| 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 |
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.
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
Sets the message device ID this backend listens for
Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.
Reference resistance used to calculate temperature, in ohms
Enables temperature sensors
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TSYS01 |
| 2 | MCP9600 |
| 3 | MAX31865 2 or 4 wire |
| 4 | TSYS03 |
| 5 | Analog |
| 6 | DroneCAN |
| 7 | MLX90614 |
| 8 | SHT3x |
| 9 | MAX31865 3 wire |
Temperature sensor bus number, typically used to select from multiple I2C buses
Temperature sensor address, typically used for I2C address
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.
| 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 |
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.
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
| 5 | Navigator |
| 13 | Pixhawk2_PM2/CubeOrange_PM2 |
| 14 | CubeOrange |
| 16 | Durandal |
| 100 | PX4-v1 |
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
Sets the message device ID this backend listens for
Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.
Reference resistance used to calculate temperature, in ohms
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.
Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
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.
Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
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.
Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
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.
Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
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.
Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
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.
Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
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.
Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
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.
Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
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.
Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
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.
Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |