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
Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.
Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick.
bitmask of PIDs to send MAVLink PID_TUNING messages for
The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude.
Defines a cone above home which determines maximum climb
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Shallow |
| 3 | Steep |
Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.
This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.
The vehicle will climb this many cm during the initial climb portion of the RTL
Time (in milliseconds) to loiter above home before beginning final descent
RTL altitude type. Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database
| Value | Meaning |
|---|---|
| 0 | Relative to Home |
| 1 | Terrain |
Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
| Value | Meaning |
|---|---|
| 0 | Disabled/NoAction |
| 1 | RTL |
| 2 | RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS) |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Land |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
GPS Hdop value at or below this value represent a good position. Used for pre-arm checks
Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode. The bitmask is for flight mode switch positions
Determines how the autopilot controls the yaw during missions and RTL
| Value | Meaning |
|---|---|
| 0 | Never change yaw |
| 1 | Face next waypoint |
| 2 | Face next waypoint except RTL |
| 3 | Face along GPS course |
The descent speed for the final stage of landing in cm/s
The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used
The maximum vertical ascending velocity the pilot may request in cm/s
The vertical acceleration used when pilot is controlling the altitude
The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled always RTL |
| 2 | Enabled Continue with Mission in Auto Mode (Removed in 4.0+) |
| 3 | Enabled always Land |
| 4 | Enabled always SmartRTL or RTL |
| 5 | Enabled always SmartRTL or Land |
| 6 | Enabled Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Enabled always Brake or Land |
The PWM level in microseconds on channel 3 below which throttle failsafe triggers
The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is <= 1230
| Value | Meaning |
|---|---|
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 9 | Land |
| 11 | Drift |
| 13 | Sport |
| 14 | Flip |
| 15 | AutoTune |
| 16 | PosHold |
| 17 | Brake |
| 18 | Throw |
| 19 | Avoid_ADSB |
| 20 | Guided_NoGPS |
| 21 | Smart_RTL |
| 22 | FlowHold |
| 23 | Follow |
| 24 | ZigZag |
| 25 | SystemID |
| 26 | Heli_Autorotate |
| 27 | Auto RTL |
| 28 | Turtle |
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1230, <= 1360
| Value | Meaning |
|---|---|
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 9 | Land |
| 11 | Drift |
| 13 | Sport |
| 14 | Flip |
| 15 | AutoTune |
| 16 | PosHold |
| 17 | Brake |
| 18 | Throw |
| 19 | Avoid_ADSB |
| 20 | Guided_NoGPS |
| 21 | Smart_RTL |
| 22 | FlowHold |
| 23 | Follow |
| 24 | ZigZag |
| 25 | SystemID |
| 26 | Heli_Autorotate |
| 27 | Auto RTL |
| 28 | Turtle |
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1360, <= 1490
| Value | Meaning |
|---|---|
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 9 | Land |
| 11 | Drift |
| 13 | Sport |
| 14 | Flip |
| 15 | AutoTune |
| 16 | PosHold |
| 17 | Brake |
| 18 | Throw |
| 19 | Avoid_ADSB |
| 20 | Guided_NoGPS |
| 21 | Smart_RTL |
| 22 | FlowHold |
| 23 | Follow |
| 24 | ZigZag |
| 25 | SystemID |
| 26 | Heli_Autorotate |
| 27 | Auto RTL |
| 28 | Turtle |
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1490, <= 1620
| Value | Meaning |
|---|---|
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 9 | Land |
| 11 | Drift |
| 13 | Sport |
| 14 | Flip |
| 15 | AutoTune |
| 16 | PosHold |
| 17 | Brake |
| 18 | Throw |
| 19 | Avoid_ADSB |
| 20 | Guided_NoGPS |
| 21 | Smart_RTL |
| 22 | FlowHold |
| 23 | Follow |
| 24 | ZigZag |
| 25 | SystemID |
| 26 | Heli_Autorotate |
| 27 | Auto RTL |
| 28 | Turtle |
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1620, <= 1749
| Value | Meaning |
|---|---|
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 9 | Land |
| 11 | Drift |
| 13 | Sport |
| 14 | Flip |
| 15 | AutoTune |
| 16 | PosHold |
| 17 | Brake |
| 18 | Throw |
| 19 | Avoid_ADSB |
| 20 | Guided_NoGPS |
| 21 | Smart_RTL |
| 22 | FlowHold |
| 23 | Follow |
| 24 | ZigZag |
| 25 | SystemID |
| 26 | Heli_Autorotate |
| 27 | Auto RTL |
| 28 | Turtle |
Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >=1750
| Value | Meaning |
|---|---|
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 9 | Land |
| 11 | Drift |
| 13 | Sport |
| 14 | Flip |
| 15 | AutoTune |
| 16 | PosHold |
| 17 | Brake |
| 18 | Throw |
| 19 | Avoid_ADSB |
| 20 | Guided_NoGPS |
| 21 | Smart_RTL |
| 22 | FlowHold |
| 23 | Follow |
| 24 | ZigZag |
| 25 | SystemID |
| 26 | Heli_Autorotate |
| 27 | Auto RTL |
| 28 | Turtle |
RC Channel to use for flight mode control
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 5 | Channel5 |
| 6 | Channel6 |
| 7 | Channel7 |
| 8 | Channel8 |
| 9 | Channel9 |
| 10 | Channel 10 |
| 11 | Channel 11 |
| 12 | Channel 12 |
| 13 | Channel 13 |
| 14 | Channel 14 |
| 15 | Channel 15 |
This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
| Value | Meaning |
|---|---|
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 9 | Land |
| 11 | Drift |
| 13 | Sport |
| 14 | Flip |
| 15 | AutoTune |
| 16 | PosHold |
| 17 | Brake |
| 18 | Throw |
| 19 | Avoid_ADSB |
| 20 | Guided_NoGPS |
| 21 | Smart_RTL |
| 22 | FlowHold |
| 23 | Follow |
| 24 | ZigZag |
| 25 | SystemID |
| 26 | Heli_Autorotate |
Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode). The bitmask is for flightmode switch positions.
Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basiclog types by setting this to 65535. Note that if you want to reduce log sizes you should consider using LOG_FILE_RATEMAX instead of disabling logging items with this parameter.
Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
| Value | Meaning |
|---|---|
| 0 | Normal Start-up |
| 1 | Start-up in ESC Calibration mode if throttle high |
| 2 | Start-up in ESC Calibration mode regardless of throttle |
| 3 | Start-up and automatically calibrate ESCs |
| 9 | Disabled |
Selects parameter (normally a PID gain) that is being tuned with an RC transmitter's knob. The RC input channel used is assigned by setting RCx_OPTION to 219.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Stab Roll/Pitch kP |
| 4 | Rate Roll/Pitch kP |
| 5 | Rate Roll/Pitch kI |
| 21 | Rate Roll/Pitch kD |
| 3 | Stab Yaw kP |
| 6 | Rate Yaw kP |
| 26 | Rate Yaw kD |
| 56 | Rate Yaw Filter |
| 55 | Motor Yaw Headroom |
| 14 | AltHold kP |
| 7 | Throttle Rate kP |
| 34 | Throttle Accel kP |
| 35 | Throttle Accel kI |
| 36 | Throttle Accel kD |
| 12 | Loiter Pos kP |
| 22 | Velocity XY kP |
| 28 | Velocity XY kI |
| 10 | WP Speed |
| 25 | Acro Roll/Pitch deg/s |
| 40 | Acro Yaw deg/s |
| 45 | RC Feel |
| 13 | Heli Ext Gyro |
| 38 | Declination |
| 39 | Circle Rate |
| 46 | Rate Pitch kP |
| 47 | Rate Pitch kI |
| 48 | Rate Pitch kD |
| 49 | Rate Roll kP |
| 50 | Rate Roll kI |
| 51 | Rate Roll kD |
| 52 | Rate Pitch FF |
| 53 | Rate Roll FF |
| 54 | Rate Yaw FF |
| 58 | SysID Magnitude |
| 59 | PSC Angle Max |
| 60 | Loiter Speed |
Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.
| Value | Meaning |
|---|---|
| 0 | Plus |
| 1 | X |
| 2 | V |
| 3 | H |
| 4 | V-Tail |
| 5 | A-Tail |
| 10 | Y6B |
| 11 | Y6F |
| 12 | BetaFlightX |
| 13 | DJIX |
| 14 | ClockwiseX |
| 15 | I |
| 18 | BetaFlightXReversed |
| 19 | Y4 |
Delay before automatic disarm in seconds after landing touchdown detection. A value of zero disables auto disarm. If Emergency Motor stop active, delay time is half this value.
Maximum lean angle in all flight modes
PosHold flight mode's rotation rate during braking in deg/sec
PosHold flight mode's max lean angle during braking in centi-degrees
Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
| Value | Meaning |
|---|---|
| 0 | No repositioning |
| 1 | Repositioning |
Controls the action that will be taken when an EKF failsafe is invoked
| Value | Meaning |
|---|---|
| 0 | Report only |
| 1 | Switch to Land mode if current mode requires postion |
| 2 | Switch to AltHold mode if current mode requires postion |
| 3 | Switch to Land mode from all modes |
Allows setting the maximum acceptable compass, velocity, position and height variances. Used in arming check and EKF failsafe.
| Value | Meaning |
|---|---|
| 0.6 | Strict |
| 0.8 | Default |
| 1.0 | Relaxed |
This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This is the speed in Hertz that your ESCs will receive updates
rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude.
rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude.
Type of trainer used in acro mode
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Leveling |
| 2 | Leveling and Limited |
Used by Throw mode. Controls whether motors will run at the speed set by MOT_SPIN_MIN or will be stopped when armed and waiting for the throw.
| Value | Meaning |
|---|---|
| 0 | Stopped |
| 1 | Running |
Minimum altitude above which Throw mode will detect a throw or a drop - 0 to disable the check
Maximum altitude under which Throw mode will detect a throw or a drop - 0 to disable the check
Target altitude to descend during a drop, (must be positive). This allows for rapidly clearing surrounding obstacles.
Target altitude to ascend during a throw upwards (must be positive). This allows for rapidly clearing surrounding obstacles.
Altitude in meters above which navigation will begin during auto takeoff
Vehicle will switch to this mode after the throw is successfully completed. Default is to stay in throw mode (18)
| Value | Meaning |
|---|---|
| 3 | Auto |
| 4 | Guided |
| 5 | LOITER |
| 6 | RTL |
| 9 | Land |
| 17 | Brake |
| 18 | Throw |
Used by Throw mode. Specifies whether Copter is thrown upward or dropped.
| Value | Meaning |
|---|---|
| 0 | Upward Throw |
| 1 | Drop |
Ground Effect Compensation Enable/Disable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
Acro Throttle Mid
Controls major frame class for multicopter component
| Value | Meaning |
|---|---|
| 0 | Undefined |
| 1 | Quad |
| 2 | Hexa |
| 3 | Octa |
| 4 | OctaQuad |
| 5 | Y6 |
| 6 | Heli |
| 7 | Tri |
| 8 | SingleCopter |
| 9 | CoaxCopter |
| 10 | BiCopter |
| 11 | Heli_Dual |
| 12 | DodecaHexa |
| 13 | HeliQuad |
| 14 | Deca |
| 15 | Scripting Matrix |
| 16 | 6DoF Scripting |
| 17 | Dynamic Scripting Matrix |
The maximum vertical descending velocity the pilot may request in cm/s. If 0 PILOT_SPEED_UP value is used.
Altitude during Landing at which vehicle slows to LAND_SPEED
Transmitter Tuning minum value. The parameter being tuned will have its value set to this minimum value when the tuning knob is at its lowest position
Transmitter Tuning maximum value. The parameter being tuned will have its value set to this maximum value when the tuning knob is at its highest position
This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.
A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only.
A range of options that can be applied to change auto mode behaviour. Allow Arming allows the copter to be armed in Auto. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle. Ignore pilot yaw overrides the pilot's yaw stick being used while in auto.
Options that can be applied to change guided mode behaviour
Timeout before triggering the GCS failsafe
Options that can be applied to change RTL mode behaviour
Flight mode specific options
Rangefinder filter to smooth distance. Set to zero to disable filtering
Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller. Only applicable during any combination of velocity, acceleration, angle control, and/or angular rate control
set which surface to track in surface tracking
| Value | Meaning |
|---|---|
| 0 | Do not track |
| 1 | Ground |
| 2 | Ceiling |
Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates
| Value | Meaning |
|---|---|
| 0 | Disabled/NoAction |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
DeadReckoning is available for this many seconds after losing position and/or velocity source. After this timeout elapses the EKF failsafe will trigger in modes requiring a position estimate
Acro mode maximum roll and pitch rate. Higher values mean faster rate of rotation
Acro roll/pitch Expo to allow faster rotation when stick at edges
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 0.1 | Very Low |
| 0.2 | Low |
| 0.3 | Medium |
| 0.4 | High |
| 0.5 | Very High |
Acro roll and pitch rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response
| Value | Meaning |
|---|---|
| 0.5 | Very Soft |
| 0.2 | Soft |
| 0.15 | Medium |
| 0.1 | Crisp |
| 0.05 | Very Crisp |
Acro mode maximum yaw rate. Higher value means faster rate of rotation
Acro yaw expo to allow faster rotation when stick at edges
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 0.1 | Very Low |
| 0.2 | Low |
| 0.3 | Medium |
| 0.4 | High |
| 0.5 | Very High |
Acro yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response
| Value | Meaning |
|---|---|
| 0.5 | Very Soft |
| 0.2 | Soft |
| 0.15 | Medium |
| 0.1 | Crisp |
| 0.05 | Very Crisp |
Pilot controlled yaw rate max. Used in all pilot controlled modes except Acro
Pilot controlled yaw expo to allow faster rotation when stick at edges
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 0.1 | Very Low |
| 0.2 | Low |
| 0.3 | Medium |
| 0.4 | High |
| 0.5 | Very High |
Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response
| Value | Meaning |
|---|---|
| 0.5 | Very Soft |
| 0.2 | Soft |
| 0.15 | Medium |
| 0.1 | Crisp |
| 0.05 | Very Crisp |
Time to slew the throttle from minimum to maximum while checking for a successful takeoff.
Takeoff is not permitted until motors report at least this RPM. Set to zero to disable check
Ratio of vertical thrust during decent below which payload touchdown will trigger.
Maximum range finder altitude in m to trigger payload touchdown, set to zero to disable.
Delay after release, in seconds, before aircraft starts to climb back to starting altitude.
The maximum vertical decent velocity in m/s. If 0 LAND_SPEED value is used.
Time to achieve 63.2% of the surface altitude measurement change. If 0 filtering is disabled
Takeoff maximum throttle allowed before controllers assume the aircraft is airborne during the takeoff process.
Takeoff is not permitted until motors report no more than this RPM. Set to zero to disable check
EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger.
Enable the fast Rate thread. In the default case the fast rate divisor, which controls the update frequency of the thread, is dynamically scaled from FSTRATE_DIV to avoid overrun in the gyro sample buffer and main loop slow-downs. Other values can be selected to fix the divisor to FSTRATE_DIV on arming or always.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled-Dynamic |
| 2 | Enabled-FixedWhenArmed |
| 3 | Enabled-Fixed |
Fast rate thread divisor used to control the maximum fast rate update rate. The actual rate is the gyro rate in Hz divided by this value. This value is scaled depending on the configuration of FSTRATE_ENABLE.
Minimum value that the parameter currently being tuned with the transmitter's TRANSMITTER_TUNING2 knob will be set to
Maximum value that the parameter currently being tuned with the transmitter's TRANSMITTER2_TUNING knob will be set to
Selects parameter (normally a PID gain) that is being tuned with an RC transmitter's knob. The RC input channel used is assigned by setting RCx_OPTION to 220.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Stab Roll/Pitch kP |
| 4 | Rate Roll/Pitch kP |
| 5 | Rate Roll/Pitch kI |
| 21 | Rate Roll/Pitch kD |
| 3 | Stab Yaw kP |
| 6 | Rate Yaw kP |
| 26 | Rate Yaw kD |
| 56 | Rate Yaw Filter |
| 55 | Motor Yaw Headroom |
| 14 | AltHold kP |
| 7 | Throttle Rate kP |
| 34 | Throttle Accel kP |
| 35 | Throttle Accel kI |
| 36 | Throttle Accel kD |
| 12 | Loiter Pos kP |
| 22 | Velocity XY kP |
| 28 | Velocity XY kI |
| 10 | WP Speed |
| 25 | Acro Roll/Pitch deg/s |
| 40 | Acro Yaw deg/s |
| 45 | RC Feel |
| 13 | Heli Ext Gyro |
| 38 | Declination |
| 39 | Circle Rate |
| 46 | Rate Pitch kP |
| 47 | Rate Pitch kI |
| 48 | Rate Pitch kD |
| 49 | Rate Roll kP |
| 50 | Rate Roll kI |
| 51 | Rate Roll kD |
| 52 | Rate Pitch FF |
| 53 | Rate Roll FF |
| 54 | Rate Yaw FF |
| 58 | SysID Magnitude |
| 59 | PSC Angle Max |
| 60 | Loiter Speed |
Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe.
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
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
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
Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | uAvionix-MAVLink |
| 2 | Sagetech |
| 3 | uAvionix-UCP |
| 4 | Sagetech MX Series |
ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.
ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.
ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.
ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).
| Value | Meaning |
|---|---|
| 0 | NoInfo |
| 1 | Light |
| 2 | Small |
| 3 | Large |
| 4 | HighVortexlarge |
| 5 | Heavy |
| 6 | HighlyManuv |
| 7 | Rotocraft |
| 8 | RESERVED |
| 9 | Glider |
| 10 | LightAir |
| 11 | Parachute |
| 12 | UltraLight |
| 13 | RESERVED |
| 14 | UAV |
| 15 | Space |
| 16 | RESERVED |
| 17 | EmergencySurface |
| 18 | ServiceSurface |
| 19 | PointObstacle |
Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.
| Value | Meaning |
|---|---|
| 0 | NO_DATA |
| 1 | L15W23 |
| 2 | L25W28P5 |
| 3 | L25W34 |
| 4 | L35W33 |
| 5 | L35W38 |
| 6 | L45W39P5 |
| 7 | L45W45 |
| 8 | L55W45 |
| 9 | L55W52 |
| 10 | L65W59P5 |
| 11 | L65W67 |
| 12 | L75W72P5 |
| 13 | L75W80 |
| 14 | L85W80 |
| 15 | L85W90 |
GPS antenna lateral offset. This describes the physical location offset from center of the GPS antenna on the aircraft.
| Value | Meaning |
|---|---|
| 0 | NoData |
| 1 | Left2m |
| 2 | Left4m |
| 3 | Left6m |
| 4 | Center |
| 5 | Right2m |
| 6 | Right4m |
| 7 | Right6m |
GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor
| Value | Meaning |
|---|---|
| 0 | NO_DATA |
| 1 | AppliedBySensor |
Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only.
VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200.
Describes your hardware RF In/Out capabilities.
ADSB vehicle list altitude filter. Vehicles detected more than this altitude above our own altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.
ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.
0: no logging, 1: log only special ID, 2:log all
| Value | Meaning |
|---|---|
| 0 | no logging |
| 1 | log only special ID |
| 2 | log all |
Options for emergency failsafe codes and device capabilities
This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect
This sets a digital output pin to set high when in manual mode. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 49 | BB Blue GP0 pin 4 |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
| 57 | BB Blue GP0 pin 3 |
| 113 | BB Blue GP0 pin 6 |
| 116 | BB Blue GP0 pin 5 |
Waypoint number to navigate to on comms loss
Waypoint number to navigate to on GPS lock loss
Can be set in flight to force termination of the heartbeat signal
This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter
This sets a digital output pin to set high on flight termination. 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 |
This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.
This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.
This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.
Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.
Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.
This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1
This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1
If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.
This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.
This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.
This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.
See description for each bitmask bit description
The time (in seconds) of persistent data link loss before GCS failsafe occurs.
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
AIS receiver type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | NMEA AIVDM message |
AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.
if no updates are received in this time a vessel will be removed from the list
Bitmask of AIS logging options
Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.
Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | ArmingOnly |
| 2 | ArmOrDisarm |
Bitmask of mission items that are required to be planned in order to arm the aircraft
Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.
Options that can be applied to change arming behaviour
Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check
Must have value "1" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.
| Value | Meaning |
|---|---|
| 0 | Crash Dump arming check active |
| 1 | Crash Dump arming check deactivated |
Require that the vehicle have an absolute position before it arms. This can help ensure that the vehicle can Return To Launch.
| Value | Meaning |
|---|---|
| 0 | Do not require location |
| 1 | Require Location |
Allows you to enable (1) or disable (0) the autonomous autorotation capability.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Increase value to increase sensitivity of head speed controller during autonomous autorotation.
The target head speed in RPM during autorotation. Start by setting to desired hover speed and tune from there as necessary.
Target ground speed in cm/s for the autorotation controller to try and achieve/ maintain during the glide phase.
Cut-off frequency for collective low pass filter. For the entry phase. Acts as a following trim. Must be higher than AROT_COL_FILT_G.
Cut-off frequency for collective low pass filter. For the glide phase. Acts as a following trim. Must be lower than AROT_COL_FILT_E.
Maximum body frame acceleration allowed in the in speed controller. This limit defines a circular constraint in accel. Minimum used is 0.5 m/s/s.
Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1.
Converts the difference between desired forward speed and actual speed into an acceleration target that is passed to the pitch angle controller.
Corrects long-term difference in desired velocity to a target acceleration.
Constrains the target acceleration that the I gain will output.
Provides damping to velocity controller.
Produces an output that is proportional to the magnitude of the target.
This filter low pass filter is applied to the input for P and I terms.
This filter low pass filter is applied to the input for D terms.
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 |
This parameter and function is not used by this vehicle. Always set to 0.
This parameter and function is not used by this vehicle. Always set to 0.
This parameter and function is not used by this vehicle. Always set to 0.
This parameter and function is not used by this vehicle.
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 |
This parameter is not used by this vehicle. Always set to 0.
| 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 |
This parameter is not used by this vehicle. Always set to 0.
| 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
Maximum rate the yaw target can be updated in RTL and Auto flight modes
Maximum acceleration in yaw axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 9000 | VerySlow |
| 18000 | Slow |
| 36000 | Medium |
| 54000 | Fast |
Controls whether body-frame rate feedforward is enabled or disabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Maximum acceleration in roll axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 30000 | VerySlow |
| 72000 | Slow |
| 108000 | Medium |
| 162000 | Fast |
Maximum acceleration in pitch axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 30000 | VerySlow |
| 72000 | Slow |
| 108000 | Medium |
| 162000 | Fast |
Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate
Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate
Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate
Angle Limit (to maintain altitude) Time Constant
Maximum angular velocity in roll axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 60 | Slow |
| 180 | Medium |
| 360 | Fast |
Maximum angular velocity in pitch axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 60 | Slow |
| 180 | Medium |
| 360 | Fast |
Maximum angular velocity in yaw axis
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 60 | Slow |
| 180 | Medium |
| 360 | Fast |
Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response
| Value | Meaning |
|---|---|
| 0.5 | Very Soft |
| 0.2 | Soft |
| 0.15 | Medium |
| 0.1 | Crisp |
| 0.05 | Very Crisp |
Roll gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the roll axis.
Pitch gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the pitch axis.
Yaw gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the yaw axis.
Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate
Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output
Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
Roll axis rate controller feed forward
Roll axis rate controller target frequency in Hz
Roll axis rate controller error frequency in Hz
Roll axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
FF D Gain which produces an output that is proportional to the rate of change of the target
Roll Target notch filter index
Roll Error notch filter index
Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output
Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output
Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
Pitch axis rate controller feed forward
Pitch axis rate controller target frequency in Hz
Pitch axis rate controller error frequency in Hz
Pitch axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
FF D Gain which produces an output that is proportional to the rate of change of the target
Pitch Target notch filter index
Pitch Error notch filter index
Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate
Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output
Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
Yaw axis rate controller feed forward
Yaw axis rate controller target frequency in Hz
Yaw axis rate controller error frequency in Hz
Yaw axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
FF D Gain which produces an output that is proportional to the rate of change of the target
Yaw Target notch filter index
Yaw Error notch filter index
Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)
Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)
Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)
Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll.
Trim the hover roll angle to counter tail rotor thrust in a hover
Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate
Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate
Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output
Point below which I-term will not leak down
Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate
Roll axis rate controller feed forward
Roll axis rate controller target frequency in Hz
Roll axis rate controller error frequency in Hz
Roll axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
FF D Gain which produces an output that is proportional to the rate of change of the target
Roll Target notch filter index
Roll Error notch filter index
Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate
Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate
Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output
Point below which I-term will not leak down
Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate
Pitch axis rate controller feed forward
Pitch axis rate controller target frequency in Hz
Pitch axis rate controller error frequency in Hz
Pitch axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
FF D Gain which produces an output that is proportional to the rate of change of the target
Pitch Target notch filter index
Pitch Error notch filter index
Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate
Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate
Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output
Point below which I-term will not leak down
Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate
Yaw axis rate controller feed forward
Yaw axis rate controller target frequency in Hz
Yaw axis rate controller error frequency in Hz
Yaw axis rate controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
FF D Gain which produces an output that is proportional to the rate of change of the target
Yaw Target notch filter index
Yaw Error notch filter index
Pirouette compensation enabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
1-byte bitmap of axes to autotune
Autotune aggressiveness. Defines the bounce back used to detect size of the D term.
Defines the minimum D gain
1-byte bitmap of axes to autotune
2-byte bitmask to select what tuning should be performed. Max gain automatically performed if Rate D is selected. Values: 7:All,1:VFF Only,2:Rate D/Rate P Only(incl max gain),4:Angle P Only,8:Max Gain Only,16:Tune Check,3:VFF and Rate D/Rate P(incl max gain),5:VFF and Angle P,6:Rate D/Rate P(incl max gain) and angle P
Defines the start frequency for sweeps and dwells
Defines the end frequency for sweeps and dwells
Defines the response gain (output/input) to tune
Velocity xy P gain used to hold position during Max Gain, Rate P, and Rate D frequency sweeps
maximum angular acceleration in deg/s/s allowed during autotune maneuvers
maximum angular rate in deg/s allowed during autotune maneuvers
Enable Avoidance using ADSB
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Specifies aircraft behaviour when a collision is imminent
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Report |
| 2 | Climb Or Descend |
| 3 | Move Horizontally |
| 4 | Move Perpendicularly in 3D |
| 5 | RTL |
| 6 | Hover |
Specifies aircraft behaviour when a collision may occur
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Report |
Determines what the aircraft will do after a fail event is resolved
| Value | Meaning |
|---|---|
| 0 | Remain in AVOID_ADSB |
| 1 | Resume previous flight mode |
| 2 | RTL |
| 3 | Resume if AUTO else Loiter |
Maximum number of obstacles to track
Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)
Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken
Closest allowed projected distance before W_ACTION is undertaken
Closest allowed projected distance before F_ACTION is undertaken
Closest allowed projected distance before BEHAVIOUR_W is undertaken
Closest allowed projected distance before BEHAVIOUR_F is undertaken
Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.
Enabled/disable avoidance input sources
Max lean angle used to avoid obstacles while in non-GPS modes
Distance from object at which obstacle avoidance will begin in non-GPS modes
Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes
Avoidance behaviour (slide or stop)
| Value | Meaning |
|---|---|
| 0 | Slide |
| 1 | Stop |
Maximum speed that will be used to back away from obstacles horizontally in position control modes (m/s). Set zero to disable horizontal backup.
Minimum altitude above which proximity based avoidance will start working. This requires a valid downward facing rangefinder reading to work. Set zero to disable
Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits
Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.
Maximum speed that will be used to back away from obstacles vertically in height control modes (m/s). Set zero to disable vertical backup.
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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.
What action the vehicle should perform if it hits a low battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
What action the vehicle should perform if it hits a critical battery failsafe
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Land |
| 2 | RTL |
| 3 | SmartRTL or RTL |
| 4 | SmartRTL or Land |
| 5 | Terminate |
| 6 | Auto DO_LAND_START/DO_RETURN_PATH_START or RTL |
| 7 | Brake or Land |
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
What type of beacon based position estimation device is connected
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Pozyx |
| 2 | Marvelmind |
| 3 | Nooploop |
| 10 | SITL |
Beacon origin's latitude
Beacon origin's longitude
Beacon origin's altitude above sealevel in meters
Beacon systems rotation from north in degrees
Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
| 3 | RS-485 Driver enable RTS pin |
Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
| 3 | RS-485 Driver enable RTS pin |
Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
| 3 | RS-485 Driver enable RTS pin |
Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
| 3 | RS-485 Driver enable RTS pin |
Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
| 3 | RS-485 Driver enable RTS pin |
Enable flow control on serial 6. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
| 3 | RS-485 Driver enable RTS pin |
Enable flow control on serial 7. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | Auto |
| 3 | RS-485 Driver enable RTS pin |
Enable flow control on serial 8. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the SBUS output frame rate in Hz
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | 50Hz |
| 2 | 75Hz |
| 3 | 100Hz |
| 4 | 150Hz |
| 5 | 200Hz |
| 6 | 250Hz |
| 7 | 300Hz |
User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
A bitmask which controls what outputs can move while the safety switch has not been pressed
Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.
This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)
| Value | Meaning |
|---|---|
| 0 | AUTO |
| 1 | PX4V1 |
| 2 | Pixhawk |
| 3 | Cube/Pixhawk2 |
| 5 | PixhawkMini |
| 6 | Pixhawk2Slim |
| 13 | Intel Aero FC |
| 14 | Pixhawk Pro |
| 20 | AUAV2.1 |
| 22 | MINDPXV2 |
| 24 | CUAVv5/FMUV5 |
| 39 | PX4 FMUV6 |
| 100 | PX4 OLDDRIVERS |
This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | EnableNoFWUpdate |
This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.
Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.
This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.
This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.
| Value | Meaning |
|---|---|
| 0 | 3.3V |
| 1 | 5V |
Board specific option flags
This adds a delay in milliseconds to boot to ensure peripherals initialise fully
Board Heater P gain
Board Heater integrator gain
Board Heater integrator maximum
Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.
Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check
This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.
This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.
This loads the DShot firmware on the IO co-processor
| Value | Meaning |
|---|---|
| 0 | StandardFW |
| 1 | DshotFW |
This enables support for direct attached radio receivers
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | CYRF6936 |
| 2 | CC2500 |
| 3 | BK2425 |
Select air protocol
| Value | Meaning |
|---|---|
| 0 | Auto |
| 1 | DSM2 |
| 2 | DSMX |
radio debug level
disable receive CRC (for debug)
| Value | Meaning |
|---|---|
| 0 | NotDisabled |
| 1 | Disabled |
Channel to show receive RSSI signal strength, or zero for disabled
Channel to show received packet-per-second rate, or zero for disabled
If this is non-zero then telemetry packets will be sent over DSM
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX
If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | MinChannel |
| 2 | MidChannel |
| 3 | MaxChannel |
| 4 | MinChannelCW |
| 5 | MidChannelCW |
| 6 | MaxChannelCW |
This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.
| Value | Meaning |
|---|---|
| 1 | Mode1 |
| 2 | Mode2 |
This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | TestChan1 |
| 2 | TestChan2 |
| 3 | TestChan3 |
| 4 | TestChan4 |
| 5 | TestChan5 |
| 6 | TestChan6 |
| 7 | TestChan7 |
| 8 | TestChan8 |
Channel to show telemetry RSSI value as received by TX
Channel to show telemetry packets-per-second value, as received at TX
Set transmitter maximum transmit power (from 1 to 8)
Set transmitter buzzer note adjustment (adjust frequency up)
When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.
This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially
Specifies which sources of UTC time will be accepted
Adds offset in +- minutes from UTC to calculate local time
This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Digital pin number for first button input. 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 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
Digital pin number for second button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
Digital pin number for third button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
Digital pin number for fourth button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUXOUT1 |
| 51 | AUXOUT2 |
| 52 | AUXOUT3 |
| 53 | AUXOUT4 |
| 54 | AUXOUT5 |
| 55 | AUXOUT6 |
The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.
Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Auxiliary RC Options function executed on pin change
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
Auxiliary RC Options function executed on pin change
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
Auxiliary RC Options function executed on pin change
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
Auxiliary RC Options function executed on pin change
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).
When enabled, trigging by distance is done in AUTO mode only.
| Value | Meaning |
|---|---|
| 0 | Always |
| 1 | Only when in AUTO |
how to trigger the camera to take a picture
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Servo |
| 2 | Relay |
| 3 | GoPro in Solo Gimbal |
| 4 | Mount (Siyi/Topotek/Viewpro/Xacti) |
| 5 | MAVLink |
| 6 | MAVLinkCamV2 |
| 7 | Scripting |
| 8 | RunCam |
Duration in seconds that the camera shutter is held open
PWM value in microseconds to move servo to when shutter is activated
PWM value in microseconds to move servo to when shutter is deactivated
Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.
This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera
| Value | Meaning |
|---|---|
| 0 | Low |
| 1 | High |
Postpone shooting if previous picture was taken less than this many seconds ago
pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUX1 |
| 51 | AUX2 |
| 52 | AUX3 |
| 53 | AUX4 |
| 54 | AUX5 |
| 55 | AUX6 |
Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low
| Value | Meaning |
|---|---|
| 0 | TriggerLow |
| 1 | TriggerHigh |
Camera options bitmask
Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1
Camera horizontal field of view. 0 if unknown
Camera vertical field of view. 0 if unknown
RunCam device type used to determine OSD menu structure and shutter options.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RunCam Split Micro/RunCam with UART |
| 2 | RunCam Split |
| 3 | RunCam Split4 4k |
| 4 | RunCam Hybrid/RunCam Thumb Pro |
| 5 | Runcam 2 4k |
The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.
Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.
Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.
Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.
Specifies the allowed actions required to enter the OSD menu and other option like autorecording
how to trigger the camera to take a picture
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Servo |
| 2 | Relay |
| 3 | GoPro in Solo Gimbal |
| 4 | Mount (Siyi/Topotek/Viewpro/Xacti) |
| 5 | MAVLink |
| 6 | MAVLinkCamV2 |
| 7 | Scripting |
| 8 | RunCam |
Duration in seconds that the camera shutter is held open
PWM value in microseconds to move servo to when shutter is activated
PWM value in microseconds to move servo to when shutter is deactivated
Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.
This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera
| Value | Meaning |
|---|---|
| 0 | Low |
| 1 | High |
Postpone shooting if previous picture was taken less than this many seconds ago
pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 50 | AUX1 |
| 51 | AUX2 |
| 52 | AUX3 |
| 53 | AUX4 |
| 54 | AUX5 |
| 55 | AUX6 |
Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low
| Value | Meaning |
|---|---|
| 0 | TriggerLow |
| 1 | TriggerHigh |
Camera options bitmask
Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1
Camera horizontal field of view. 0 if unknown
Camera vertical field of view. 0 if unknown
RunCam device type used to determine OSD menu structure and shutter options.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | RunCam Split Micro/RunCam with UART |
| 2 | RunCam Split |
| 3 | RunCam Split4 4k |
| 4 | RunCam Hybrid/RunCam Thumb Pro |
| 5 | Runcam 2 4k |
The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.
Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.
Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.
Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.
Specifies the allowed actions required to enter the OSD menu and other option like autorecording
Loglevel for recording initialisation and debug information from CAN Interface
| Value | Meaning |
|---|---|
| 0 | Log None |
| 1 | Log Error |
| 2 | Log Warning and below |
| 3 | Log Info and below |
| 4 | Log Everything |
Enabling this option starts selected protocol that will use this virtual driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | DroneCAN |
| 4 | PiccoloCAN |
| 6 | EFI_NWPMU |
| 7 | USD1 |
| 8 | KDECAN |
| 10 | Scripting |
| 11 | Benewake |
| 12 | Scripting2 |
| 13 | TOFSenseP |
| 14 | RadarCAN (NanoRadar/Hexsoon) |
Secondary protocol with 11 bit CAN addressing
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 7 | USD1 |
| 10 | Scripting |
| 11 | Benewake |
| 12 | Scripting2 |
| 13 | TOFSenseP |
| 14 | RadarCAN (NanoRadar/Hexsoon) |
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Output rate of ESC command messages
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Output rate of servo command messages
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.
Output rate of ECU command messages
DroneCAN node ID used by the driver itself on this network
Bitmask with one set for channel to be transmitted as a servo command over DroneCAN
Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN
Maximum transmit rate for servo outputs
Option flags
Maximum transmit rate for Notify State Message
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo outputs 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.
Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state
Enable DroneCAN virtual serial ports
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
CAN remote node number for serial port
Serial port number on remote CAN node
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Serial baud rate on remote CAN node
| 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 |
Serial protocol of DroneCAN serial port
| 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 |
CAN remote node number for serial port
Serial port number on remote CAN node
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Serial baud rate on remote CAN node
| 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 |
Serial protocol of DroneCAN serial port
| 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 |
CAN node number for serial port
Serial port number on remote CAN node
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Serial baud rate on remote CAN node
| 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 |
Serial protocol of DroneCAN serial port
| 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 |
Enabling this option starts selected protocol that will use this virtual driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | DroneCAN |
| 4 | PiccoloCAN |
| 6 | EFI_NWPMU |
| 7 | USD1 |
| 8 | KDECAN |
| 10 | Scripting |
| 11 | Benewake |
| 12 | Scripting2 |
| 13 | TOFSenseP |
| 14 | RadarCAN (NanoRadar/Hexsoon) |
Secondary protocol with 11 bit CAN addressing
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 7 | USD1 |
| 10 | Scripting |
| 11 | Benewake |
| 12 | Scripting2 |
| 13 | TOFSenseP |
| 14 | RadarCAN (NanoRadar/Hexsoon) |
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Output rate of ESC command messages
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Output rate of servo command messages
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.
Output rate of ECU command messages
DroneCAN node ID used by the driver itself on this network
Bitmask with one set for channel to be transmitted as a servo command over DroneCAN
Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN
Maximum transmit rate for servo outputs
Option flags
Maximum transmit rate for Notify State Message
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo outputs 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.
Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state
Enable DroneCAN virtual serial ports
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
CAN remote node number for serial port
Serial port number on remote CAN node
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Serial baud rate on remote CAN node
| 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 |
Serial protocol of DroneCAN serial port
| 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 |
CAN remote node number for serial port
Serial port number on remote CAN node
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Serial baud rate on remote CAN node
| 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 |
Serial protocol of DroneCAN serial port
| 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 |
CAN node number for serial port
Serial port number on remote CAN node
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Serial baud rate on remote CAN node
| 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 |
Serial protocol of DroneCAN serial port
| 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 |
Enabling this option starts selected protocol that will use this virtual driver
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | DroneCAN |
| 4 | PiccoloCAN |
| 6 | EFI_NWPMU |
| 7 | USD1 |
| 8 | KDECAN |
| 10 | Scripting |
| 11 | Benewake |
| 12 | Scripting2 |
| 13 | TOFSenseP |
| 14 | RadarCAN (NanoRadar/Hexsoon) |
Secondary protocol with 11 bit CAN addressing
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 7 | USD1 |
| 10 | Scripting |
| 11 | Benewake |
| 12 | Scripting2 |
| 13 | TOFSenseP |
| 14 | RadarCAN (NanoRadar/Hexsoon) |
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Output rate of ESC command messages
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Output rate of servo command messages
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.
Output rate of ECU command messages
DroneCAN node ID used by the driver itself on this network
Bitmask with one set for channel to be transmitted as a servo command over DroneCAN
Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN
Maximum transmit rate for servo outputs
Option flags
Maximum transmit rate for Notify State Message
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo outputs 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.
Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state
Enable DroneCAN virtual serial ports
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
CAN remote node number for serial port
Serial port number on remote CAN node
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Serial baud rate on remote CAN node
| 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 |
Serial protocol of DroneCAN serial port
| 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 |
CAN remote node number for serial port
Serial port number on remote CAN node
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Serial baud rate on remote CAN node
| 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 |
Serial protocol of DroneCAN serial port
| 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 |
CAN node number for serial port
Serial port number on remote CAN node
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Serial baud rate on remote CAN node
| 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 |
Serial protocol of DroneCAN serial port
| 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 |
Enabling this option enables use of CAN buses.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | First driver |
| 2 | Second driver |
| 3 | Third driver |
Bit rate can be set up to from 10000 to 1000000
Bit rate can be set up to from 1000000 to 8000000
| Value | Meaning |
|---|---|
| 1 | 1M |
| 2 | 2M |
| 4 | 4M |
| 5 | 5M |
| 8 | 8M |
CAN per-interface options
Enabling this option enables use of CAN buses.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | First driver |
| 2 | Second driver |
| 3 | Third driver |
Bit rate can be set up to from 10000 to 1000000
Bit rate can be set up to from 1000000 to 8000000
| Value | Meaning |
|---|---|
| 1 | 1M |
| 2 | 2M |
| 4 | 4M |
| 5 | 5M |
| 8 | 8M |
CAN per-interface options
Enabling this option enables use of CAN buses.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | First driver |
| 2 | Second driver |
| 3 | Third driver |
Bit rate can be set up to from 10000 to 1000000
Bit rate can be set up to from 1000000 to 8000000
| Value | Meaning |
|---|---|
| 1 | 1M |
| 2 | 2M |
| 4 | 4M |
| 5 | 5M |
| 8 | 8M |
CAN per-interface options
CAN Interface ID to be routed to SLCAN, 0 means no routing
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | First interface |
| 2 | Second interface |
Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
Duration of inactivity after which SLCAN is switched back to original driver in seconds.
Duration after which slcan starts after setting SERNUM in seconds.
Custom control type to be used
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Empty |
| 2 | PID |
Custom Controller bitmask to chose which axis to run
Parachute release enabled or disabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Parachute release mechanism type (relay number in versions prior to 4.5, or servo). Values 0-3 all are relay. Relay number used for release is set by RELAYx_FUNCTION in 4.5 or later.
| Value | Meaning |
|---|---|
| 0 | Relay |
| 10 | Servo |
Parachute Servo PWM value in microseconds when parachute is released
Parachute Servo PWM value in microseconds when parachute is not released
Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.
Delay in millseconds between motor stop and chute release
Release parachute when critical sink rate is reached
Optional behaviour for parachute
Defines the radius of the circle the vehicle will fly when in Circle flight mode
Circle mode's turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise. Circle rate must be less than ATC_SLEW_YAW parameter.
0:Enable or disable using the pitch/roll stick control circle mode's radius and rate
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
This enables custom rotations
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Custom euler roll, euler 321 (yaw, pitch, roll) ordering
Custom euler pitch, euler 321 (yaw, pitch, roll) ordering
Custom euler yaw, euler 321 (yaw, pitch, roll) ordering
Custom euler roll, euler 321 (yaw, pitch, roll) ordering
Custom euler pitch, euler 321 (yaw, pitch, roll) ordering
Custom euler yaw, euler 321 (yaw, pitch, roll) ordering
Enable DDS subsystem
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
UDP port number for DDS
Set the ROS_DOMAIN_ID
The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.
The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting. Set to 0 to allow unlimited retries.
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 ODID subsystem
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.
| Value | Meaning |
|---|---|
| -1 | Disabled |
| 0 | Serial0 |
| 1 | Serial1 |
| 2 | Serial2 |
| 3 | Serial3 |
| 4 | Serial4 |
| 5 | Serial5 |
| 6 | Serial6 |
DroneCAN driver index, 0 to disable DroneCAN
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Driver1 |
| 2 | Driver2 |
Options for OpenDroneID subsystem
Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default
Type of AHRS device
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | VectorNav |
| 2 | MicroStrain5 |
| 5 | InertialLabs |
| 7 | MicroStrain7 |
Requested rate for AHRS device
External AHRS options bitmask
External AHRS sensors bitmask
Logging rate for EARHS devices
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
This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.
| Value | Meaning |
|---|---|
| 0 | GPS 3D Vel and 2D Pos |
| 1 | GPS 2D vel and 2D pos |
| 2 | GPS 2D pos |
| 3 | No GPS |
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).
| Value | Meaning |
|---|---|
| 0 | Use Baro |
| 1 | Use Range Finder |
| 2 | Use GPS |
| 3 | Use Range Beacon |
This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the Height measurements lag behind the inertial measurements.
This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.
| Value | Meaning |
|---|---|
| 0 | When flying |
| 1 | When manoeuvring |
| 2 | Never |
| 3 | After first climb yaw reset |
| 4 | Always |
This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Sets the time constant of the output complementary filter/predictor in centi-seconds.
This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND*_MAX). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.
This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Navigation |
| 2 | Terrain |
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0.
1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.
Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.
optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution
This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.
This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.
This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.
This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.
This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.
This is the number of msec that the Height measurements lag behind the inertial measurements.
This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.
| Value | Meaning |
|---|---|
| 0 | When flying |
| 1 | When manoeuvring |
| 2 | Never |
| 3 | After first climb yaw reset |
| 4 | Always |
| 5 | Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) |
| 6 | External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW) |
This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.
This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Sets the time constant of the output complementary filter/predictor in centi-seconds.
This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference
This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
This is the number of msec that the range beacon measurements lag behind the inertial measurements.
The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
The accelerometer bias state will be limited to +- this value
1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.
Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Navigation |
| 2 | Terrain |
Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
1 byte bitmap of which EKF3 instances run an independent EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0.
A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.
Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.
lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences
These options control the affinity between sensor instances and EKF cores
Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a positive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.
Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a positive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.
This sets the amount of noise used when fusing X and Y acceleration as an observation that enables estimation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters
This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a positive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.
This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.
This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.
The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.
Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.
Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.
EKF optional behaviour. Bit 0 (JammingExpected): Setting JammingExpected will change the EKF behaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad position estimate. Bit 1 (Manual lane switching): DANGEROUS – If enabled, this disables automatic lane switching. If the active lane becomes unhealthy, no automatic switching will occur. Users must manually set EK3_PRIMARY to change lanes. No health checks will be performed on the selected lane. Use with extreme caution.
Position Horizontal Source (Primary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Horizontal Source
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 5 | OpticalFlow |
| 6 | ExternalNav |
| 7 | WheelEncoder |
Position Vertical Source
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Baro |
| 2 | RangeFinder |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Vertical Source
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Yaw Source
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Compass |
| 2 | GPS |
| 3 | GPS with Compass Fallback |
| 6 | ExternalNav |
| 8 | GSF |
Position Horizontal Source (Secondary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Horizontal Source (Secondary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 5 | OpticalFlow |
| 6 | ExternalNav |
| 7 | WheelEncoder |
Position Vertical Source (Secondary)
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Baro |
| 2 | RangeFinder |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Vertical Source (Secondary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Yaw Source (Secondary)
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Compass |
| 2 | GPS |
| 3 | GPS with Compass Fallback |
| 6 | ExternalNav |
| 8 | GSF |
Position Horizontal Source (Tertiary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Horizontal Source (Tertiary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 5 | OpticalFlow |
| 6 | ExternalNav |
| 7 | WheelEncoder |
Position Vertical Source (Tertiary)
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Baro |
| 2 | RangeFinder |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Velocity Vertical Source (Tertiary)
| Value | Meaning |
|---|---|
| 0 | None |
| 3 | GPS |
| 4 | Beacon |
| 6 | ExternalNav |
Yaw Source (Tertiary)
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Compass |
| 2 | GPS |
| 3 | GPS with Compass Fallback |
| 6 | ExternalNav |
| 8 | GSF |
EKF Source Options. Bit 0: Fuse all velocity sources present in EK3_SRCx_VEL_. Bit 1: Align external navigation position when using optical flow. Bit 3: Use SRC per core. By default, EKF source selection is controlled via the EK3_SRC parameters, allowing only one source to be active at a time across all cores (switchable via MAVLink, Lua, or RC). Enabling this bit maps EKF core 1 to SRC1, core 2 to SRC2, etc., allowing each core to run independently with a dedicated source.
Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets
Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached.
What action should be taken when fence is breached
| Value | Meaning |
|---|---|
| 0 | Report Only |
| 1 | RTL or Land |
| 2 | Always Land |
| 3 | SmartRTL or RTL or Land |
| 4 | Brake or Land |
| 5 | SmartRTL or Land |
Maximum altitude allowed before geofence triggers
Circle fence radius which when breached will cause an RTL
Distance that autopilot's should maintain from the fence to avoid a breach
Number of polygon points saved in eeprom (do not update manually)
Minimum altitude allowed before geofence triggers
Auto-enable of fences. AutoEnableOnTakeoff enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings the fences will be disabled. AutoEnableDisableFloorOnLanding enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings only the Minimum Altitude fence will be disabled. AutoEnableOnlyWhenArmed enables all configured fences on arming, except the minimum altitude fence (which is enabled when the minimum altitude is reached), but no fences are disabled during autolandings. However, fence breaches are ignored while executing prior breach recovery actions which may include autolandings.
| Value | Meaning |
|---|---|
| 0 | AutoEnableOff |
| 1 | AutoEnableOnTakeoff |
| 2 | AutoEnableDisableFloorOnLanding |
| 3 | AutoEnableOnlyWhenArmed |
When bit 0 is set disable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.
When bit 2 of FENCE_OPTIONS is set this parameter controls the frequency of margin breach notifications. If set to 0 only new margin breaches are notified.
Enable Gyro FFT analyser
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.
Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.
Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.
Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.
Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.
The learned hover noise frequency
FFT learned thrust reference for the hover frequency and FFT minimum frequency.
FFT SNR reference threshold in dB at which a signal is determined to be present.
FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.
FFT learned bandwidth at hover for the attenuation frequencies.
FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.
The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).
| Value | Meaning |
|---|---|
| 0 | Auto |
| 1 | Center Frequency |
| 2 | Lower-Shoulder Frequency |
| 3 | Upper-Shoulder Frequency |
| 4 | Roll-Axis |
| 5 | Pitch-Axis |
Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.
FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference
FlowHold (horizontal) P gain.
FlowHold (horizontal) I gain
FlowHold (horizontal) integrator maximum
FlowHold (horizontal) filter on input to control
Controls maximum apparent flow rate in flowhold
Filter frequency for flow data
Minimum flow quality to use flow position hold
Controls deceleration rate on stick release
Filter Type
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Notch Filter |
Notch Filter center frequency in Hz.
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Notch Filter attenuation in dB.
Filter Type
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Notch Filter |
Notch Filter center frequency in Hz.
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Notch Filter attenuation in dB.
Filter Type
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Notch Filter |
Notch Filter center frequency in Hz.
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Notch Filter attenuation in dB.
Filter Type
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Notch Filter |
Notch Filter center frequency in Hz.
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Notch Filter attenuation in dB.
Filter Type
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Notch Filter |
Notch Filter center frequency in Hz.
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Notch Filter attenuation in dB.
Filter Type
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Notch Filter |
Notch Filter center frequency in Hz.
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Notch Filter attenuation in dB.
Filter Type
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Notch Filter |
Notch Filter center frequency in Hz.
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Notch Filter attenuation in dB.
Filter Type
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Notch Filter |
Notch Filter center frequency in Hz.
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Notch Filter attenuation in dB.
Optical flow sensor type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | PX4Flow |
| 2 | Pixart |
| 3 | Bebop |
| 4 | CXOF |
| 5 | MAVLink |
| 6 | DroneCAN |
| 7 | MSP |
| 8 | UPFLOW |
| 10 | SITL |
This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.
This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.
Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.
X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.
Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.
Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.
This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.
This is used in rover vehicles, where the sensor is a fixed height above the ground
Optical flow options. Bit 0 should be set if the sensor is stabilised (e.g. mounted on a gimbal)
Enabled/disable following a target
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Follow target's mavlink system id
Follow distance maximum. If exceeded, the follow estimate will be considered invalid.
Follow offset type
| Value | Meaning |
|---|---|
| 0 | North-East-Down |
| 1 | Relative to lead vehicle heading |
Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE
Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE
Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle
Follow yaw behaviour
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Face Lead Vehicle |
| 2 | Same as Lead vehicle |
| 3 | Direction of Flight |
Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
Follow altitude type
| Value | Meaning |
|---|---|
| 0 | absolute |
| 1 | relative |
Follow options bitmask
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Mount Follows lead vehicle on mode enter |
Acceleration limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in velocity
Jerk limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in acceleration
Acceleration limit of the vertical kinematic path generation used to determine how quickly the estimate varies in velocity
Jerk limit of the vertical kinematic path generation used to determine how quickly the estimate varies in acceleration
Angular acceleration limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular velocity
Angular jerk limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular acceleration
Change the uplink sensor id (SPort only)
| Value | Meaning |
|---|---|
| -1 | Disable |
| 7 | 7 |
| 8 | 8 |
| 9 | 9 |
| 10 | 10 |
| 11 | 11 |
| 12 | 12 |
| 13 | 13 |
| 14 | 14 |
| 15 | 15 |
| 16 | 16 |
| 17 | 17 |
| 18 | 18 |
| 19 | 19 |
| 20 | 20 |
| 21 | 21 |
| 22 | 22 |
| 23 | 23 |
| 24 | 24 |
| 25 | 25 |
| 26 | 26 |
Change the first extra downlink sensor id (SPort only)
| Value | Meaning |
|---|---|
| -1 | Disable |
| 7 | 7 |
| 8 | 8 |
| 9 | 9 |
| 10 | 10 |
| 11 | 11 |
| 12 | 12 |
| 13 | 13 |
| 14 | 14 |
| 15 | 15 |
| 16 | 16 |
| 17 | 17 |
| 18 | 18 |
| 19 | 19 |
| 20 | 20 |
| 21 | 21 |
| 22 | 22 |
| 23 | 23 |
| 24 | 24 |
| 25 | 25 |
| 26 | 26 |
Change the second extra downlink sensor id (SPort only)
| Value | Meaning |
|---|---|
| -1 | Disable |
| 7 | 7 |
| 8 | 8 |
| 9 | 9 |
| 10 | 10 |
| 11 | 11 |
| 12 | 12 |
| 13 | 13 |
| 14 | 14 |
| 15 | 15 |
| 16 | 16 |
| 17 | 17 |
| 18 | 18 |
| 19 | 19 |
| 20 | 20 |
| 21 | 21 |
| 22 | 22 |
| 23 | 23 |
| 24 | 24 |
| 25 | 25 |
| 26 | 26 |
Change the default downlink sensor id (SPort only)
| Value | Meaning |
|---|---|
| -1 | Disable |
| 7 | 7 |
| 8 | 8 |
| 9 | 9 |
| 10 | 10 |
| 11 | 11 |
| 12 | 12 |
| 13 | 13 |
| 14 | 14 |
| 15 | 15 |
| 16 | 16 |
| 17 | 17 |
| 18 | 18 |
| 19 | 19 |
| 20 | 20 |
| 21 | 21 |
| 22 | 22 |
| 23 | 23 |
| 24 | 24 |
| 25 | 25 |
| 26 | 26 |
| 27 | 27 |
A bitmask to set some FRSky Telemetry specific options
Generator type
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | IE 650w 800w Fuel Cell |
| 2 | IE 2.4kW Fuel Cell |
| 3 | Richenpower |
| 4 | Loweheiser |
Bitmask of options for generators
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.
Gripper enable/disable
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Gripper enable/disable
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Servo |
| 2 | EPM |
PWM value in microseconds sent to Gripper to initiate grabbing the cargo
PWM value in microseconds sent to Gripper to release the cargo
PWM value in microseconds sent to grabber when not grabbing or releasing
Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable
Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface
Time in seconds that gripper close the gripper after opening; 0 to disable
Tail type selection. Servo Only uses tail rotor pitch to provide yaw control (including stabilization) via an output assigned to Motor4. Servo with External Gyro uses an external gyro to control tail rotor pitch via a servo. Yaw control without stabilization is passed to the external gyro via the output assigned to Motor4. Direct Drive Variable Pitch(DDVP) is used for tails that have a motor whose ESC is connected to an output with function HeliTailRSC. Tail pitch is still accomplished with a servo on an output assigned to Motor4 function. Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. In both DDFP cases, no servo is used for the tail and the tail motor esc on Motor4 output is used to control the yaw axis using motor speed.
| Value | Meaning |
|---|---|
| 0 | Servo only |
| 1 | Servo with ExtGyro |
| 2 | DirectDrive VarPitch |
| 3 | DirectDrive FixedPitch CW |
| 4 | DirectDrive FixedPitch CCW |
PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro
Flybar present or not. Affects attitude controller used during ACRO flight mode
| Value | Meaning |
|---|---|
| 0 | NoFlybar |
| 1 | Flybar |
Direct drive, variable pitch tail ESC speed in percent output to the tail motor esc (HeliTailRSC Servo) when motor interlock enabled (throttle hold off) and speed fully ramped up after spoolup.
PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro in mode ACRO instead of H_GYR_GAIN. A value of zero means to use H_GYR_GAIN
H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR
| Value | Meaning |
|---|---|
| 0 | H3 Generic |
| 1 | H1 non-CPPM |
| 2 | H3_140 |
| 3 | H3_120 |
| 4 | H4_90 |
| 5 | H4_45 |
Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
This linearizes the swashplate servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Automatically set when H3 generic swash type is selected for swashplate. Do not set manually.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg
Azimuth position on swashplate for servo 2 with the front of the heli being 0 deg
Azimuth position on swashplate for servo 3 with the front of the heli being 0 deg
Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem
Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
Tail rotor DDFP motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.
| Value | Meaning |
|---|---|
| 0.0 | Low |
| 0.15 | Default |
| 0.3 | High |
Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
| Value | Meaning |
|---|---|
| 0.9 | Low |
| 0.95 | Default |
| 1.0 | High |
Which battery monitor should be used for doing compensation
| Value | Meaning |
|---|---|
| 0 | First battery |
| 1 | Second battery |
Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled
Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled
Fixed offset applied to yaw output to minimize yaw I-term contribution needed to counter rotor drag. Currently only works of DDFP tails (H_TAIL_TYPE = 3 or H_TAIL_TYPE = 4). If using the H_COL2YAW compensation this trim is used to compensate for the main rotor profile drag. If H_COL2YAW is not used, this value can be set to reduce the yaw I contribution to zero when in a steady hover.
Sets the dual mode of the heli, either as tandem, transverse, or intermeshing/coaxial.
| Value | Meaning |
|---|---|
| 0 | Longitudinal |
| 1 | Transverse |
| 2 | Intermeshing/Coaxial |
Scaling factor applied to the differential-collective-pitch
Feed-forward compensation to automatically add yaw input when differential collective pitch is applied. Disabled for intermeshing mode.
Scaler for mixing yaw into roll or pitch.
Lowest possible servo position in PWM microseconds for swashplate 2
Highest possible servo position in PWM microseconds for swashplate 2
H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR
| Value | Meaning |
|---|---|
| 0 | H3 Generic |
| 1 | H1 non-CPPM |
| 2 | H3_140 |
| 3 | H3_120 |
| 4 | H4_90 |
| 5 | H4_45 |
Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
This linearizes the swashplate 1 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg
Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg
Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg
Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem
H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR
| Value | Meaning |
|---|---|
| 0 | H3 Generic |
| 1 | H1 non-CPPM |
| 2 | H3_140 |
| 3 | H3_120 |
| 4 | H4_90 |
| 5 | H4_45 |
Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
This linearizes the swashplate 2 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Automatically set when H3 generic swash type is selected for swashplate 2. Do not set manually.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg
Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg
Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg
Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem
Removes I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup. If DCP axis has I term bias while hovering in calm winds, use value of bias in DCP_TRIM to re-center I term.
For intermeshing mode only. Yaw revereser smoothing exponent, smoothen transition near zero collective region. Increase this parameter to shink smoothing range. Set to -1 to disable reverser.
Lowest possible servo position in PWM microseconds for the swashplate
Highest possible servo position in PWM microseconds for the swashplate
Manual servo override for swash set-up. Must be 0 (Disabled) for flight!
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Passthrough |
| 2 | Max collective |
| 3 | Zero thrust collective |
| 4 | Min collective |
Maximum cyclic pitch angle of the swash plate. There are no units to this parameter. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes. Typically this should be 6-7 deg (measured blade pitch angle difference between stick centered and stick max deflection.
Number of cycles to run servo test on boot-up
Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX
Enable/Disable automatic learning of hover collective
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Learn |
| 2 | Learn and Save |
Bitmask of heli options. Bit 0 changes how the pitch, roll, and yaw axis integrator term is managed for low speed and takeoff/landing. In AC 4.0 and earlier, scheme uses a leaky integrator for ground speeds less than 5 m/s and won't let the steady state integrator build above ILMI. The integrator is allowed to build to the ILMI value when it is landed. The other integrator management scheme bases integrator limiting on takeoff and landing. Whenever the aircraft is landed the integrator is set to zero. When the aicraft is airborne, the integrator is only limited by IMAX.
Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN).
Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX).
Collective blade pitch angle at zero thrust in degrees. For symetric airfoil blades this value is zero deg. For chambered airfoil blades this value is typically negative.
Minimum collective blade pitch angle when landed in degrees for non-manual collective modes (i.e. modes that use altitude hold).
Throttle (HeliRSC Servo) output in percent to the external motor governor when motor interlock enabled (throttle hold off).
Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled (throttle hold off). RC Passthrough sends the input from the RC Motor Interlock channel as throttle output. External Gov SetPoint sends the RSC SetPoint parameter value as throttle output. Throttle Curve uses the 5 point throttle curve to determine throttle output based on the collective output. AutoThrottle requires a rotor speed sensor, contains an advanced autothrottle governor and is primarily for piston and turbine engines. WARNING: Throttle ramp time and throttle curve MUST be tuned properly using Throttle Curve mode before using AutoThrottle
| Value | Meaning |
|---|---|
| 1 | RC Passthrough |
| 2 | External Gov SetPoint |
| 3 | Throttle Curve |
| 4 | AutoThrottle |
Time in seconds for throttle output (HeliRSC servo) to ramp from ground idle (RSC_IDLE) to flight idle throttle setting when motor interlock is enabled (throttle hold off).
Actual time in seconds for the main rotor to reach full speed after motor interlock is enabled (throttle hold off). Must be at least one second longer than the Throttle Ramp Time that is set with RSC_RAMP_TIME. WARNING: For AutoThrottle users with piston and turbine engines it is VERY important to know how long it takes to warm up your engine and reach full rotor speed when throttle switch is turned ON. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power, ready for takeoff. Failure to heed this warning could result in the auto-takeoff mode attempting to lift up into hover before the engine has reached full power, and subsequent loss of control
Percentage of normal rotor speed where flight is no longer possible. However currently the rotor runup/rundown is estimated using the RSC_RUNUP_TIME parameter. Estimated rotor speed increases/decreases between 0 (rotor stopped) to 1 (rotor at normal speed) in the RSC_RUNUP_TIME in seconds. This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds. So if you had a 10 second runup time then set RSC_CRITICAL to 70%.
Throttle output (HeliRSC Servo) in percent while armed but motor interlock is disabled (throttle hold on). FOR COMBUSTION ENGINES. Sets the engine ground idle throttle percentage with clutch disengaged. This must be set to zero for electric helicopters under most situations. If the ESC has an autorotation window this can be set to keep the autorotation window open in the ESC. Consult the operating manual for your ESC to set it properly for this purpose
This controls the maximum rate at which the throttle output (HeliRSC servo) can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate.
Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 0 percent collective is defined by H_COL_MIN. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to -2 degree of pitch.
Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 25% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 25% of 12 degrees is 3 degrees, so this setting would correspond to +1 degree of pitch.
Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 50% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 50% of 12 degrees is 6 degrees, so this setting would correspond to +4 degree of pitch.
Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 75% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 75% of 12 degrees is 9 degrees, so this setting would correspond to +7 degree of pitch.
Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to +10 degree of pitch.
RPM range +/- governor rpm reference setting where governor is operational. If speed sensor fails or rpm falls outside of this range, the governor will disengage and return to throttle curve. Recommended range is 100
Will provide a fast idle for engine cooldown by raising the Ground Idle speed setting by 50% for the number of seconds the timer is set for. A setting of zero disables the fast idle. This feature will only apply after the runup complete has been declared. This will not extend the time before ground idle is declared, which triggers engine shutdown for autonomous landings.
Adjusts the autothrottle governor torque compensator that determines how fast the governor will adjust the base torque reference to compensate for changes in density altitude. If RPM is low or high by more than 2-5 RPM, increase this setting by 1% at a time until the governor speed matches your RPM setting. Setting the compensator too high can result in surging and throttle "hunting". Do not make large adjustments at one time
AutoThrottle governor droop response under load, normal settings of 0-50%. Higher value is quicker response to large speed changes due to load but may cause surging. Adjust this to be as aggressive as possible without getting surging or RPM over-run when the governor responds to large load changes on the rotor system
Feedforward governor gain to throttle response during sudden loading/unloading of the rotor system. If RPM drops excessively during full collective climb with the droop response set correctly, increase the governor feedforward.
Main rotor RPM that governor maintains when engaged
Adjusts the engine's percentage of torque rise on autothrottle during ramp-up to governor speed. The torque rise will determine how fast the rotor speed will ramp up when rotor speed reaches 50% of the rotor RPM setting. The sequence of events engaging the governor is as follows: Throttle ramp time will engage the clutch and start the main rotor turning. The collective should be at flat pitch and the throttle curve set to provide at least 50% of normal RPM at flat pitch. The autothrottle torque limiter will automatically activate and start accelerating the main rotor. If the autothrottle consistently fails to accelerate the main rotor during ramp-in due to engine tune or other factors, then increase the torque limiter setting. NOTE: throttle ramp time and throttle curve should be tuned using RSC_MODE Throttle Curve before using RSC_MODE AutoThrottle
Allows you to enable (1) or disable (0) the autorotation functionality within the Rotor Speed Controller.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
When exiting an autorotation in a bailout manoeuvre, this is the time in seconds for the throttle output (HeliRSC servo) to ramp from idle (H_RSC_AROT_IDLE) to flight throttle setting when motor interlock is re-enabled. When using an ESC with an autorotation bailout function, this parameter should be set to 0.1 (minimum value).
Idle throttle used for during autotoration. For external governors, this would be set to a value that is within the autorotation window of the governer/ESC to enable fast spool-up, when bailing out of an autorotation. Set 0 to disable.
When exiting an autorotation in a bailout manoeuvre, this is the expected time in seconds for the main rotor to reach full speed after motor interlock is enabled. Must be at least one second longer than the H_RSC_AROT_RAMP time that is set. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power. Failure to heed this warning could result in early entry into autonomously controlled collective modes (e.g. alt hold, loiter, etc), whereby the collective could be raised before the engine has reached full power, with a subsequently dangerous slowing of head speed.
Used to soften collective pitch inputs near center point in Acro mode.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 0.1 | Very Low |
| 0.2 | Low |
| 0.3 | Medium |
| 0.4 | High |
| 0.5 | Very High |
Helicopter's minimum collective pitch setting at zero collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.
Helicopter's collective pitch setting at mid-low (40%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.
Helicopter's collective pitch setting at mid-high (60%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.
Helicopter's maximum collective pitch setting at full collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.
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
Enable landing gear control
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Landing Gear Startup behaviour control
| Value | Meaning |
|---|---|
| 0 | WaitForPilotInput |
| 1 | Retract |
| 2 | Deploy |
Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. 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 |
Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.
| Value | Meaning |
|---|---|
| 0 | Low |
| 1 | High |
Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. 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 |
Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.
| Value | Meaning |
|---|---|
| 0 | Low |
| 1 | High |
Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.
Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.
Options to retract or deploy landing gear in Auto or Guided mode
Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.
The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging 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.
Loiter maximum pilot requested lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX/ANGLE_MAX. The maximum vehicle lean angle is still limited by PSC_ANGLE_MAX/ANGLE_MAX
Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode
Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.
Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.
Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.
Loiter brake start delay (in seconds)
Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
This controls whether packets from other than the expected GCS system ID will be accepted
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.
The number of mission mission items that has been loaded by the ground station. Do not change this manually.
Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)
| Value | Meaning |
|---|---|
| 0 | Resume Mission |
| 1 | Restart Mission |
Bitmask of what options to use in missions. If the DontZeroCounter counter option is set than on completion of a jump loop the counter is left at zero, so the jump will not happen again if the loop is re-entered.
Mount Type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Servo |
| 2 | 3DR Solo |
| 3 | Alexmos Serial |
| 4 | SToRM32 MAVLink |
| 5 | SToRM32 Serial |
| 6 | Gremsy |
| 7 | BrushlessPWM |
| 8 | Siyi |
| 9 | Scripting |
| 10 | Xacti |
| 11 | Viewpro |
| 12 | Topotek |
| 13 | CADDX |
| 14 | XFRobot |
Mount default operating mode on startup and after control is returned from autopilot
| Value | Meaning |
|---|---|
| 0 | Retracted |
| 1 | Neutral |
| 2 | MavLink Targeting |
| 3 | RC Targeting |
| 4 | GPS Point |
| 5 | SysID Target |
| 6 | Home Location |
Pilot rate control's maximum rate. Set to zero to use angle control
Mount Roll angle minimum
Mount Roll angle maximum
Mount Pitch angle minimum
Mount Pitch angle maximum
Mount Yaw angle minimum
Mount Yaw angle maximum
Mount roll angle when in retracted position
Mount pitch angle when in retracted position
Mount yaw angle when in retracted position
Mount roll angle when in neutral position
Mount pitch angle when in neutral position
Mount yaw angle when in neutral position
Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot
Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot
Default Target sysID for the mount to point to
Mount device ID, taking into account its type, bus and instance
Mount options bitmask
Mount Type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Servo |
| 2 | 3DR Solo |
| 3 | Alexmos Serial |
| 4 | SToRM32 MAVLink |
| 5 | SToRM32 Serial |
| 6 | Gremsy |
| 7 | BrushlessPWM |
| 8 | Siyi |
| 9 | Scripting |
| 10 | Xacti |
| 11 | Viewpro |
| 12 | Topotek |
| 13 | CADDX |
| 14 | XFRobot |
Mount default operating mode on startup and after control is returned from autopilot
| Value | Meaning |
|---|---|
| 0 | Retracted |
| 1 | Neutral |
| 2 | MavLink Targeting |
| 3 | RC Targeting |
| 4 | GPS Point |
| 5 | SysID Target |
| 6 | Home Location |
Pilot rate control's maximum rate. Set to zero to use angle control
Mount Roll angle minimum
Mount Roll angle maximum
Mount Pitch angle minimum
Mount Pitch angle maximum
Mount Yaw angle minimum
Mount Yaw angle maximum
Mount roll angle when in retracted position
Mount pitch angle when in retracted position
Mount yaw angle when in retracted position
Mount roll angle when in neutral position
Mount pitch angle when in neutral position
Mount yaw angle when in neutral position
Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot
Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot
Default Target sysID for the mount to point to
Mount device ID, taking into account its type, bus and instance
Mount options bitmask
Yaw control is given at least this pwm in microseconds range
Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
| Value | Meaning |
|---|---|
| 0.9 | Low |
| 0.95 | Default |
| 1.0 | High |
Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled
Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled
Maximum current over which maximum throttle is limited (0 = Disabled)
This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output.PWMRange and PWMAngle are PWM special/rare cases for ESCs that dont calibrate normally (some Sub motors) or where each ESC must have its PWM range set individually using the Servo params instead of PWM_MIN/MAX parameters.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | OneShot |
| 2 | OneShot125 |
| 3 | Brushed |
| 4 | DShot150 |
| 5 | DShot300 |
| 6 | DShot600 |
| 7 | DShot1200 |
| 8 | PWMRange |
| 9 | PWMAngle |
This sets the min PWM output value in microseconds that will ever be output to the motors
This sets the max PWM value in microseconds that will ever be output to the motors
Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.
| Value | Meaning |
|---|---|
| 0.0 | Low |
| 0.15 | Default |
| 0.25 | High |
Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.
| Value | Meaning |
|---|---|
| 0.0 | Low |
| 0.1 | Default |
| 0.2 | High |
Time constant used to limit the maximum current
Motor thrust needed to hover expressed as a number from 0 to 1
Enable/Disable automatic learning of hover throttle
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Learn |
| 2 | Learn and Save |
Disables motor PWM output when disarmed
| Value | Meaning |
|---|---|
| 0 | PWM enabled while disarmed |
| 1 | PWM disabled while disarmed |
Yaw servo's maximum lean angle (Tricopter only)
Time in seconds to spool up the motors from zero to min throttle.
Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.
Which battery monitor should be used for doing compensation
| Value | Meaning |
|---|---|
| 0 | First battery |
| 1 | Second battery |
Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
Time taken to disable and enable the motor PWM output when disarmed and armed.
Motor options
Time taken to spool down the motors from min to zero throttle. If set to 0 then SPOOL_TIME is used instead.
Used for average cell voltage calculation
| Value | Meaning |
|---|---|
| 0 | Auto |
| 1 | 1 |
| 2 | 2 |
| 3 | 3 |
| 4 | 4 |
| 5 | 5 |
| 6 | 6 |
| 7 | 7 |
| 8 | 8 |
| 9 | 9 |
| 10 | 10 |
| 11 | 11 |
| 12 | 12 |
| 13 | 13 |
| 14 | 14 |
A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts. EnableINAVFonts uses INAV fonts and overrides EnableBTFLFonts if that option is enabled.
Networking Enable
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0
Enable/Disable DHCP client
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Enable/Disable networking tests
Networking options
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
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
MAC address 1st byte
MAC address 2nd byte
MAC address 3rd byte
MAC address 4th byte
MAC address 5th byte
MAC address 6th byte
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
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
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
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)
Enabled/disable path planning around obstacles
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | BendyRuler |
| 2 | Dijkstra |
| 3 | Dijkstra with BendyRuler |
Object Avoidance will ignore objects more than this many meters from vehicle
Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).
Object Avoidance will look this many meters ahead of vehicle
BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.
BendyRuler will resist changing current bearing if the change in bearing is over this angle
BendyRuler will search for clear path along the direction defined by this parameter
| Value | Meaning |
|---|---|
| 1 | Horizontal search |
| 2 | Vertical search |
OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process
OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.
OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.
OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Send only HIGH importance items |
| 2 | Send HIGH and NORMAL importance items |
| 3 | Send all items |
Beam width of incoming lidar data, used to calculate a object radius if none is provided by the data source.
Minimum radius of objects held in database
Maximum distance of objects held in database. Set to zero to disable the limits
OADatabase will reject obstacles if vehicle's altitude above home is below this parameter, in a 3 meter radius around home. Set 0 to disable this feature.
OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | MAX7456 |
| 2 | SITL |
| 3 | MSP |
| 4 | TXONLY |
| 5 | MSP_DISPLAYPORT |
This sets the channel used to switch different OSD screens.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 5 | Chan5 |
| 6 | Chan6 |
| 7 | Chan7 |
| 8 | Chan8 |
| 9 | Chan9 |
| 10 | Chan10 |
| 11 | Chan11 |
| 12 | Chan12 |
| 13 | Chan13 |
| 14 | Chan14 |
| 15 | Chan15 |
| 16 | Chan16 |
This sets the method used to switch different OSD screens.
| Value | Meaning |
|---|---|
| 0 | switch to next screen if channel value was changed |
| 1 | select screen based on pwm ranges specified for each screen |
| 2 | switch to next screen after low to high transition and every 1s while channel value is high |
This sets options that change the display
This sets which OSD font to use. It is an integer from 0 to the number of fonts available
Sets vertical offset of the osd inside image
Sets horizontal offset of the osd inside image
Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.
Set level at which NSAT item will flash
Set level at which BAT_VOLT item will flash
Sets the units to use in displaying items
| Value | Meaning |
|---|---|
| 0 | Metric |
| 1 | Imperial |
| 2 | SI |
| 3 | Aviation |
Sets message duration seconds
Screen to be shown on Arm event. Zero to disable the feature.
Screen to be shown on disarm event. Zero to disable the feature.
Screen to be shown on failsafe event. Zero to disable the feature.
Debounce time in ms for stick commanded parameter navigation.
Set level below which TER_HGT item will flash. -1 disables.
Set level at which AVGCELLV item will flash
Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.
Set level at which RESTVOLT item will flash
Set level at which ACRVOLT item will flash
Set level at which RC_LQ item will flash (%)
Set level at which RC_SNR item will flash (in db)
Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen.
Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting.
OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | MAX7456 |
| 2 | SITL |
| 3 | MSP |
| 4 | TXONLY |
| 5 | MSP_DISPLAYPORT |
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Enables display of altitude AGL
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC signal strength
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays primary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays number of acquired satellites
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight mode
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Mavlink messages
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS ground speed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays distance and relative direction to HOME
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays heading
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays actual throttle percentage being sent to motor(s)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enables display of compass rose
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed value being used by TECS (fused value)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb rate
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS latitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS longitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of roll from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of pitch from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Horizontal Dilution Of Position
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays bearing and distance to next waypoint
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays crosstrack error
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total distance flown
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight stats
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total flight time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb efficiency (climb rate/current)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight efficiency (mAh/km or /mi)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by secondary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery2 voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays secondary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from secondary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a clock panel based on AP_RTC local time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon side bars
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon crosshair (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays distance from HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays relative direction to HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays power (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery usage bar (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays arming status (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays pluscode (OLC) element
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays callsign from callsign.txt on microSD card
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays 2nd battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays VTX Power
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Height above terrain
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery resting voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays indication of fence enable and breach
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a rangefinder's distance in cm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main rotor revs/min
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Receiver link quality
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)
| Value | Meaning |
|---|---|
| 0 | 30x16 |
| 1 | 50x18 |
| 2 | 60x22 |
Sets the font index for this screen (MSP DisplayPort only)
Displays the RC link transmit (TX) power in mW or W, depending on level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC link signal strength in dBm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC link signal to noise ratio in dB
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the current RC link active antenna
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Enables display of altitude AGL
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC signal strength
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays primary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays number of acquired satellites
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight mode
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Mavlink messages
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS ground speed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays distance and relative direction to HOME
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays heading
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays actual throttle percentage being sent to motor(s)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enables display of compass rose
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed value being used by TECS (fused value)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb rate
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS latitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS longitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of roll from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of pitch from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Horizontal Dilution Of Position
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays bearing and distance to next waypoint
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays crosstrack error
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total distance flown
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight stats
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total flight time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb efficiency (climb rate/current)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight efficiency (mAh/km or /mi)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by secondary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery2 voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays secondary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from secondary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a clock panel based on AP_RTC local time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon side bars
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon crosshair (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays distance from HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays relative direction to HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays power (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery usage bar (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays arming status (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays pluscode (OLC) element
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays callsign from callsign.txt on microSD card
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays 2nd battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays VTX Power
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Height above terrain
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery resting voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays indication of fence enable and breach
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a rangefinder's distance in cm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main rotor revs/min
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Receiver link quality
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)
| Value | Meaning |
|---|---|
| 0 | 30x16 |
| 1 | 50x18 |
| 2 | 60x22 |
Sets the font index for this screen (MSP DisplayPort only)
Displays the RC link transmit (TX) power in mW or W, depending on level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC link signal strength in dBm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC link signal to noise ratio in dB
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the current RC link active antenna
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Enables display of altitude AGL
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC signal strength
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays primary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays number of acquired satellites
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight mode
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Mavlink messages
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS ground speed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays distance and relative direction to HOME
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays heading
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays actual throttle percentage being sent to motor(s)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enables display of compass rose
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed value being used by TECS (fused value)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb rate
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS latitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS longitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of roll from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of pitch from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Horizontal Dilution Of Position
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays bearing and distance to next waypoint
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays crosstrack error
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total distance flown
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight stats
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total flight time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb efficiency (climb rate/current)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight efficiency (mAh/km or /mi)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by secondary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery2 voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays secondary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from secondary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a clock panel based on AP_RTC local time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon side bars
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon crosshair (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays distance from HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays relative direction to HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays power (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery usage bar (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays arming status (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays pluscode (OLC) element
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays callsign from callsign.txt on microSD card
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays 2nd battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays VTX Power
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Height above terrain
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery resting voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays indication of fence enable and breach
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a rangefinder's distance in cm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main rotor revs/min
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Receiver link quality
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)
| Value | Meaning |
|---|---|
| 0 | 30x16 |
| 1 | 50x18 |
| 2 | 60x22 |
Sets the font index for this screen (MSP DisplayPort only)
Displays the RC link transmit (TX) power in mW or W, depending on level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC link signal strength in dBm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC link signal to noise ratio in dB
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the current RC link active antenna
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Enables display of altitude AGL
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC signal strength
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays primary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays number of acquired satellites
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight mode
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Mavlink messages
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS ground speed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays distance and relative direction to HOME
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays heading
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays actual throttle percentage being sent to motor(s)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Enables display of compass rose
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed value being used by TECS (fused value)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb rate
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS latitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays GPS longitude
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of roll from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays degrees of pitch from level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Horizontal Dilution Of Position
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays bearing and distance to next waypoint
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays crosstrack error
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total distance flown
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight stats
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays total flight time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays climb efficiency (climb rate/current)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays flight efficiency (mAh/km or /mi)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by secondary barometer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays temperature reported by primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery2 voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays secondary battery mAh consumed
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from secondary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays airspeed reported directly from primary airspeed sensor
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a clock panel based on AP_RTC local time
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon side bars
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays artificial horizon crosshair (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays distance from HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen (MSP OSD only)
Vertical position on screen (MSP OSD only)
Displays relative direction to HOME (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays power (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays battery usage bar (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays arming status (MSP OSD only)
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays pluscode (OLC) element
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays callsign from callsign.txt on microSD card
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays 2nd battery current
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays VTX Power
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Height above terrain
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main battery resting voltage
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays indication of fence enable and breach
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays a rangefinder's distance in cm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays main rotor revs/min
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays Receiver link quality
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)
| Value | Meaning |
|---|---|
| 0 | 30x16 |
| 1 | 50x18 |
| 2 | 60x22 |
Sets the font index for this screen (MSP DisplayPort only)
Displays the RC link transmit (TX) power in mW or W, depending on level
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC link signal strength in dBm
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays RC link signal to noise ratio in dB
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the current RC link active antenna
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Horizontal position of Save button on screen
Vertical position of Save button on screen
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable this screen
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
This sets the PWM lower limit for this screen
This sets the PWM upper limit for this screen
Horizontal position of Save button on screen
Vertical position of Save button on screen
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Enable setting
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Horizontal position on screen
Vertical position on screen
Key of the parameter to be displayed and modified
Index of the parameter to be displayed and modified
Group of the parameter to be displayed and modified
Minimum value of the parameter to be displayed and modified
Maximum of the parameter to be displayed and modified
Increment of the parameter to be displayed and modified
Type of the parameter to be displayed and modified
Precision Land enabled/disabled
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Precision Land Type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | MAVLink |
| 2 | IRLock |
| 3 | SITL_Gazebo |
| 4 | SITL |
Yaw angle from body x-axis to sensor x-axis.
Desired landing position of the camera forward of the target in vehicle body frame
desired landing position of the camera right of the target in vehicle body frame
Specifies the estimation method to be used
| Value | Meaning |
|---|---|
| 0 | RawSensor |
| 1 | KalmanFilter |
Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less
X position of the camera in body frame. Positive X is forward of the origin.
Y position of the camera in body frame. Positive Y is to the right of the origin.
Z position of the camera in body frame. Positive Z is down from the origin.
Precland sensor bus for I2C sensors.
| Value | Meaning |
|---|---|
| -1 | DefaultBus |
| 0 | InternalI2C |
| 1 | ExternalI2C |
Precision Landing sensor lag, to cope with variable landing_target latency
The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.
How strictly should the vehicle land on the target if target is lost
| Value | Meaning |
|---|---|
| 0 | Land Vertically (Not strict) |
| 1 | Retry Landing(Normal Strictness) |
| 2 | Do not land (just Hover) (Very Strict) |
PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.
Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.
Prec Land will do the action selected by this parameter if a retry to a landing is needed
| Value | Meaning |
|---|---|
| 0 | Go to the last location where landing target was detected |
| 1 | Go towards the approximate location of the detected landing target |
Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.
Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.
Precision Landing Extra Options
Orientation of camera/sensor on body
| Value | Meaning |
|---|---|
| 0 | Forward |
| 4 | Back |
| 25 | Down |
Ignore proximity data that is within 1 meter of the ground below the vehicle. This requires a downward facing rangefinder
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
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
Minimum altitude below which proximity should not work.
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.
Lower values will slow the response of the navigation controller and reduce twitchiness
Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration
Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output
Velocity (vertical) controller D gain. Corrects short-term changes in velocity
Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target
Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms
Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms
Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration
Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate
Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration
Acceleration (vertical) controller feed forward
Acceleration (vertical) controller target frequency in Hz
Acceleration (vertical) controller error frequency in Hz
Acceleration (vertical) controller derivative frequency in Hz
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
FF D Gain which produces an output that is proportional to the rate of change of the target
Accel (vertical) Target notch filter index
Accel (vertical) Error notch filter index
Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller
Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration
Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration
Velocity (horizontal) D gain. Corrects short-term changes in velocity
Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms
Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term
Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration
Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value
Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target
Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target
Number of rally points currently loaded
Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.
Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL
| Value | Meaning |
|---|---|
| 0 | DoNotIncludeHome |
| 1 | IncludeHome |
Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
RC input options
Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.
RC failsafe will trigger this many seconds after loss of RC
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Value | Meaning |
|---|---|
| 0 | Normal |
| 1 | Reversed |
PWM dead zone in microseconds around trim or bottom
Function assigned to this RC channel
| Value | Meaning |
|---|---|
| 0 | Do Nothing |
| 2 | FLIP Mode |
| 3 | Simple Mode |
| 4 | RTL |
| 5 | Save Trim |
| 7 | Save WP |
| 9 | Camera Trigger |
| 10 | RangeFinder Enable |
| 11 | Fence Enable |
| 13 | Super Simple Mode |
| 14 | Acro Trainer |
| 15 | Sprayer Enable |
| 16 | AUTO Mode |
| 17 | AUTOTUNE Mode |
| 18 | LAND Mode |
| 19 | Gripper Release |
| 21 | Parachute Enable |
| 22 | Parachute Release |
| 23 | Parachute 3pos |
| 24 | Auto Mission Reset |
| 25 | AttCon Feed Forward |
| 26 | AttCon Accel Limits |
| 27 | Retract Mount1 |
| 28 | Relay1 On/Off |
| 29 | Landing Gear |
| 30 | Lost Copter Sound |
| 31 | Motor Emergency Stop |
| 32 | Motor Interlock |
| 33 | BRAKE Mode |
| 34 | Relay2 On/Off |
| 35 | Relay3 On/Off |
| 36 | Relay4 On/Off |
| 37 | THROW Mode |
| 38 | ADSB Avoidance Enable |
| 39 | PrecLoiter Enable |
| 40 | Proximity Avoidance Enable |
| 41 | ArmDisarm (4.1 and lower) |
| 42 | SMARTRTL Mode |
| 43 | InvertedFlight Enable |
| 44 | Winch Enable |
| 45 | Winch Control |
| 46 | RC Override Enable |
| 47 | User Function 1 |
| 48 | User Function 2 |
| 49 | User Function 3 |
| 52 | ACRO Mode |
| 55 | GUIDED Mode |
| 56 | LOITER Mode |
| 57 | FOLLOW Mode |
| 58 | Clear Waypoints |
| 60 | ZigZag Mode |
| 61 | ZigZag SaveWP |
| 62 | Compass Learn |
| 65 | GPS Disable |
| 66 | Relay5 On/Off |
| 67 | Relay6 On/Off |
| 68 | STABILIZE Mode |
| 69 | POSHOLD Mode |
| 70 | ALTHOLD Mode |
| 71 | FLOWHOLD Mode |
| 72 | CIRCLE Mode |
| 73 | DRIFT Mode |
| 75 | SurfaceTrackingUpDown |
| 76 | STANDBY Mode |
| 78 | RunCam Control |
| 79 | RunCam OSD Control |
| 80 | VisOdom Align |
| 81 | Disarm |
| 83 | ZigZag Auto |
| 84 | AirMode |
| 85 | Generator |
| 90 | EKF Source Set |
| 94 | VTX Power |
| 99 | AUTO RTL |
| 100 | KillIMU1 |
| 101 | KillIMU2 |
| 102 | Camera Mode Toggle |
| 103 | EKF lane switch attempt |
| 104 | EKF yaw reset |
| 105 | GPS Disable Yaw |
| 109 | use Custom Controller |
| 110 | KillIMU3 |
| 111 | Loweheiser starter |
| 112 | SwitchExternalAHRS |
| 113 | Retract Mount2 |
| 151 | TURTLE Mode |
| 152 | SIMPLE heading reset |
| 153 | ArmDisarm (4.2 and higher) |
| 154 | ArmDisarm with AirMode (4.2 and higher) |
| 158 | Optflow Calibration |
| 159 | Force IS_Flying |
| 161 | Turbine Start(heli) |
| 162 | FFT Tune |
| 163 | Mount Lock |
| 164 | Pause Stream Logging |
| 165 | Arm/Emergency Motor Stop |
| 166 | Camera Record Video |
| 167 | Camera Zoom |
| 168 | Camera Manual Focus |
| 169 | Camera Auto Focus |
| 171 | Calibrate Compasses |
| 172 | Battery MPPT Enable |
| 174 | Camera Image Tracking |
| 175 | Camera Lens |
| 177 | Mount LRF enable |
| 178 | FlightMode Pause/Resume |
| 180 | Test autotuned gains after tune is complete |
| 182 | AHRS AutoTrim |
| 212 | Mount1 Roll |
| 213 | Mount1 Pitch |
| 214 | Mount1 Yaw |
| 215 | Mount2 Roll |
| 216 | Mount2 Pitch |
| 217 | Mount2 Yaw |
| 218 | Loweheiser throttle |
| 219 | Transmitter Tuning |
| 300 | Scripting1 |
| 301 | Scripting2 |
| 302 | Scripting3 |
| 303 | Scripting4 |
| 304 | Scripting5 |
| 305 | Scripting6 |
| 306 | Scripting7 |
| 307 | Scripting8 |
| 308 | Scripting9 |
| 309 | Scripting10 |
| 310 | Scripting11 |
| 311 | Scripting12 |
| 312 | Scripting13 |
| 313 | Scripting14 |
| 314 | Scripting15 |
| 315 | Scripting16 |
Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
The function the relay channel is mapped to.
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 |
|---|---|
| 0 | None |
| 1 | Relay |
| 3 | Parachute |
| 4 | Camera |
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 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 34 | Benewake_CAN |
| 35 | TeraRangerSerial |
| 36 | Lua_Scripting |
| 37 | NoopLoop_TOFSense |
| 38 | NoopLoop_TOFSense_CAN |
| 39 | NRA24_CAN |
| 40 | NoopLoop_TOFSenseF_I2C |
| 41 | JRE_Serial |
| 42 | Ainstein_LR_D1 |
| 43 | RDS02UF |
| 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 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 34 | Benewake_CAN |
| 35 | TeraRangerSerial |
| 36 | Lua_Scripting |
| 37 | NoopLoop_TOFSense |
| 38 | NoopLoop_TOFSense_CAN |
| 39 | NRA24_CAN |
| 40 | NoopLoop_TOFSenseF_I2C |
| 41 | JRE_Serial |
| 42 | Ainstein_LR_D1 |
| 43 | RDS02UF |
| 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 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 34 | Benewake_CAN |
| 35 | TeraRangerSerial |
| 36 | Lua_Scripting |
| 37 | NoopLoop_TOFSense |
| 38 | NoopLoop_TOFSense_CAN |
| 39 | NRA24_CAN |
| 40 | NoopLoop_TOFSenseF_I2C |
| 41 | JRE_Serial |
| 42 | Ainstein_LR_D1 |
| 43 | RDS02UF |
| 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 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 34 | Benewake_CAN |
| 35 | TeraRangerSerial |
| 36 | Lua_Scripting |
| 37 | NoopLoop_TOFSense |
| 38 | NoopLoop_TOFSense_CAN |
| 39 | NRA24_CAN |
| 40 | NoopLoop_TOFSenseF_I2C |
| 41 | JRE_Serial |
| 42 | Ainstein_LR_D1 |
| 43 | RDS02UF |
| 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 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 34 | Benewake_CAN |
| 35 | TeraRangerSerial |
| 36 | Lua_Scripting |
| 37 | NoopLoop_TOFSense |
| 38 | NoopLoop_TOFSense_CAN |
| 39 | NRA24_CAN |
| 40 | NoopLoop_TOFSenseF_I2C |
| 41 | JRE_Serial |
| 42 | Ainstein_LR_D1 |
| 43 | RDS02UF |
| 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 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 34 | Benewake_CAN |
| 35 | TeraRangerSerial |
| 36 | Lua_Scripting |
| 37 | NoopLoop_TOFSense |
| 38 | NoopLoop_TOFSense_CAN |
| 39 | NRA24_CAN |
| 40 | NoopLoop_TOFSenseF_I2C |
| 41 | JRE_Serial |
| 42 | Ainstein_LR_D1 |
| 43 | RDS02UF |
| 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 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 34 | Benewake_CAN |
| 35 | TeraRangerSerial |
| 36 | Lua_Scripting |
| 37 | NoopLoop_TOFSense |
| 38 | NoopLoop_TOFSense_CAN |
| 39 | NRA24_CAN |
| 40 | NoopLoop_TOFSenseF_I2C |
| 41 | JRE_Serial |
| 42 | Ainstein_LR_D1 |
| 43 | RDS02UF |
| 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 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 34 | Benewake_CAN |
| 35 | TeraRangerSerial |
| 36 | Lua_Scripting |
| 37 | NoopLoop_TOFSense |
| 38 | NoopLoop_TOFSense_CAN |
| 39 | NRA24_CAN |
| 40 | NoopLoop_TOFSenseF_I2C |
| 41 | JRE_Serial |
| 42 | Ainstein_LR_D1 |
| 43 | RDS02UF |
| 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 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 34 | Benewake_CAN |
| 35 | TeraRangerSerial |
| 36 | Lua_Scripting |
| 37 | NoopLoop_TOFSense |
| 38 | NoopLoop_TOFSense_CAN |
| 39 | NRA24_CAN |
| 40 | NoopLoop_TOFSenseF_I2C |
| 41 | JRE_Serial |
| 42 | Ainstein_LR_D1 |
| 43 | RDS02UF |
| 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 | Benewake-Serial |
| 21 | LidarLightV3HP |
| 22 | PWM |
| 23 | BlueRoboticsPing |
| 24 | DroneCAN |
| 25 | BenewakeTFminiPlus-I2C |
| 26 | LanbaoPSK-CM8JL65-CC5 |
| 27 | BenewakeTF03 |
| 28 | VL53L1X-ShortRange |
| 29 | LeddarVu8-Serial |
| 30 | HC-SR04 |
| 31 | GYUS42v2 |
| 32 | MSP |
| 33 | USD1_CAN |
| 34 | Benewake_CAN |
| 35 | TeraRangerSerial |
| 36 | Lua_Scripting |
| 37 | NoopLoop_TOFSense |
| 38 | NoopLoop_TOFSense_CAN |
| 39 | NRA24_CAN |
| 40 | NoopLoop_TOFSenseF_I2C |
| 41 | JRE_Serial |
| 42 | Ainstein_LR_D1 |
| 43 | RDS02UF |
| 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 assign to this backend
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 assign to this backend
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 assign to this backend
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 assign to this backend
Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | AnalogPin |
| 2 | RCChannelPwmValue |
| 3 | ReceiverProtocol |
| 4 | PWMInputPin |
| 5 | TelemetryRadioRSSI |
Pin used to read the RSSI voltage or PWM value. Analog 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 |
|---|---|
| 8 | V5 Nano |
| 11 | Pixracer |
| 13 | Pixhawk ADC4 |
| 14 | Pixhawk ADC3 |
| 15 | Pixhawk ADC6/Pixhawk2 ADC |
| 50 | AUX1 |
| 51 | AUX2 |
| 52 | AUX3 |
| 53 | AUX4 |
| 54 | AUX5 |
| 55 | AUX6 |
| 103 | Pixhawk SBUS |
RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.
RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.
The channel number where RSSI will be output by the radio receiver (5 and above).
PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH
PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW
Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 2 | ShowSlips |
| 3 | ShowOverruns |
This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.
This controls optional aspects of the scheduler.
Controls if scripting is enabled
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Lua Scripts |
The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time
Amount of memory available for scripting
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!
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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 |
| 6 | Mount1Yaw |
| 7 | Mount1Pitch |
| 8 | Mount1Roll |
| 9 | Mount1Retract |
| 10 | CameraTrigger |
| 12 | Mount2Yaw |
| 13 | Mount2Pitch |
| 14 | Mount2Roll |
| 15 | Mount2Retract |
| 22 | SprayerPump |
| 23 | SprayerSpinner |
| 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 |
| 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 |
| 73 | ThrottleLeft |
| 74 | ThrottleRight |
| 75 | TiltMotorFrontLeft |
| 76 | TiltMotorFrontRight |
| 81 | BoostThrottle |
| 82 | Motor9 |
| 83 | Motor10 |
| 84 | Motor11 |
| 85 | Motor12 |
| 88 | Winch |
| 90 | CameraISO |
| 91 | CameraAperture |
| 92 | CameraFocus |
| 93 | CameraShutterSpeed |
| 94 | Script1 |
| 95 | Script2 |
| 96 | Script3 |
| 97 | Script4 |
| 98 | Script5 |
| 99 | Script6 |
| 100 | Script7 |
| 101 | Script8 |
| 102 | Script9 |
| 103 | Script10 |
| 104 | Script11 |
| 105 | Script12 |
| 106 | Script13 |
| 107 | Script14 |
| 108 | Script15 |
| 109 | Script16 |
| 120 | NeoPixel1 |
| 121 | NeoPixel2 |
| 122 | NeoPixel3 |
| 123 | NeoPixel4 |
| 124 | RateRoll |
| 125 | RatePitch |
| 126 | RateThrust |
| 127 | RateYaw |
| 129 | ProfiLED1 |
| 130 | ProfiLED2 |
| 131 | ProfiLED3 |
| 132 | ProfiLEDClock |
| 133 | Winch Clutch |
| 134 | SERVOn_MIN |
| 135 | SERVOn_TRIM |
| 136 | SERVOn_MAX |
| 138 | Alarm |
| 139 | Alarm Inverted |
| 140 | RCIN1Scaled |
| 141 | RCIN2Scaled |
| 142 | RCIN3Scaled |
| 143 | RCIN4Scaled |
| 144 | RCIN5Scaled |
| 145 | RCIN6Scaled |
| 146 | RCIN7Scaled |
| 147 | RCIN8Scaled |
| 148 | RCIN9Scaled |
| 149 | RCIN10Scaled |
| 150 | RCIN11Scaled |
| 151 | RCIN12Scaled |
| 152 | RCIN13Scaled |
| 153 | RCIN14Scaled |
| 154 | RCIN15Scaled |
| 155 | RCIN16Scaled |
| 160 | Motor13 |
| 161 | Motor14 |
| 162 | Motor15 |
| 163 | Motor16 |
| 164 | Motor17 |
| 165 | Motor18 |
| 166 | Motor19 |
| 167 | Motor20 |
| 168 | Motor21 |
| 169 | Motor22 |
| 170 | Motor23 |
| 171 | Motor24 |
| 172 | Motor25 |
| 173 | Motor26 |
| 174 | Motor27 |
| 175 | Motor28 |
| 176 | Motor29 |
| 177 | Motor30 |
| 178 | Motor31 |
| 179 | Motor32 |
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.
Controls which axis are being excited. Set to non-zero to see more parameters
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | Input Roll Angle |
| 2 | Input Pitch Angle |
| 3 | Input Yaw Angle |
| 4 | Recovery Roll Angle |
| 5 | Recovery Pitch Angle |
| 6 | Recovery Yaw Angle |
| 7 | Rate Roll |
| 8 | Rate Pitch |
| 9 | Rate Yaw |
| 10 | Mixer Roll |
| 11 | Mixer Pitch |
| 12 | Mixer Yaw |
| 13 | Mixer Thrust |
| 14 | Measured Lateral Position |
| 15 | Measured Longitudinal Position |
| 16 | Measured Lateral Velocity |
| 17 | Measured Longitudinal Velocity |
| 18 | Input Lateral Velocity |
| 19 | Input Longitudinal Velocity |
Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs.
Frequency at the start of the sweep
Frequency at the end of the sweep
Time to reach maximum amplitude of sweep
Time taken to complete the sweep
Time to reach zero amplitude at the end of the sweep
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.
Allows you to enable (1) or disable (0) the sprayer
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Desired pump speed when travelling 1m/s expressed as a percentage
Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)
Speed minimum at which we will begin spraying
Minimum pump speed expressed as a percentage
SmartRTL accuracy. The minimum distance between points.
SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.
Bitmask of SmartRTL options.
Number of times board has been booted
Total FlightTime (seconds)
Total time autopilot has run
Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)
Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
| 2 | EnableAndLearn |
Minimum learned temperature. This is automatically set by the learning process
Maximum learned temperature. This is automatically set by the learning process
Learned exponent for barometer temperature correction
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
enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed.
Options to change behaviour of terrain system
Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used
The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed. When the vehicle is armed the location of the vehicle is recorded, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming. This height adjustment is applied to all terrain data. This parameter clamps the amount of adjustment. A value of zero disables the use of terrain height adjustment.
The number of 32x28 cache blocks to keep in memory. Each block uses about 1800 bytes of memory
tmode (or "toy" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | EnableVersion1 |
| 2 | EnableVersion2 |
This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS
| Value | Meaning |
|---|---|
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 9 | Land |
| 11 | Drift |
| 13 | Sport |
| 14 | Flip |
| 15 | AutoTune |
| 16 | PosHold |
| 17 | Brake |
| 18 | Throw |
| 19 | Avoid_ADSB |
| 20 | Guided_NoGPS |
| 21 | FlowHold |
This is the secondary mode. This mode is assumed to require GPS
| Value | Meaning |
|---|---|
| 0 | Stabilize |
| 1 | Acro |
| 2 | AltHold |
| 3 | Auto |
| 4 | Guided |
| 5 | Loiter |
| 6 | RTL |
| 7 | Circle |
| 9 | Land |
| 11 | Drift |
| 13 | Sport |
| 14 | Flip |
| 15 | AutoTune |
| 16 | PosHold |
| 17 | Brake |
| 18 | Throw |
| 19 | Avoid_ADSB |
| 20 | Guided_NoGPS |
| 21 | FlowHold |
This is the action taken when the left action button is pressed
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | TakePhoto |
| 2 | ToggleVideo |
| 3 | ModeAcro |
| 4 | ModeAltHold |
| 5 | ModeAuto |
| 6 | ModeLoiter |
| 7 | ModeRTL |
| 8 | ModeCircle |
| 9 | ModeLand |
| 10 | ModeDrift |
| 11 | ModeSport |
| 12 | ModeAutoTune |
| 13 | ModePosHold |
| 14 | ModeBrake |
| 15 | ModeThrow |
| 16 | Flip |
| 17 | ModeStabilize |
| 18 | Disarm |
| 19 | ToggleMode |
| 20 | Arm-Land-RTL |
| 21 | ToggleSimpleMode |
| 22 | ToggleSuperSimpleMode |
| 23 | MotorLoadTest |
| 24 | ModeFlowHold |
This is the action taken when the right action button is pressed
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | TakePhoto |
| 2 | ToggleVideo |
| 3 | ModeAcro |
| 4 | ModeAltHold |
| 5 | ModeAuto |
| 6 | ModeLoiter |
| 7 | ModeRTL |
| 8 | ModeCircle |
| 9 | ModeLand |
| 10 | ModeDrift |
| 11 | ModeSport |
| 12 | ModeAutoTune |
| 13 | ModePosHold |
| 14 | ModeBrake |
| 15 | ModeThrow |
| 16 | Flip |
| 17 | ModeStabilize |
| 18 | Disarm |
| 19 | ToggleMode |
| 20 | Arm-Land-RTL |
| 21 | ToggleSimpleMode |
| 22 | ToggleSuperSimpleMode |
| 23 | MotorLoadTest |
| 24 | ModeFlowHold |
This is the action taken when the power button is pressed
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | TakePhoto |
| 2 | ToggleVideo |
| 3 | ModeAcro |
| 4 | ModeAltHold |
| 5 | ModeAuto |
| 6 | ModeLoiter |
| 7 | ModeRTL |
| 8 | ModeCircle |
| 9 | ModeLand |
| 10 | ModeDrift |
| 11 | ModeSport |
| 12 | ModeAutoTune |
| 13 | ModePosHold |
| 14 | ModeBrake |
| 15 | ModeThrow |
| 16 | Flip |
| 17 | ModeStabilize |
| 18 | Disarm |
| 19 | ToggleMode |
| 20 | Arm-Land-RTL |
| 21 | ToggleSimpleMode |
| 22 | ToggleSuperSimpleMode |
| 23 | MotorLoadTest |
| 24 | ModeFlowHold |
This is the action taken when the left action button is pressed while the left (Mode) button is held down
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | TakePhoto |
| 2 | ToggleVideo |
| 3 | ModeAcro |
| 4 | ModeAltHold |
| 5 | ModeAuto |
| 6 | ModeLoiter |
| 7 | ModeRTL |
| 8 | ModeCircle |
| 9 | ModeLand |
| 10 | ModeDrift |
| 11 | ModeSport |
| 12 | ModeAutoTune |
| 13 | ModePosHold |
| 14 | ModeBrake |
| 15 | ModeThrow |
| 16 | Flip |
| 17 | ModeStabilize |
| 18 | Disarm |
| 19 | ToggleMode |
| 20 | Arm-Land-RTL |
| 21 | ToggleSimpleMode |
| 22 | ToggleSuperSimpleMode |
| 23 | MotorLoadTest |
| 24 | ModeFlowHold |
This is the action taken when the right action is pressed while the left (Mode) button is held down
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | TakePhoto |
| 2 | ToggleVideo |
| 3 | ModeAcro |
| 4 | ModeAltHold |
| 5 | ModeAuto |
| 6 | ModeLoiter |
| 7 | ModeRTL |
| 8 | ModeCircle |
| 9 | ModeLand |
| 10 | ModeDrift |
| 11 | ModeSport |
| 12 | ModeAutoTune |
| 13 | ModePosHold |
| 14 | ModeBrake |
| 15 | ModeThrow |
| 16 | Flip |
| 17 | ModeStabilize |
| 18 | Disarm |
| 19 | ToggleMode |
| 20 | Arm-Land-RTL |
| 21 | ToggleSimpleMode |
| 22 | ToggleSuperSimpleMode |
| 23 | MotorLoadTest |
| 24 | ModeFlowHold |
This is the action taken when the power button is pressed while the left (Mode) button is held down
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | TakePhoto |
| 2 | ToggleVideo |
| 3 | ModeAcro |
| 4 | ModeAltHold |
| 5 | ModeAuto |
| 6 | ModeLoiter |
| 7 | ModeRTL |
| 8 | ModeCircle |
| 9 | ModeLand |
| 10 | ModeDrift |
| 11 | ModeSport |
| 12 | ModeAutoTune |
| 13 | ModePosHold |
| 14 | ModeBrake |
| 15 | ModeThrow |
| 16 | Flip |
| 17 | ModeStabilize |
| 18 | Disarm |
| 19 | ToggleMode |
| 20 | Arm-Land-RTL |
| 21 | ToggleSimpleMode |
| 22 | ToggleSuperSimpleMode |
| 23 | MotorLoadTest |
| 24 | ModeFlowHold |
This is the action taken when the left (Mode) button is pressed
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | TakePhoto |
| 2 | ToggleVideo |
| 3 | ModeAcro |
| 4 | ModeAltHold |
| 5 | ModeAuto |
| 6 | ModeLoiter |
| 7 | ModeRTL |
| 8 | ModeCircle |
| 9 | ModeLand |
| 10 | ModeDrift |
| 11 | ModeSport |
| 12 | ModeAutoTune |
| 13 | ModePosHold |
| 14 | ModeBrake |
| 15 | ModeThrow |
| 16 | Flip |
| 17 | ModeStabilize |
| 18 | Disarm |
| 19 | ToggleMode |
| 20 | Arm-Land-RTL |
| 21 | ToggleSimpleMode |
| 22 | ToggleSuperSimpleMode |
| 23 | MotorLoadTest |
| 24 | ModeFlowHold |
This is the action taken when the left (Mode) button is long-pressed
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | TakePhoto |
| 2 | ToggleVideo |
| 3 | ModeAcro |
| 4 | ModeAltHold |
| 5 | ModeAuto |
| 6 | ModeLoiter |
| 7 | ModeRTL |
| 8 | ModeCircle |
| 9 | ModeLand |
| 10 | ModeDrift |
| 11 | ModeSport |
| 12 | ModeAutoTune |
| 13 | ModePosHold |
| 14 | ModeBrake |
| 15 | ModeThrow |
| 16 | Flip |
| 17 | ModeStabilize |
| 18 | Disarm |
| 19 | ToggleMode |
| 20 | Arm-Land-RTL |
| 21 | ToggleSimpleMode |
| 22 | ToggleSuperSimpleMode |
| 23 | MotorLoadTest |
| 24 | ModeFlowHold |
This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500
This is the action taken when the right (Return) button is pressed
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | TakePhoto |
| 2 | ToggleVideo |
| 3 | ModeAcro |
| 4 | ModeAltHold |
| 5 | ModeAuto |
| 6 | ModeLoiter |
| 7 | ModeRTL |
| 8 | ModeCircle |
| 9 | ModeLand |
| 10 | ModeDrift |
| 11 | ModeSport |
| 12 | ModeAutoTune |
| 13 | ModePosHold |
| 14 | ModeBrake |
| 15 | ModeThrow |
| 16 | Flip |
| 17 | ModeStabilize |
| 18 | Disarm |
| 19 | ToggleMode |
| 20 | Arm-Land-RTL |
| 21 | ToggleSimpleMode |
| 22 | ToggleSuperSimpleMode |
| 23 | MotorLoadTest |
Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged
This is the battery voltage below which no output limiting is done
This is the battery voltage above which thrust min is used
This sets the thrust multiplier when voltage is high
This sets the thrust multiplier when voltage is low
This scales the load test output, as a value between 0 and 1
This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc
This sets the type of load test
| Value | Meaning |
|---|---|
| 0 | ConstantThrust |
| 1 | LogReplay1 |
| 2 | LogReplay2 |
Visual odometry camera connection type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | MAVLink |
| 2 | IntelT265 |
| 3 | VOXL(ModalAI) |
X position of the camera in body frame. Positive X is forward of the origin.
Y position of the camera in body frame. Positive Y is to the right of the origin.
Z position of the camera in body frame. Positive Z is down from the origin.
Visual odometery camera orientation
| Value | Meaning |
|---|---|
| 0 | Forward |
| 2 | Right |
| 4 | Back |
| 6 | Left |
| 24 | Up |
| 25 | Down |
Visual odometry scaling factor applied to position estimates from sensor
Visual odometry sensor delay relative to inertial measurements
Visual odometry velocity measurement noise in m/s
Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)
Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)
Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown
Toggles the Video Transmitter on and off
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level
Video Transmitter Channel
Video Transmitter Band
| Value | Meaning |
|---|---|
| 0 | Band A |
| 1 | Band B |
| 2 | Band E |
| 3 | Airwave |
| 4 | RaceBand |
| 5 | Low RaceBand |
| 6 | 1G3 Band A |
| 7 | 1G3 Band B |
| 8 | Band X |
| 9 | 3G3 Band A |
| 10 | 3G3 Band B |
Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL
Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.
Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.
Winch Type
| Value | Meaning |
|---|---|
| 0 | None |
| 1 | PWM |
| 2 | Daiwa |
Winch deploy or retract rate maximum. Set to maximum rate with no load.
Winch control position error P gain
Winch options
Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission
Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission
Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission
Defines the horizontal acceleration in cm/s/s used during missions
Defines the vertical acceleration in cm/s/s used during missions
This controls if waypoint missions use rangefinder for terrain following
| Value | Meaning |
|---|---|
| 0 | Disable |
| 1 | Enable |
Defines the horizontal jerk in m/s/s used during missions
Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)
Defines the maximum cornering acceleration in cm/s/s used during missions. If zero uses 2x accel value.
Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action.
| Value | Meaning |
|---|---|
| -1 | Only use during takeoffs or landing see weathervane takeoff and land override parameters |
| 0 | Disabled |
| 1 | Nose into wind |
| 2 | Nose or tail into wind |
| 3 | Side into wind |
| 4 | tail into wind |
This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s.
The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes.
Above this height weathervaning is permitted. If a range finder is fitted or if terrain is enabled, this parameter sets height AGL. Otherwise, this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning.
Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane.
The maximum climb or descent speed that the vehicle will still attempt to weathervane. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb/descent rate. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent.
Override the weather vaning behaviour when in takeoffs
| Value | Meaning |
|---|---|
| -1 | No override |
| 0 | Disabled |
| 1 | Nose into wind |
| 2 | Nose or tail into wind |
| 3 | Side into wind |
| 4 | tail into wind |
Override the weather vaning behaviour when in landing
| Value | Meaning |
|---|---|
| -1 | No override |
| 0 | Disabled |
| 1 | Nose into wind |
| 2 | Nose or tail into wind |
| 3 | Side into wind |
| 4 | tail into wind |
Options impacting weathervaning behaviour
Allows you to enable (1) or disable (0) ZigZag auto feature
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Enable the auto sprayer in ZigZag mode. SPRAY_ENABLE = 1 and SERVOx_FUNCTION = 22(SprayerPump) / 23(SprayerSpinner) also must be set. This makes the sprayer on while moving to destination A or B. The sprayer will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other.
| Value | Meaning |
|---|---|
| 0 | Disabled |
| 1 | Enabled |
Waiting time after reached the destination
The distance to move sideways in ZigZag mode
The direction to move sideways in ZigZag mode
| Value | Meaning |
|---|---|
| 0 | forward |
| 1 | right |
| 2 | backward |
| 3 | left |
Total number of lines for ZigZag auto if 1 or more. -1: Infinity, 0: Just moving to sideways