Complete Parameter List

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"]

ArduPlane Parameters

Eeprom format version number (ArduPlane:FORMAT_VERSION)

Note: This parameter is for advanced users

This value is incremented when changes are made to the eeprom format

Autotune level (ArduPlane:AUTOTUNE_LEVEL)

Level of aggressiveness of pitch and roll PID gains. Lower values result in a 'softer' tune. Level 6 recommended for most planes. A value of 0 means to keep the current values of RMAX and TCONST for the controllers, tuning only the PID values

Autotune options bitmask (ArduPlane:AUTOTUNE_OPTIONS)

Note: This parameter is for advanced users

Fixed Wing Autotune specific options. Useful on QuadPlanes with higher INS_GYRO_FILTER settings to prevent these filter values from being set too aggressively during Fixed Wing Autotune.

GCS PID tuning mask (ArduPlane:GCS_PID_MASK)

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

Rudder Mix (ArduPlane:KFF_RDDRMIX)

Amount of rudder to add during aileron movement. Increase if nose initially yaws away from roll. Reduces adverse yaw.

Throttle to Pitch Mix (ArduPlane:KFF_THR2PTCH)

Note: This parameter is for advanced users

Pitch up to add in proportion to throttle. 100% throttle will add this number of degrees to the pitch target.

Low throttle pitch down trim (ArduPlane:STAB_PITCH_DOWN)

Note: This parameter is for advanced users

Degrees of down pitch added when throttle is below TRIM_THROTTLE in FBWA and AUTOTUNE modes. Scales linearly so full value is added when THR_MIN is reached. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls. 2 degrees recommended for most planes.

Altitude slope minimum (ArduPlane:ALT_SLOPE_MIN)

Note: This parameter is for advanced users

This controls the minimum altitude change for a waypoint before an altitude slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want altitude slopes to be used in missions then you can set this to zero, which will disable altitude slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before an altitude slope will be used to change altitude.

Altitude slope maximum height (ArduPlane:ALT_SLOPE_MAXHGT)

Note: This parameter is for advanced users

This controls the height above the altitude slope the plane may be before rebuilding it. This is useful for smoothing out an auto-takeoff.

Stick Mixing (ArduPlane:STICK_MIXING)

Note: This parameter is for advanced users

When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are 3 types of stick mixing available. If you set STICK_MIXING to 1 or 4 then it will use "fly by wire" mixing. 4 will provide roll and yaw control, while 1 also provides FBW-A style pitch control. If you set STICK_MIXING to 3 then it will apply to the yaw while in quadplane modes only, such as while doing an automatic VTOL takeoff or landing. WARNING: FBW-A pitch control does not offer flight envelope protections. Prolonged pitch inputs in mode 1 can result in a stall or overspeed condition, and should be avoided.

Takeoff throttle min speed (ArduPlane:TKOFF_THR_MINSPD)

Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.

Takeoff throttle min acceleration (ArduPlane:TKOFF_THR_MINACC)

Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15. Also see TKOFF_ACCEL_CNT parameter for control of full "shake to arm".

Takeoff throttle delay (ArduPlane:TKOFF_THR_DELAY)

This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started.

Takeoff throttle maximum time (ArduPlane:TKOFF_THR_MAX_T)

This sets the time that maximum throttle will be forced during a fixed wing takeoff.

Takeoff minimum throttle (ArduPlane:TKOFF_THR_MIN)

The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes, when TKOFF_OPTIONS bit 0 is set. Also, the minimum throttle to use in a quadpane forward transition. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition. It is used when it is larger than THR_MIN, otherwise THR_MIN is used instead.

Takeoff idle throttle (ArduPlane:TKOFF_THR_IDLE)

The idle throttle to hold after arming and before a takeoff. Applicable in TAKEOFF and AUTO modes.

Takeoff options (ArduPlane:TKOFF_OPTIONS)

Note: This parameter is for advanced users

This selects the mode of the takeoff in AUTO and TAKEOFF flight modes.

Takeoff tail dragger elevator (ArduPlane:TKOFF_TDRAG_ELEV)

This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial "tail hold" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.

Takeoff tail dragger speed1 (ArduPlane:TKOFF_TDRAG_SPD1)

This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.

Takeoff rotate speed (ArduPlane:TKOFF_ROTATE_SPD)

This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent. During the run, use TKOFF_GND_PITCH to keep the aircraft on the runway while below this airspeed.

Takeoff throttle slew rate (ArduPlane:TKOFF_THR_SLEW)

This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff.

Takeoff pitch limit reduction (ArduPlane:TKOFF_PLIM_SEC)

Note: This parameter is for advanced users

This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be.

Takeoff flap percentage (ArduPlane:TKOFF_FLAP_PCNT)

Note: This parameter is for advanced users

The amount of flaps (as a percentage) to apply in automatic takeoff

Level flight roll limit (ArduPlane:LEVEL_ROLL_LIMIT)

This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff while below 5 meters and during the flare portion of a final landing approach.

Bitmask for when to allow negative reverse thrust (ArduPlane:USE_REV_THRUST)

Note: This parameter is for advanced users

This controls when to use reverse thrust. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages. Reverse thrust is always used in MANUAL mode if enabled with THR_MIN < 0. In non-autothrottle controlled modes, if reverse thrust is not used, then THR_MIN is effectively set to 0 for that mode.

Altitude offset (ArduPlane:ALT_OFFSET)

Note: This parameter is for advanced users

This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission

Waypoint Radius (ArduPlane:WP_RADIUS)

Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.

Waypoint Maximum Radius (ArduPlane:WP_MAX_RADIUS)

Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.

Waypoint Loiter Radius (ArduPlane:WP_LOITER_RAD)

Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise. If this value is too close to zero, the achieved loiter radius will be determined by ROLL_LIMIT_DEG.

RTL loiter radius (ArduPlane:RTL_RADIUS)

Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used. For quadplanes with Q_RTL_MODE set to 1 (Enabled), this value is used to set the minimum radius at which the plane will transition from fixed-wing to VTOL mode for landing.

Enable stall prevention (ArduPlane:STALL_PREVENTION)

Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.

Target cruise airspeed (ArduPlane:AIRSPEED_CRUISE)

Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.

Minimum Airspeed (ArduPlane:AIRSPEED_MIN)

Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed.

Maximum Airspeed (ArduPlane:AIRSPEED_MAX)

Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above AIRSPEED_MIN to allow for accurate TECS altitude control.

Stall airspeed (ArduPlane:AIRSPEED_STALL)

If stall prevention is enabled this speed is used to calculate the minimum airspeed while banking. It is also used during landing final as the minimum airspeed that can be demanded by the TECS, which allows using TECS_LAND_ARSPD or LAND_PF_ARSPD to achieve landings slower than AIRSPEED_MIN. If this is set to 0 then the stall speed is assumed to be the minimum airspeed speed. Typically set slightly higher then true stall speed.

Fly By Wire elevator reverse (ArduPlane:FBWB_ELEV_REV)

Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to raise altitude. When set to 1, up elevator means to lower altitude.

Use terrain following (ArduPlane:TERRAIN_FOLLOW)

This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission.

Terrain lookahead (ArduPlane:TERRAIN_LOOKAHD)

This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode.

Fly By Wire B altitude change rate (ArduPlane:FBWB_CLIMB_RATE)

This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.

Minimum Throttle (ArduPlane:THR_MIN)

Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it.

Maximum Throttle (ArduPlane:THR_MAX)

Maximum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set.

Maximum Throttle for takeoff (ArduPlane:TKOFF_THR_MAX)

Note: This parameter is for advanced users

The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.

Throttle slew rate (ArduPlane:THR_SLEWRATE)

Maximum change in throttle percentage per second. Lower limit based on 1 microsend of servo increase per loop. Divide SCHED_LOOP_RATE by approximately 10 to determine minimum achievable value.

Flap slew rate (ArduPlane:FLAP_SLEWRATE)

Note: This parameter is for advanced users

maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting.

Throttle suppress manual passthru (ArduPlane:THR_SUPP_MAN)

Note: This parameter is for advanced users

When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff

Throttle passthru in stabilize (ArduPlane:THR_PASS_STAB)

Note: This parameter is for advanced users

If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.

Throttle and RC Failsafe Enable (ArduPlane:THR_FAILSAFE)

0 disables the failsafe. 1 enables failsafe on loss of RC input. This is detected either by throttle values below THR_FS_VALUE, loss of receiver valid pulses/data, or by the FS bit in receivers that provide it, like SBUS. A programmable failsafe action will occur and RC inputs, if present, will be ignored. A value of 2 means that the RC inputs won't be used when RC failsafe is detected by any of the above methods, but it won't trigger an RC failsafe action.

Throttle Failsafe Value (ArduPlane:THR_FS_VALUE)

The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel.

Throttle cruise percentage (ArduPlane:TRIM_THROTTLE)

Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED_CRUISE. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.

Throttle nudge enable (ArduPlane:THROTTLE_NUDGE)

When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of AIRSPEED_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.

Short failsafe action (ArduPlane:FS_SHORT_ACTN)

The action to take on a short failsafe event. A short failsafe event can be triggered instantly by loss of RC control or by throttle value (see THR_FS_VALUE). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if FS_SHORT_ACTN is 4. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1, will change to FBWA mode with zero throttle if set to 2, or will change to FBWB if set to 4. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5(QRTL) or 20(RTL) are set.

Long failsafe action (ArduPlane:FS_LONG_ACTN)

The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTN is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). If FS_LONG_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO, unless it is in the middle of a landing sequence. If FS_LONG_ACTN is set to 5, will switch to AUTOLAND mode if possible, otherwise RTL mode. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5 (QRTL) or 20(RTL) are set.

Long failsafe timeout (ArduPlane:FS_LONG_TIMEOUT)

The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds.

GCS failsafe enable (ArduPlane:FS_GCS_ENABL)

Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Setting FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Note that heartbeat tracking only becomes active after having received the first heartbeat from the MAV_GCS_SYSID primary GCS system. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled telemetry adio indicating that the primary ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED.

Flightmode channel (ArduPlane:FLTMODE_CH)

Note: This parameter is for advanced users

RC Channel to use for flight mode control

FlightMode1 (ArduPlane:FLTMODE1)

Flight mode for switch position 1 (910 to 1230 and above 2049)

FlightMode2 (ArduPlane:FLTMODE2)

Flight mode for switch position 2 (1231 to 1360)

FlightMode3 (ArduPlane:FLTMODE3)

Flight mode for switch position 3 (1361 to 1490)

FlightMode4 (ArduPlane:FLTMODE4)

Flight mode for switch position 4 (1491 to 1620)

FlightMode5 (ArduPlane:FLTMODE5)

Flight mode for switch position 5 (1621 to 1749)

FlightMode6 (ArduPlane:FLTMODE6)

Flight mode for switch position 6 (1750 to 2049)

Initial flight mode (ArduPlane:INITIAL_MODE)

Note: This parameter is for advanced users

This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.

Maximum Bank Angle (ArduPlane:ROLL_LIMIT_DEG)

Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.

Maximum Pitch Angle (ArduPlane:PTCH_LIM_MAX_DEG)

Maximum pitch up angle commanded in modes with stabilized limits.

Minimum Pitch Angle (ArduPlane:PTCH_LIM_MIN_DEG)

Maximum pitch down angle commanded in modes with stabilized limits

ACRO mode roll rate (ArduPlane:ACRO_ROLL_RATE)

The maximum roll rate at full stick deflection in ACRO mode

ACRO mode pitch rate (ArduPlane:ACRO_PITCH_RATE)

The maximum pitch rate at full stick deflection in ACRO mode

ACRO mode yaw rate (ArduPlane:ACRO_YAW_RATE)

The maximum yaw rate at full stick deflection in ACRO mode. If this is zero then rudder is directly controlled by rudder stick input. This option is only available if you also set YAW_RATE_ENABLE to 1.

ACRO mode attitude locking (ArduPlane:ACRO_LOCKING)

Enable attitude locking when sticks are released. If set to 2 then quaternion based locking is used if the yaw rate controller is enabled. Quaternion based locking will hold any attitude

Ground steer altitude (ArduPlane:GROUND_STEER_ALT)

Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude.

Ground steer rate (ArduPlane:GROUND_STEER_DPS)

Note: This parameter is for advanced users

Ground steering rate in degrees per second for full rudder stick deflection

Mixing Gain (ArduPlane:MIXING_GAIN)

The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.

Rudder only aircraft (ArduPlane:RUDDER_ONLY)

Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.

Mixing Offset (ArduPlane:MIXING_OFFSET)

The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response.

Differential spoilers rudder rate (ArduPlane:DSPOILR_RUD_RATE)

Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect).

Log bitmask (ArduPlane:LOG_BITMASK)

Note: This parameter is for advanced users

Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basic log types by setting this to 65535.

speed used for speed scaling calculations (ArduPlane:SCALING_SPEED)

Note: This parameter is for advanced users

Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values

Minimum ground speed (ArduPlane:MIN_GROUNDSPEED)

Note: This parameter is for advanced users

Minimum ground speed when under airspeed control

Pitch angle offset (ArduPlane:PTCH_TRIM_DEG)

Offset in degrees used for in-flight pitch trimming for level flight. Correct ground leveling is an alternative to changing this parameter.

RTL altitude (ArduPlane:RTL_ALTITUDE)

Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home.

Minimum altitude for FBWB and CRUISE mode (ArduPlane:CRUISE_ALT_FLOOR)

This is the minimum altitude in meters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit.

Flap 1 percentage (ArduPlane:FLAP_1_PERCNT)

Note: This parameter is for advanced users

The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps

Flap 1 speed (ArduPlane:FLAP_1_SPEED)

Note: This parameter is for advanced users

The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED

Flap 2 percentage (ArduPlane:FLAP_2_PERCNT)

Note: This parameter is for advanced users

The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps

Flap 2 speed (ArduPlane:FLAP_2_SPEED)

Note: This parameter is for advanced users

The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED

IO override channel (ArduPlane:OVERRIDE_CHAN)

Note: This parameter is for advanced users

If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU.

RTL auto land (ArduPlane:RTL_AUTOLAND)

Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).If this is set to 0 and there is a DO_LAND_START or DO_RETURN_PATH_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around (see wiki for aborting autolandings) without it changing RTL behaviour.

Crash Deceleration Threshold (ArduPlane:CRASH_ACC_THRESH)

Note: This parameter is for advanced users

X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensitive (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.

Crash Detection (ArduPlane:CRASH_DETECT)

Note: This parameter is for advanced users

Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Set to 0 to disable crash detection.

Enable use of rangefinder (ArduPlane:RNGFND_LANDING)

Sets the use of a rangefinder for automatic landing and other use cases. When enabled for landing and takeoff the rangefinder will be used both on the landing approach and for final flare as well as as VTOL landing and for takeoffs and throttle suppression when close to the ground. When enabled for assist the rangefinder will be used for VTOL assistance. When enabled for climb the rangefinder will be used for the initial climb in QRTL and AUTO. Set to 0 to disable use of the rangefinder.

rudder differential thrust gain (ArduPlane:RUDD_DT_GAIN)

gain control from rudder to differential thrust

Manual R/C pass-through mask (ArduPlane:MANUAL_RCMASK)

Note: This parameter is for advanced users

Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes.

Home reset altitude threshold (ArduPlane:HOME_RESET_ALT)

Note: This parameter is for advanced users

When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continuously reset it.

Flight mode options (ArduPlane:FLIGHT_OPTIONS)

Note: This parameter is for advanced users

Flight mode specific options

Takeoff throttle acceleration count (ArduPlane:TKOFF_ACCEL_CNT)

This is the number of acceleration events to require for arming with TKOFF_THR_MINACC. The default is 1, which means a single forward acceleration above TKOFF_THR_MINACC will arm. By setting this higher than 1 you can require more forward/backward movements to arm.

Differential spoiler crow flaps outer weight (ArduPlane:DSPOILER_CROW_W1)

Note: This parameter is for advanced users

This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 25.

Differential spoiler crow flaps inner weight (ArduPlane:DSPOILER_CROW_W2)

Note: This parameter is for advanced users

This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 45.

Takeoff timeout (ArduPlane:TKOFF_TIMEOUT)

This is the timeout for an automatic takeoff. If this is non-zero and the aircraft does not reach a ground speed of at least 4 m/s within this number of seconds then the takeoff is aborted and the vehicle disarmed. If the value is zero then no timeout applies.

Differential spoiler and crow flaps options (ArduPlane:DSPOILER_OPTS)

Note: This parameter is for advanced users

Differential spoiler and crow flaps options. Progressive crow flaps only first (0-50% flap in) then crow flaps (50 - 100% flap in).

Differential spoiler aileron matching (ArduPlane:DSPOILER_AILMTCH)

Note: This parameter is for advanced users

This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons, 100 is use full range, upwards travel is unaffected

Forward throttle battery voltage compensation maximum voltage (ArduPlane:FWD_BAT_VOLT_MAX)

Note: This parameter is for advanced users

Forward throttle battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.

Forward throttle battery voltage compensation minimum voltage (ArduPlane:FWD_BAT_VOLT_MIN)

Note: This parameter is for advanced users

Forward throttle battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.

Forward throttle battery compensation index (ArduPlane:FWD_BAT_IDX)

Note: This parameter is for advanced users

Which battery monitor should be used for doing compensation for the forward throttle

EKF failsafe variance threshold (ArduPlane:FS_EKF_THRESH)

Note: This parameter is for advanced users

Allows setting the maximum acceptable compass and velocity variance used to check navigation health in VTOL modes

RTL minimum climb (ArduPlane:RTL_CLIMB_MIN)

The vehicle will climb this many m during the initial climb portion of the RTL. During this time the roll will be limited to LEVEL_ROLL_LIMIT degrees.

Manual control expo for roll (ArduPlane:MAN_EXPO_ROLL)

Percentage exponential for roll input in MANUAL, ACRO and TRAINING modes

Manual input expo for pitch (ArduPlane:MAN_EXPO_PITCH)

Percentage exponential for pitch input in MANUAL, ACRO and TRAINING modes

Manual input expo for rudder (ArduPlane:MAN_EXPO_RUDDER)

Percentage exponential for rudder input in MANUAL, ACRO and TRAINING modes

Oneshot output mask (ArduPlane:ONESHOT_MASK)

Note: This parameter is for advanced users

Mask of output channels to use oneshot on

Autotune axis bitmask (ArduPlane:AUTOTUNE_AXES)

1-byte bitmap of axes to autotune

rangefinder landing orientation (ArduPlane:RNGFND_LND_ORNT)

The orientation of rangefinder to use for landing detection. Should be set to Down for normal downward facing rangefinder and Back for rearward facing rangefinder for quadplane tailsitters. Custom orientation can be used with Custom1 or Custom2. The orientation must match at least one of the available rangefinders.

Forward throttle cutoff battery voltage (ArduPlane:FWD_BAT_THR_CUT)

The estimated battery resting voltage below which the throttle is cut in auto-throttle modes. Measured on the battery used for forward throttle compensation (FWD_BAT_IDX). If set to zero, the throttle will not be cut due to low voltage, allowing the motor(s) to continue running until the battery is depleted. This should be set to the minimum operating voltage of you motor(s) or to a voltage level where minimal thrust is produced, to conserve the remaining battery power for the electronics and actuators.

Climb slope mininum height (ArduPlane:CLIMB_SLOPE_HGT)

Note: This parameter is for advanced users

Sets the minimum height above home at which the aircraft will apply a climb slope between waypoints. Below it, the aircraft will ascend immediately, and will only resume the requested trajectory upon reaching this height. This prevents unsafe behavior such as attempting to slowly gain altitude near obstacles. The default value ensures safe operations in most environments, but it can be adjusted based on specific terrain or operational needs.

VEHICLE Parameters

Flight mode block from GCS (FLTMODE_GCSBLOCK)

Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe.

Lua Script Parameters

Camera1 Video Stream Camera Model (VID1_CAMMODEL)

Video stream camera model

Camera1 Video Stream Id (VID1_ID)

Video stream id

Camera1 Video Stream Type (VID1_TYPE)

Video stream type

Camera1 Video Stream Flags (VID1_FLAG)

Video stream flags

Camera1 Video Stream Frame Rate (VID1_FRAME_RATE)

Video stream frame rate

Camera1 Video Stream Horizontal Resolution (VID1_HRES)

Video stream horizontal resolution

Camera1 Video Stream Vertical Resolution (VID1_VRES)

Video stream vertical resolution

Camera1 Video Stream Bitrate (VID1_BITRATE)

Video stream bitrate

Camera1 Video Stream Horizontal FOV (VID1_HFOV)

Video stream horizontal FOV

Camera1 Video Stream Encoding (VID1_ENCODING)

Video stream encoding

Camera1 Video Stream IP Address 0 (VID1_IPADDR0)

Video stream IP Address first octet

Camera1 Video Stream IP Address 1 (VID1_IPADDR1)

Video stream IP Address second octet

Camera1 Video Stream IP Address 2 (VID1_IPADDR2)

Video stream IP Address third octet

Camera1 Video Stream IP Address 3 (VID1_IPADDR3)

Video stream IP Address fourth octet

Camera1 Video Stream IP Address Port (VID1_IPPORT)

Video stream IP Address Port

enable battery info support (BTAG_ENABLE)

enable battery info support

max battery cycles (BTAG_MAX_CYCLES)

max battery cycles for arming

current battery cycles (BTAG_CUR_CYCLES)

Note: This parameter is for advanced users

this is the highest value for battery cycles for all connected batteries

Follow Target Send Enable (FOLT_ENABLE)

Follow Target Send Enable

Follow Target Send MAVLink Channel (FOLT_MAV_CHAN)

MAVLink channel to which FOLLOW_TARGET should be sent

WinchControl Rate Up (WINCH_RATE_UP)

Maximum rate when retracting line

WinchControl Rate Down (WINCH_RATE_DN)

Maximum rate when releasing line

Winch Rate Control RC function (WINCH_RC_FUNC)

RCn_OPTION number to use to control winch rate

Precland altitude cutoff (PLND_ALT_CUTOFF)

The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing

Precland distance cutoff (DIST_CUTOFF)

The distance from target beyond which the target is ignored

Slung Payload enable (SLUP_ENABLE)

Slung Payload enable

Slung Payload Velocity P gain (SLUP_VEL_P)

Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload

Slung Payload horizontal distance max (SLUP_DIST_MAX)

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 (SLUP_SYSID)

Slung Payload mavlink system id. 0 to use any/all system ids

Slung Payload return to WP position P gain (SLUP_WP_POS_P)

WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint

Slung Payload resting offset estimate filter time constant (SLUP_RESTOFS_TC)

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 (SLUP_DEBUG)

Slung payload debug output, set to 1 to enable debug

CoG adjustment ratio (CGA_RATIO)

Note: This parameter is for advanced users

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).

Rover Quicktune enable (RTUN_ENABLE)

Enable quicktune system

Rover Quicktune axes (RTUN_AXES)

axes to tune

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

Ratio between measured response and FF gain. Raise this to get a higher FF gain

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

Rover Quicktune auto save (RTUN_AUTO_SAVE)

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

Rover Quicktune RC function (RTUN_RC_FUNC)

RCn_OPTION number to use to control tuning stop/start/save

Rover Quicktune minimum speed for tuning (RTUN_SPEED_MIN)

The mimimum speed in m/s required for tuning to start

Camera1 Thermal Palette (CAM1_THERM_PAL)

thermal image colour palette

Camera1 Thermal Gain (CAM1_THERM_GAIN)

thermal image temperature range

Camera1 Thermal Raw Data (CAM1_THERM_RAW)

save images with raw temperatures

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

ExternalNav may be used if innovations are below this threshold

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

ExternalNav may be used if quality is above this threshold

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

OpticalFlow may be used if innovations are below this threshold

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

OpticalFlow may be used if quality is above this threshold

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

OpticalFlow may be used if rangefinder distance is below this threshold

enable web server (WEB_ENABLE)

enable web server

web server TCP port (WEB_BIND_PORT)

web server TCP port

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users

web server debugging

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users

web server block size for download

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users

timeout for inactive connections

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users

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

Activation Function for Terrain Avoidance (TA_ACT_FN)

Setting an RC channel's _OPTION to this value will use it for Terrain Avoidance enable/disable

down distance minimum for Pitching (TA_PTCH_DWN_MIN)

If the downward distance is less than this value then start Pitching up to gain altitude.

forward distance minimum for Pitching (TA_PTCH_FWD_MIN)

If the farwardward distance is less than this value then start Pitching up to gain altitude.

Downward distance minimum Quading (TA_QUAD_DWN_MIN)

If the downward distance is less than this value then start Quading up to gain altitude.

minimum forward distance for Quading (TA_QUAD_FWD_MIN)

If the farwardward distance is less than this value then start Quading up to gain altitude.

minimum ground speed for Pitching (TA_PTCH_GSP_MIN)

Minimum Groundspeed (not airspeed) to be flying for Pitching to be used.

timeout Pitching (TA_PTCH_TIMEOUT)

Minimum down or forward distance must be triggered for more than this many seconds to start Pitching

safe distance around home (TA_HOME_DIST)

Terrain avoidance will not be applied if the vehicle is less than this distance from home

ceiling for pitching/quading (TA_ALT_MAX)

This is a limit on how high the terrain avoidane will take the vehicle. It acts a failsafe to prevent vertical flyaways.

Maximum Groundspeed (TA_GSP_MAX)

This is a limit on how fast in groundspeeed terrain avoidance will take the vehicle. This is to allow for reliable sensor readings. -1 for disabled.

Groudspeed Airbrake limt (TA_GSP_AIRBRAKE)

This is the limit for triggering airbrake to slow groundspeed as a difference between the airspeed and groundspeed. -1 for disabled.

CMTC Height (TA_CMTC_HGT)

The minimum Height above terrain to maintain when following an AUTO mission or RTL. If zero(0) use TA_PTCH_DOW_MIN.

CMTC Enable (TA_CMTC_ENABLE)

Whether to enable Can't Make That Climb while running Terrain Avoidance

Frequency to process avoidance (TA_UPDATE_RATE)

Avoidance processing rate

CMTC loiter radius (TA_CMTC_RAD)

Use this radius for the loiter when trying to gain altitude. If not set or <=0 use WP_LOITER_RAD

Auto land enable (ALAND_ENABLE)

enable Auto land script action

Final approach waypoint alt (ALAND_WP_ALT)

Altitude of final approach waypoint created by script

Final approach waypoint distance (ALAND_WP_DIST)

Distance from landing point (HOME) to final approach waypoint created by script in the opposite direction of initial takeoff

AHRS/EKF Origin Latitude (AHRS_ORIG_LAT)

AHRS/EKF origin will be set to this latitude if not already set

AHRS/EKF Origin Longitude (AHRS_ORIG_LON)

AHRS/EKF origin will be set to this longitude if not already set

AHRS/EKF Origin Altitude (AHRS_ORIG_ALT)

AHRS/EKF origin will be set to this altitude (in meters above sea level) if not already set

Quicktune enable (QUIK_ENABLE)

Enable quicktune system

Quicktune axes (QUIK_AXES)

axes to tune

Quicktune doubling time (QUIK_DOUBLE_TIME)

Time to double a tuning parameter. Raise this for a slower tune.

Quicktune gain margin (QUIK_GAIN_MARGIN)

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

Quicktune Yaw P max (QUIK_YAW_P_MAX)

Maximum value for yaw P gain

Quicktune Yaw D max (QUIK_YAW_D_MAX)

Maximum value for yaw D gain

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

Ratio between P and I gains for yaw. Raise this to get a lower I gain

Quicktune auto filter enable (QUIK_AUTO_FILTER)

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

Quicktune auto save (QUIK_AUTO_SAVE)

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

Quicktune RC function (QUIK_RC_FUNC)

RCn_OPTION number to use to control tuning stop/start/save

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

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.

Quicktune options (QUIK_OPTIONS)

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.

maximum angle error for tune abort (QUIK_ANGLE_MAX)

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.

parameter reversion enable (PREV_ENABLE)

Enable parameter reversion system

param reversion RC function (PREV_RC_FUNC)

RCn_OPTION number to used to trigger parameter reversion

Force enable High Latency mode (RCK_FORCEHL)

Automatically enables High Latency mode if not already enabled

Update rate (RCK_PERIOD)

When in High Latency mode, send Rockblock updates every N seconds

Display Rockblock debugging text (RCK_DEBUG)

Sends Rockblock debug text to GCS via statustexts

Enable Message transmission (RCK_ENABLE)

Enables the Rockblock sending and recieving

GCS timeout to start sendin Rockblock messages (RCK_TIMEOUT)

If RCK_FORCEHL=2, this is the number of seconds of GCS timeout until High Latency mode is auto-enabled

Mount POI distance max (POI_DIST_MAX)

POI's max distance (in meters) from the vehicle

MAV_SYSID must be set (ARM_SYSID)

Check that MAV_SYSID (or SYDID_THISMAV) has been set. 3 or less to prevent arming. -1 to disable.

FOLL_SYSID must be set (ARM_FOLL_SYSID)

If FOLL_ENABLE = 1, check that FOLL_SYSID has been set. 3 or less to prevent arming. -1 to disable.

Vehicle should not follow itself (ARM_FOLL_SYSID_X)

If FOLL_ENABLE = 1, check that FOLL_SYSID is different to MAV_SYSID. 3 or less to prevent arming. -1 to disable.

Follow Offsets defaulted (ARM_FOLL_OFS_DEF)

Follow offsets should not be left as default (zero) if FOLL_ENABLE = 1. 3 or less to prevent arming. -1 to disable.

Follow and Mount should follow the same vehicle (ARM_MNTX_SYSID)

If FOLL_ENABLE = 1 and MNTx_SYSID_DEFLT is set, check that FOLL_SYSID is equal MNTx. 3 or less to prevent arming. -1 to disable.

RTL_CLIMB_MIN should be a valid value (ARM_RTL_CLIMB)

RTL_CLIMB_MIN should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.

Motors EStopped (ARM_ESTOP)

Emergency Stop disables arming. 3 or less to prevent arming. -1 to disable.

Fence not enabled (ARM_FENCE)

Fences loaded but no fence enabled. 3 or less to prevent arming. -1 to disable.

Rally too far (ARM_RALLY)

Rally Point more than RALLY_LIMIT_KM kilometers away. 3 or less to prevent arming. -1 to disable.

RTL_ALT should be a valid value (ARM_C_RTL_ALT)

RTL_ALT should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.

Warn if Q failsafe will land (ARM_P_Q_FS_LAND)

Notify the user that on failsafe a QuadPlan will land. 3 or less to prevent arming. -1 to disable.

Warn if Q failsafe will QRTL (ARM_P_Q_FS_RTL)

Notify the user that on failsafe a QuadPlan will QRTL. 3 or less to prevent arming. -1 to disable.

Check AIRSPEED_ parameters (ARM_P_AIRSPEED)

Validate that AIRSPEED_STALL(if set) < MIN < CRUISE < MAX d. 3 or less to prevent arming. -1 to disable.

AIRSPEED_MIN should be 25% above STALL (ARM_P_STALL)

Validate that AIRSPEED_MIN is at least 25% above AIRSPEED_STALL(if set). 3 or less to prevent arming. -1 to disable.

SCALING_SPEED valid (ARM_P_SCALING)

Validate that SCALING_SPEED is within 20% of AIRSPEED_CRUISE. If SCALING_SPEED changes the vehicle may need to be retuned. 3 or less to prevent arming. -1 to disable.

RTL_ALTITUDE should be a valid value (ARM_P_RTL_ALT)

RTL_ALTITITUDE should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.

Q_RTL_ALT should be a valid value (ARM_P_QRTL_ALT)

Q_RTL_ALT should be < 120m (400ft). 3 or less to prevent arming. -1 to disable.

Legal max altitude (ARM_V_ALT_LEGAL)

Legal max altitude for UAV/RPAS/drones in your jurisdiction

terrain brake enable (TERR_BRK_ENABLE)

terrain brake enable

terrain brake altitude (TERR_BRK_ALT)

terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode.

terrain brake home distance (TERR_BRK_HDIST)

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 (TERR_BRK_SPD)

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 (DR_ENABLE)

Deadreckoning Enable

Deadreckoning Enable Distance (DR_ENABLE_DIST)

Distance from home (in meters) beyond which the dead reckoning will be enabled

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

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

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

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

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

GPS checks must fail for this many seconds before dead reckoning will be triggered

Deadreckoning Lean Angle (DR_FLY_ANGLE)

lean angle (in degrees) during deadreckoning

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

Copter will fly at at least this altitude (in meters) above home during deadreckoning

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

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

Deadreckoning Next Mode (DR_NEXT_MODE)

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

Param Set enable (PARAM_SET_ENABLE)

Param Set enable

Count of SOC estimators (BATT_SOC_COUNT)

Number of battery SOC estimators

Battery estimator index (BATT_SOC1_IDX)

Battery estimator index

Battery estimator cell count (BATT_SOC1_NCELL)

Battery estimator cell count

Battery estimator coefficient1 (BATT_SOC1_C1)

Battery estimator coefficient1

Battery estimator coefficient2 (BATT_SOC1_C2)

Battery estimator coefficient2

Battery estimator coefficient3 (BATT_SOC1_C3)

Battery estimator coefficient3

Battery estimator coefficient4 (BATT_SOC1_C4)

Battery estimator coefficient4

Battery estimator index (BATT_SOC2_IDX)

Battery estimator index

Battery estimator cell count (BATT_SOC2_NCELL)

Battery estimator cell count

Battery estimator coefficient1 (BATT_SOC2_C1)

Battery estimator coefficient1

Battery estimator coefficient2 (BATT_SOC2_C2)

Battery estimator coefficient2

Battery estimator coefficient3 (BATT_SOC2_C3)

Battery estimator coefficient3

Battery estimator coefficient4 (BATT_SOC2_C4)

Battery estimator coefficient4

Battery estimator index (BATT_SOC3_IDX)

Battery estimator index

Battery estimator cell count (BATT_SOC3_NCELL)

Battery estimator cell count

Battery estimator coefficient1 (BATT_SOC3_C1)

Battery estimator coefficient1

Battery estimator coefficient2 (BATT_SOC3_C2)

Battery estimator coefficient2

Battery estimator coefficient3 (BATT_SOC3_C3)

Battery estimator coefficient3

Battery estimator coefficient4 (BATT_SOC3_C4)

Battery estimator coefficient4

Battery estimator index (BATT_SOC4_IDX)

Battery estimator index

Battery estimator cell count (BATT_SOC4_NCELL)

Battery estimator cell count

Battery estimator coefficient1 (BATT_SOC4_C1)

Battery estimator coefficient1

Battery estimator coefficient2 (BATT_SOC4_C2)

Battery estimator coefficient2

Battery estimator coefficient3 (BATT_SOC4_C3)

Battery estimator coefficient3

Battery estimator coefficient4 (BATT_SOC4_C4)

Battery estimator coefficient4

Ship landing enable (SHIP_ENABLE)

Enable ship landing system

Ship landing angle (SHIP_LAND_ANGLE)

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.

Ship automatic offset trigger (SHIP_AUTO_OFS)

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.

Angular acceleration limit (AEROM_ANG_ACCEL)

Maximum angular acceleration in maneuvers

Roll control filtertime constant (AEROM_ANG_TC)

This is the time over which we filter the desired roll to smooth it

Throttle feed forward from pitch (AEROM_THR_PIT_FF)

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

P gain for speed controller (AEROM_SPD_P)

This controls how rapidly the throttle is raised to compensate for a speed error

I gain for speed controller (AEROM_SPD_I)

This controls how rapidly the throttle is raised to compensate for a speed error

Roll control time constant (AEROM_ROL_COR_TC)

This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections

Time constant for correction of our distance along the path (AEROM_TIME_COR_P)

This is the time constant for correcting path position errors

P gain for path error corrections (AEROM_ERR_COR_P)

This controls how rapidly we correct back onto the desired path

D gain for path error corrections (AEROM_ERR_COR_D)

This controls how rapidly we correct back onto the desired path

The roll rate to use when entering a roll maneuver (AEROM_ENTRY_RATE)

This controls how rapidly we roll into a new orientation

The lookahead for throttle control (AEROM_THR_LKAHD)

This controls how far ahead we look in time along the path for the target throttle

Debug control (AEROM_DEBUG)

This controls the printing of extra debug information on paths

Minimum Throttle (AEROM_THR_MIN)

Lowest throttle used during maneuvers

Throttle boost (AEROM_THR_BOOST)

This is the extra throttle added in schedule elements marked as needing a throttle boost

Yaw acceleration (AEROM_YAW_ACCEL)

This is maximum yaw acceleration to use

Lookahead (AEROM_LKAHD)

This is how much time to look ahead in the path for calculating path rates

Path Scale (AEROM_PATH_SCALE)

Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.

Box Width (AEROM_BOX_WIDTH)

Length of aerobatic "box"

Stall turn throttle (AEROM_STALL_THR)

Amount of throttle to reduce to for a stall turn

Stall turn pitch threshold (AEROM_STALL_PIT)

Pitch threashold for moving to final stage of stall turn

KnifeEdge Rudder (AEROM_KE_RUDD)

Percent of rudder normally uses to sustain knife-edge at trick speed

KnifeEdge Rudder lookahead (AEROM_KE_RUDD_LK)

Time to look ahead in the path to calculate rudder correction for bank angle

Altitude Abort (AEROM_ALT_ABORT)

Maximum allowable loss in altitude during a trick or sequence from its starting altitude.

Timesync P gain (AEROM_TS_P)

This controls how rapidly two aircraft are brought back into time sync

Timesync I gain (AEROM_TS_I)

This controls how rapidly two aircraft are brought back into time sync

Timesync speed max (AEROM_TS_SPDMAX)

This sets the maximum speed adjustment for time sync between aircraft

Timesync rate of send of NAMED_VALUE_FLOAT data (AEROM_TS_RATE)

This sets the rate we send data for time sync between aircraft

Mission angle (AEROM_MIS_ANGLE)

When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used

Aerobatic options (AEROM_OPTIONS)

Options to control aerobatic behavior

Tricks on Switch Enable (TRIK_ENABLE)

Enables Tricks on Switch. TRIK params hidden until enabled

Trik Selection Scripting Function (TRIK_SEL_FN)

Setting an RC channel's _OPTION to this value will use it for trick selection

Trik Action Scripting Function (TRIK_ACT_FN)

Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)

Trik Count (TRIK_COUNT)

Number of tricks which can be selected over the range of the trik selection RC channel

Enable HFE EFI driver (EFI_HFE_ENABLE)

Enable HFE EFI driver

HFI EFI Update rate (EFI_HFE_RATE_HZ)

HFI EFI Update rate

HFI EFI ECU index (EFI_HFE_ECU_IDX)

HFI EFI ECU index, 0 for automatic

HFI EFI fuel density (EFI_HFE_FUEL_DTY)

HFI EFI fuel density in gram per litre

HFI EFI relay index (EFI_HFE_REL_IDX)

HFI EFI relay index

HFI EFI CAN driver (EFI_HFE_CANDRV)

HFI EFI CAN driver

HFI EFI options (EFI_HFE_OPTIONS)

HFI EFI options

Enable Halo6000 EFI driver (EFI_H6K_ENABLE)

Enable Halo6000 EFI driver

Halo6000 CAN driver (EFI_H6K_CANDRV)

Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

Halo6000 start auxilliary function (EFI_H6K_START_FN)

The RC auxilliary function number for start/stop of the generator. Zero to disable start function

Halo6000 telemetry rate (EFI_H6K_TELEM_RT)

The rate that additional generator telemetry is sent

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

The capacity of the tank in litres

Halo6000 options (EFI_H6K_OPTIONS)

Halo6000 options

Mask of UltraMotion servos (UM_SERVO_MASK)

Mask of UltraMotion servos

Set CAN driver (UM_CANDRV)

Set CAN driver

Update rate for UltraMotion servos (UM_RATE_HZ)

Update rate for UltraMotion servos

Optional settings (UM_OPTIONS)

Optional settings

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users

ViewPro debug

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

Camera selection when switch is in low position

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

Camera selection when switch is in middle position

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

Camera selection when switch is in high position

ViewPro Zoom Speed (VIEP_ZOOM_SPEED)

ViewPro Zoom Speed. Higher numbers result in faster zooming

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

ViewPro Zoom Times Max

Enable NMEA 2000 EFI driver (EFI_2K_ENABLE)

Enable NMEA 2000 EFI driver

NMEA 2000 CAN driver (EFI_2K_CANDRV)

NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

NMEA 2000 options (EFI_2K_OPTIONS)

NMEA 2000 driver options

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users

Enable DJIRS2 debug

DJIRS2 upside down (DJIR_UPSIDEDOWN)

DJIRS2 upside down

Enable SkyPower EFI support (EFI_SP_ENABLE)

Enable SkyPower EFI support

Set SkyPower EFI CAN driver (EFI_SP_CANDRV)

Set SkyPower EFI CAN driver

SkyPower EFI update rate (EFI_SP_UPDATE_HZ)

Note: This parameter is for advanced users

SkyPower EFI update rate

SkyPower EFI throttle function (EFI_SP_THR_FN)

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

SkyPower EFI throttle rate (EFI_SP_THR_RATE)

Note: This parameter is for advanced users

SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine

SkyPower EFI start function (EFI_SP_START_FN)

SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start

SkyPower EFI generator control function (EFI_SP_GEN_FN)

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

SkyPower EFI minimum RPM (EFI_SP_MIN_RPM)

Note: This parameter is for advanced users

SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped

SkyPower EFI telemetry rate (EFI_SP_TLM_RT)

Note: This parameter is for advanced users

SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS

SkyPower EFI log rate (EFI_SP_LOG_RT)

Note: This parameter is for advanced users

SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed

SkyPower EFI allow start disarmed (EFI_SP_ST_DISARM)

SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed

SkyPower EFI ECU model (EFI_SP_MODEL)

SkyPower EFI ECU model

SkyPower EFI enable generator control (EFI_SP_GEN_CTRL)

SkyPower EFI enable generator control

SkyPower EFI restart time (EFI_SP_RST_TIME)

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.

EFI DLA64 enable (EFI_DLA64_ENABLE)

Enable EFI DLA64 driver

Torqeedo TorqLink Enable (TRQL_ENABLE)

Torqeedo TorqLink Enable

Torqeedo TorqLink Debug Level (TRQL_DEBUG)

Torqeedo TorqLink Debug Level

EFI DLA enable (EFI_DLA_ENABLE)

Enable EFI DLA driver

EFI DLA fuel scale (EFI_DLA_LPS)

EFI DLA litres of fuel per second of injection time

Enable ANX battery support (BATT_ANX_ENABLE)

Enable ANX battery support

Set ANX CAN driver (BATT_ANX_CANDRV)

Set ANX CAN driver

ANX CAN battery index (BATT_ANX_INDEX)

ANX CAN battery index

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users

ANX CAN battery options

Generator SVFFI enable (EFI_SVF_ENABLE)

Enable SVFFI generator support

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

Check for Generator ARM state before arming

EFI INF-Inject enable (EFI_INF_ENABLE)

Enable EFI INF-Inject driver

EFI INF-Inject options (EFI_INF_OPTIONS)

EFI INF driver options

EFI INF-Inject throttle rate (EFI_INF_THR_HZ)

EFI INF throttle output rate

EFI INF-Inject ignition aux function (EFI_INF_IGN_AUX)

EFI INF throttle ignition aux function

LTE Enable (LTE_ENABLE)

Enable or disable the LTE modem driver

Serial Port (LTE_SERPORT)

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 (LTE_SCRPORT)

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"

Server IP 0 (LTE_SERVER_IP0)

First octet of the server IP address to connect to

Server IP 1 (LTE_SERVER_IP1)

Second octet of the server IP address to connect to

Server IP 2 (LTE_SERVER_IP2)

Third octet of the server IP address to connect to

Server IP 3 (LTE_SERVER_IP3)

Fourth octet of the server IP address to connect to

Server Port (LTE_SERVER_PORT)

IPv4 Port of the server to connect to

Serial Baud Rate (LTE_BAUD)

Baud rate for the serial port to the LTE modem when connected. Initial power on baudrate is in LTE_IBAUD

Timeout (LTE_TIMEOUT)

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

LTE protocol (LTE_PROTOCOL)

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.

LTE options (LTE_OPTIONS)

Options to control the LTE modem driver. If VerboseSignalInfoGCS is set then additional NAMED_VALUE_FLOAT values are sent with verbose signal information

LTE initial baudrate (LTE_IBAUD)

This is the initial baud rate on power on for the modem. This is set in the modem with the AT+IREX=baud command

LTE operator selection (LTE_MCCMNC)

This allows selection of network operator

Max transmit rate (LTE_TX_RATE)

Maximum data transmit rate to the modem in bytes/second. Use zero for unlimited

LTE band selection (LTE_BAND)

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.

Hobbywing ESC Enable (ESC_HW_ENABLE)

Enable Hobbywing ESC telemetry

Hobbywing ESC motor poles (ESC_HW_POLES)

Number of motor poles for eRPM scaling

Hobbywing ESC motor offset (ESC_HW_OFS)

Motor number offset of first ESC

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_PRX)

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)

TOFSENSE-M Connected (TOFSENSE_NO)

Number of TOFSENSE-M CAN sensors connected

TOFSENSE-M mode to be used (TOFSENSE_MODE)

TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode

TOFSENSE-M First Instance (TOFSENSE_INST1)

First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

TOFSENSE-M First ID (TOFSENSE_ID1)

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

TOFSENSE-M Second Instance (TOFSENSE_INST2)

Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

TOFSENSE-M Second ID (TOFSENSE_ID2)

Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software

TOFSENSE-M Third Instance (TOFSENSE_INST3)

Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

TOFSENSE-M Thir ID (TOFSENSE_ID3)

Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)

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)

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

Serial Port baud rate. Sensor baud rate can be changed from Nassistant software

ADSB_ Parameters

ADSB Type (ADSB_TYPE)

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

ADSB vehicle list size (ADSB_LIST_MAX)

Note: This parameter is for advanced users

ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.

ADSB vehicle list radius filter (ADSB_LIST_RADIUS)

Note: This parameter is for advanced users

ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.

ICAO_ID vehicle identification number (ADSB_ICAO_ID)

Note: This parameter is for advanced users

ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.

Emitter type (ADSB_EMIT_TYPE)

Note: This parameter is for advanced users

ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).

Aircraft length and width (ADSB_LEN_WIDTH)

Note: This parameter is for advanced users

Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.

GPS antenna lateral offset (ADSB_OFFSET_LAT)

Note: This parameter is for advanced users

GPS antenna lateral offset. This describes the physical location offset from center of the GPS antenna on the aircraft.

GPS antenna longitudinal offset (ADSB_OFFSET_LON)

Note: This parameter is for advanced users

GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor

Transceiver RF selection (ADSB_RF_SELECT)

Note: This parameter is for advanced users

Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only.

Squawk code (ADSB_SQUAWK)

Note: This parameter is for advanced users

VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200.

RF capabilities (ADSB_RF_CAPABLE)

Note: This parameter is for advanced users

Describes your hardware RF In/Out capabilities.

ADSB vehicle list altitude filter (ADSB_LIST_ALT)

Note: This parameter is for advanced users

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 (ADSB_ICAO_SPECL)

Note: This parameter is for advanced users

ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.

ADS-B logging (ADSB_LOG)

Note: This parameter is for advanced users

0: no logging, 1: log only special ID, 2:log all

ADS-B Options (ADSB_OPTIONS)

Note: This parameter is for advanced users

Options for emergency failsafe codes and device capabilities

AFS_ Parameters

Enable Advanced Failsafe (AFS_ENABLE)

Note: This parameter is for advanced users

This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect

Manual Pin (AFS_MAN_PIN)

Note: This parameter is for advanced users

This sets a digital output pin to set high when in manual mode. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Heartbeat Pin (AFS_HB_PIN)

Note: This parameter is for advanced users

This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Comms Waypoint (AFS_WP_COMMS)

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

GPS Loss Waypoint (AFS_WP_GPS_LOSS)

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

Force Terminate (AFS_TERMINATE)

Note: This parameter is for advanced users

Can be set in flight to force termination of the heartbeat signal

Terminate action (AFS_TERM_ACTION)

Note: This parameter is for advanced users

This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter

Terminate Pin (AFS_TERM_PIN)

Note: This parameter is for advanced users

This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

AMSL limit (AFS_AMSL_LIMIT)

Note: This parameter is for advanced users

This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.

Error margin for GPS based AMSL limit (AFS_AMSL_ERR_GPS)

Note: This parameter is for advanced users

This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.

QNH pressure (AFS_QNH_PRESSURE)

Note: This parameter is for advanced users

This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.

Maximum number of GPS loss events (AFS_MAX_GPS_LOSS)

Note: This parameter is for advanced users

Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.

Maximum number of comms loss events (AFS_MAX_COM_LOSS)

Note: This parameter is for advanced users

Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.

Enable geofence Advanced Failsafe (AFS_GEOFENCE)

Note: This parameter is for advanced users

This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1

Enable RC Advanced Failsafe (AFS_RC)

Note: This parameter is for advanced users

This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1

Enable RC Termination only in manual control modes (AFS_RC_MAN_ONLY)

Note: This parameter is for advanced users

If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.

Enable dual loss terminate due to failure of both GCS and GPS simultaneously (AFS_DUAL_LOSS)

Note: This parameter is for advanced users

This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.

RC failure time (AFS_RC_FAIL_TIME)

Note: This parameter is for advanced users

This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.

Max allowed range (AFS_MAX_RANGE)

Note: This parameter is for advanced users

This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.

AFS options (AFS_OPTIONS)

See description for each bitmask bit description

GCS timeout (AFS_GCS_TIMEOUT)

Note: This parameter is for advanced users

The time (in seconds) of persistent data link loss before GCS failsafe occurs.

AHRS_ Parameters

AHRS GPS gain (AHRS_GPS_GAIN)

Note: This parameter is for advanced users

This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.

AHRS use GPS for DCM navigation and position-down (AHRS_GPS_USE)

Note: This parameter is for advanced users

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.

Yaw P (AHRS_YAW_P)

Note: This parameter is for advanced users

This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.

AHRS RP_P (AHRS_RP_P)

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Maximum wind (AHRS_WIND_MAX)

Note: This parameter is for advanced users

This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.

AHRS Trim Roll (AHRS_TRIM_X)

Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.

AHRS Trim Pitch (AHRS_TRIM_Y)

Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.

AHRS Trim Yaw (AHRS_TRIM_Z)

Note: This parameter is for advanced users

Not Used

Board Orientation (AHRS_ORIENTATION)

Note: This parameter is for advanced users

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.

AHRS Velocity Complementary Filter Beta Coefficient (AHRS_COMP_BETA)

Note: This parameter is for advanced users

This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.

AHRS GPS Minimum satellites (AHRS_GPS_MINSATS)

Note: This parameter is for advanced users

Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.

Use NavEKF Kalman filter for attitude and position estimation (AHRS_EKF_TYPE)

Note: This parameter is for advanced users

This controls which NavEKF Kalman filter version is used for attitude and position estimation

Board orientation roll offset (AHRS_CUSTOM_ROLL)

Note: This parameter is for advanced users

Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

Board orientation pitch offset (AHRS_CUSTOM_PIT)

Note: This parameter is for advanced users

Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

Board orientation yaw offset (AHRS_CUSTOM_YAW)

Note: This parameter is for advanced users

Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

Optional AHRS behaviour (AHRS_OPTIONS)

Note: This parameter is for advanced users

This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency

AIS_ Parameters

AIS receiver type (AIS_TYPE)

AIS receiver type

AIS vessel list size (AIS_LIST_MAX)

Note: This parameter is for advanced users

AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.

AIS vessel time out (AIS_TIME_OUT)

Note: This parameter is for advanced users

if no updates are received in this time a vessel will be removed from the list

AIS logging options (AIS_LOGGING)

Note: This parameter is for advanced users

Bitmask of AIS logging options

ARMING_ Parameters

Blackbox speed (ARMING_BBOX_SPD)

Note: This parameter is for advanced users

This is a 3D GPS speed threshold above which we will force arm the vehicle to start logging. WARNING: This should only be used on a vehicle with no propellers attached to the flight controller and when the flight controller is not in control of the vehicle.

Require Arming Motors (ARMING_REQUIRE)

Note: This parameter is for advanced users

Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, send 0 PWM (no signal) to throttle channel when disarmed. On planes with ICE enabled and the throttle while disarmed option set in ICE_OPTIONS, the motor will always get THR_MIN when disarmed. Arming will be blocked until all mandatory and ARMING_CHECK items are satisfied; arming can then be accomplished via (eg.) rudder gesture or GCS command.

Accelerometer error threshold (ARMING_ACCTHRESH)

Note: This parameter is for advanced users

Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.

Arming with Rudder enable/disable (ARMING_RUDDER)

Note: This parameter is for advanced users

Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!

Required mission items (ARMING_MIS_ITEMS)

Note: This parameter is for advanced users

Bitmask of mission items that are required to be planned in order to arm the aircraft

Arm Checks to Perform (bitmask) (ARMING_CHECK)

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.

Arming options (ARMING_OPTIONS)

Note: This parameter is for advanced users

Options that can be applied to change arming behaviour

Compass magnetic field strength error threshold vs earth magnetic model (ARMING_MAGTHRESH)

Note: This parameter is for advanced users

Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check

Disable CrashDump Arming check (ARMING_CRSDP_IGN)

Note: This parameter is for advanced users

Must have value "1" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.

ARSPD Parameters

Airspeed Enable (ARSPD_ENABLE)

Enable airspeed sensor support

Control pitot tube order (ARSPD_TUBE_ORDER)

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Primary airspeed sensor (ARSPD_PRIMARY)

Note: This parameter is for advanced users

This selects which airspeed sensor will be the primary if multiple sensors are found

Airspeed options bitmask (ARSPD_OPTIONS)

Note: This parameter is for advanced users

Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction, 3:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 (requires AHRS_EKF_TYPE = 3), 4:Report cal offset to GCS

Maximum airspeed and ground speed difference (ARSPD_WIND_MAX)

Note: This parameter is for advanced users

If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTIONS this health value can be used to disable the sensor.

Airspeed and GPS speed difference that gives a warning (ARSPD_WIND_WARN)

Note: This parameter is for advanced users

If the difference between airspeed and GPS speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.

Re-enable Consistency Check Gate Size (ARSPD_WIND_GATE)

Note: This parameter is for advanced users

Number of standard deviations applied to the re-enable EKF consistency check that is used when ARSPD_OPTIONS bit position 3 is set. Larger values will make the re-enabling of the airspeed sensor faster, but increase the likelihood of re-enabling a degraded sensor. The value can be tuned by using the ARSP.TR log message by setting ARSPD_WIND_GATE to a value that is higher than the value for ARSP.TR observed with a healthy airspeed sensor. Occasional transients in ARSP.TR above the value set by ARSPD_WIND_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10% duty cycle.

Maximum offset cal speed error (ARSPD_OFF_PCNT)

Note: This parameter is for advanced users

The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of AIRSPEED_MIN. 0 disables. Helps warn of calibrations without pitot being covered.

ARSPD2_ Parameters

Airspeed type (ARSPD2_TYPE)

Type of airspeed sensor

Airspeed use (ARSPD2_USE)

Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).

Airspeed offset (ARSPD2_OFFSET)

Note: This parameter is for advanced users

Airspeed calibration offset

Airspeed ratio (ARSPD2_RATIO)

Note: This parameter is for advanced users

Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.

Airspeed pin (ARSPD2_PIN)

Note: This parameter is for advanced users

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".

Automatic airspeed ratio calibration (ARSPD2_AUTOCAL)

Note: This parameter is for advanced users

Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

Control pitot tube order (ARSPD2_TUBE_ORDR)

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Skip airspeed offset calibration on startup (ARSPD2_SKIP_CAL)

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration 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.

The PSI range of the device (ARSPD2_PSI_RANGE)

Note: This parameter is for advanced users

This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

Airspeed I2C bus (ARSPD2_BUS)

Note: This parameter is for advanced users

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.

Airspeed ID (ARSPD2_DEVID)

Note: This parameter is for advanced users

Airspeed sensor ID, taking into account its type, bus and instance

ARSPD_ Parameters

Airspeed type (ARSPD_TYPE)

Type of airspeed sensor

Airspeed use (ARSPD_USE)

Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).

Airspeed offset (ARSPD_OFFSET)

Note: This parameter is for advanced users

Airspeed calibration offset

Airspeed ratio (ARSPD_RATIO)

Note: This parameter is for advanced users

Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.

Airspeed pin (ARSPD_PIN)

Note: This parameter is for advanced users

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".

Automatic airspeed ratio calibration (ARSPD_AUTOCAL)

Note: This parameter is for advanced users

Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

Control pitot tube order (ARSPD_TUBE_ORDR)

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Skip airspeed offset calibration on startup (ARSPD_SKIP_CAL)

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration 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.

The PSI range of the device (ARSPD_PSI_RANGE)

Note: This parameter is for advanced users

This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

Airspeed I2C bus (ARSPD_BUS)

Note: This parameter is for advanced users

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.

Airspeed ID (ARSPD_DEVID)

Note: This parameter is for advanced users

Airspeed sensor ID, taking into account its type, bus and instance

AUTOLAND_ Parameters

Final approach WP altitude (AUTOLAND_WP_ALT)

This is the target altitude above HOME for final approach waypoint

Final approach WP distance (AUTOLAND_WP_DIST)

This is the distance from Home that the final approach waypoint is set. The waypoint point will be in the opposite direction of takeoff (the direction the plane is facing when the plane sets its takeoff heading)

Landing direction offset from takeoff (AUTOLAND_DIR_OFF)

The captured takeoff direction after ground course is established in autotakeoffsis offset by this amount to create a different landing direction and approach.However,if TKOFF_OPTION bit1 is set, the takeoff(landing) direction is captured immediately via compass heading upon arming, then this offset is NOT applied.

Autoland mode options (AUTOLAND_OPTIONS)

Enables optional autoland mode behaviors

Minimum altitude above terrain before turning upon entry (AUTOLAND_CLIMB)

Vehicle will climb with limited turn ability (LEVEL_ROLL_LIMIT) until it is at least this altitude above the terrain at the point of entry, before proceeding to loiter-to-alt and landing legs. 0 Disables.

AVD_ Parameters

Enable Avoidance using ADSB (AVD_ENABLE)

Note: This parameter is for advanced users

Enable Avoidance using ADSB

Collision Avoidance Behavior (AVD_F_ACTION)

Note: This parameter is for advanced users

Specifies aircraft behaviour when a collision is imminent

Collision Avoidance Behavior - Warn (AVD_W_ACTION)

Note: This parameter is for advanced users

Specifies aircraft behaviour when a collision may occur

Recovery behaviour after a fail event (AVD_F_RCVRY)

Note: This parameter is for advanced users

Determines what the aircraft will do after a fail event is resolved

Maximum number of obstacles to track (AVD_OBS_MAX)

Note: This parameter is for advanced users

Maximum number of obstacles to track

Time Horizon Warn (AVD_W_TIME)

Note: This parameter is for advanced users

Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)

Time Horizon Fail (AVD_F_TIME)

Note: This parameter is for advanced users

Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken

Distance Warn XY (AVD_W_DIST_XY)

Note: This parameter is for advanced users

Closest allowed projected distance before W_ACTION is undertaken

Distance Fail XY (AVD_F_DIST_XY)

Note: This parameter is for advanced users

Closest allowed projected distance before F_ACTION is undertaken

Distance Warn Z (AVD_W_DIST_Z)

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_W is undertaken

Distance Fail Z (AVD_F_DIST_Z)

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_F is undertaken

ADS-B avoidance minimum altitude (AVD_F_ALT_MIN)

Note: This parameter is for advanced users

Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.

BARO Parameters

Ground Pressure (BARO1_GND_PRESS)

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

ground temperature (BARO_GND_TEMP)

Note: This parameter is for advanced users

User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.

altitude offset (BARO_ALT_OFFSET)

Note: This parameter is for advanced users

altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.

Primary barometer (BARO_PRIMARY)

Note: This parameter is for advanced users

This selects which barometer will be the primary if multiple barometers are found

External baro bus (BARO_EXT_BUS)

Note: This parameter is for advanced users

This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.

Ground Pressure (BARO2_GND_PRESS)

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Absolute Pressure (BARO3_GND_PRESS)

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Range in which sample is accepted (BARO_FLTR_RNG)

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.

External barometers to probe (BARO_PROBE_EXT)

Note: This parameter is for advanced users

This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.

Baro ID (BARO1_DEVID)

Note: This parameter is for advanced users

Barometer sensor ID, taking into account its type, bus and instance

Baro ID2 (BARO2_DEVID)

Note: This parameter is for advanced users

Barometer2 sensor ID, taking into account its type, bus and instance

Baro ID3 (BARO3_DEVID)

Note: This parameter is for advanced users

Barometer3 sensor ID, taking into account its type, bus and instance

field elevation (BARO_FIELD_ELV)

Note: This parameter is for advanced users

User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.

Altitude error maximum (BARO_ALTERR_MAX)

Note: This parameter is for advanced users

This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.

Barometer options (BARO_OPTIONS)

Note: This parameter is for advanced users

Barometer options

Thrust compensation (BARO1_THST_SCALE)

Note: This parameter is for advanced users

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.

BARO1_WCF_ Parameters

Wind coefficient enable (BARO1_WCF_ENABLE)

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Pressure error coefficient in positive X direction (forward) (BARO1_WCF_FWD)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in negative X direction (backwards) (BARO1_WCF_BCK)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in positive Y direction (right) (BARO1_WCF_RGT)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in negative Y direction (left) (BARO1_WCF_LFT)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in positive Z direction (up) (BARO1_WCF_UP)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in negative Z direction (down) (BARO1_WCF_DN)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

BARO2_WCF_ Parameters

Wind coefficient enable (BARO2_WCF_ENABLE)

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Pressure error coefficient in positive X direction (forward) (BARO2_WCF_FWD)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in negative X direction (backwards) (BARO2_WCF_BCK)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in positive Y direction (right) (BARO2_WCF_RGT)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in negative Y direction (left) (BARO2_WCF_LFT)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in positive Z direction (up) (BARO2_WCF_UP)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in negative Z direction (down) (BARO2_WCF_DN)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

BARO3_WCF_ Parameters

Wind coefficient enable (BARO3_WCF_ENABLE)

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Pressure error coefficient in positive X direction (forward) (BARO3_WCF_FWD)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in negative X direction (backwards) (BARO3_WCF_BCK)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in positive Y direction (right) (BARO3_WCF_RGT)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in negative Y direction (left) (BARO3_WCF_LFT)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in positive Z direction (up) (BARO3_WCF_UP)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Pressure error coefficient in negative Z direction (down) (BARO3_WCF_DN)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

BATT2_ Parameters

Battery monitoring (BATT2_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATT2_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATT2_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATT2_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATT2_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATT2_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATT2_LOW_VOLT)

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.

Low battery capacity (BATT2_LOW_MAH)

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.

Critical battery voltage (BATT2_CRT_VOLT)

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 critical capacity (BATT2_CRT_MAH)

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.

Low battery failsafe action (BATT2_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATT2_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATT2_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATT2_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter.

Battery monitor options (BATT2_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATT2_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATT2_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATT2_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATT2_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATT2_AMP_PERVLT)

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.

AMP offset (BATT2_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATT2_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATT2_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT2_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATT2_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATT2_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATT2_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATT2_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATT2_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATT2_FL_PIN)

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".

First order term (BATT2_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATT2_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATT2_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATT2_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATT2_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATT2_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT2_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATT2_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATT2_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATT2_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATT2_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATT2_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATT2_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT2_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATT2_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATT2_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATT2_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATT2_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATT2_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATT2_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATT2_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATT3_ Parameters

Battery monitoring (BATT3_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATT3_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATT3_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATT3_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATT3_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATT3_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATT3_LOW_VOLT)

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.

Low battery capacity (BATT3_LOW_MAH)

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.

Critical battery voltage (BATT3_CRT_VOLT)

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 critical capacity (BATT3_CRT_MAH)

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.

Low battery failsafe action (BATT3_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATT3_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATT3_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATT3_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter.

Battery monitor options (BATT3_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATT3_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATT3_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATT3_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATT3_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATT3_AMP_PERVLT)

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.

AMP offset (BATT3_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATT3_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATT3_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT3_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATT3_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATT3_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATT3_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATT3_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATT3_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATT3_FL_PIN)

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".

First order term (BATT3_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATT3_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATT3_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATT3_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATT3_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATT3_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT3_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATT3_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATT3_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATT3_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATT3_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATT3_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATT3_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT3_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATT3_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATT3_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATT3_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATT3_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATT3_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATT3_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATT3_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATT4_ Parameters

Battery monitoring (BATT4_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATT4_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATT4_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATT4_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATT4_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATT4_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATT4_LOW_VOLT)

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.

Low battery capacity (BATT4_LOW_MAH)

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.

Critical battery voltage (BATT4_CRT_VOLT)

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 critical capacity (BATT4_CRT_MAH)

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.

Low battery failsafe action (BATT4_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATT4_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATT4_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATT4_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter.

Battery monitor options (BATT4_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATT4_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATT4_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATT4_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATT4_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATT4_AMP_PERVLT)

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.

AMP offset (BATT4_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATT4_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATT4_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT4_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATT4_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATT4_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATT4_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATT4_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATT4_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATT4_FL_PIN)

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".

First order term (BATT4_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATT4_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATT4_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATT4_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATT4_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATT4_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT4_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATT4_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATT4_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATT4_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATT4_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATT4_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATT4_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT4_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATT4_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATT4_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATT4_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATT4_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATT4_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATT4_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATT4_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATT5_ Parameters

Battery monitoring (BATT5_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATT5_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATT5_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATT5_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATT5_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATT5_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATT5_LOW_VOLT)

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.

Low battery capacity (BATT5_LOW_MAH)

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.

Critical battery voltage (BATT5_CRT_VOLT)

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 critical capacity (BATT5_CRT_MAH)

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.

Low battery failsafe action (BATT5_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATT5_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATT5_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATT5_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter.

Battery monitor options (BATT5_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATT5_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATT5_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATT5_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATT5_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATT5_AMP_PERVLT)

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.

AMP offset (BATT5_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATT5_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATT5_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT5_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATT5_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATT5_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATT5_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATT5_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATT5_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATT5_FL_PIN)

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".

First order term (BATT5_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATT5_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATT5_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATT5_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATT5_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATT5_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT5_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATT5_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATT5_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATT5_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATT5_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATT5_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATT5_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT5_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATT5_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATT5_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATT5_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATT5_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATT5_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATT5_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATT5_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATT6_ Parameters

Battery monitoring (BATT6_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATT6_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATT6_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATT6_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATT6_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATT6_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATT6_LOW_VOLT)

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.

Low battery capacity (BATT6_LOW_MAH)

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.

Critical battery voltage (BATT6_CRT_VOLT)

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 critical capacity (BATT6_CRT_MAH)

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.

Low battery failsafe action (BATT6_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATT6_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATT6_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATT6_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter.

Battery monitor options (BATT6_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATT6_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATT6_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATT6_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATT6_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATT6_AMP_PERVLT)

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.

AMP offset (BATT6_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATT6_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATT6_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT6_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATT6_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATT6_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATT6_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATT6_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATT6_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATT6_FL_PIN)

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".

First order term (BATT6_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATT6_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATT6_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATT6_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATT6_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATT6_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT6_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATT6_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATT6_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATT6_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATT6_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATT6_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATT6_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT6_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATT6_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATT6_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATT6_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATT6_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATT6_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATT6_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATT6_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATT7_ Parameters

Battery monitoring (BATT7_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATT7_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATT7_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATT7_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATT7_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATT7_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATT7_LOW_VOLT)

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.

Low battery capacity (BATT7_LOW_MAH)

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.

Critical battery voltage (BATT7_CRT_VOLT)

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 critical capacity (BATT7_CRT_MAH)

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.

Low battery failsafe action (BATT7_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATT7_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATT7_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATT7_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter.

Battery monitor options (BATT7_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATT7_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATT7_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATT7_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATT7_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATT7_AMP_PERVLT)

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.

AMP offset (BATT7_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATT7_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATT7_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT7_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATT7_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATT7_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATT7_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATT7_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATT7_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATT7_FL_PIN)

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".

First order term (BATT7_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATT7_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATT7_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATT7_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATT7_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATT7_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT7_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATT7_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATT7_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATT7_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATT7_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATT7_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATT7_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT7_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATT7_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATT7_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATT7_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATT7_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATT7_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATT7_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATT7_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATT8_ Parameters

Battery monitoring (BATT8_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATT8_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATT8_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATT8_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATT8_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATT8_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATT8_LOW_VOLT)

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.

Low battery capacity (BATT8_LOW_MAH)

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.

Critical battery voltage (BATT8_CRT_VOLT)

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 critical capacity (BATT8_CRT_MAH)

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.

Low battery failsafe action (BATT8_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATT8_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATT8_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATT8_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter.

Battery monitor options (BATT8_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATT8_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATT8_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATT8_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATT8_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATT8_AMP_PERVLT)

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.

AMP offset (BATT8_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATT8_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATT8_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT8_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATT8_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATT8_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATT8_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATT8_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATT8_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATT8_FL_PIN)

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".

First order term (BATT8_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATT8_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATT8_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATT8_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATT8_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATT8_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT8_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATT8_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATT8_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATT8_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATT8_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATT8_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATT8_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT8_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATT8_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATT8_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATT8_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATT8_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATT8_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATT8_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATT8_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATT9_ Parameters

Battery monitoring (BATT9_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATT9_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATT9_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATT9_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATT9_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATT9_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATT9_LOW_VOLT)

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.

Low battery capacity (BATT9_LOW_MAH)

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.

Critical battery voltage (BATT9_CRT_VOLT)

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 critical capacity (BATT9_CRT_MAH)

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.

Low battery failsafe action (BATT9_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATT9_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATT9_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATT9_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.

Battery monitor options (BATT9_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATT9_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATT9_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATT9_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATT9_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATT9_AMP_PERVLT)

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.

AMP offset (BATT9_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATT9_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATT9_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT9_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATT9_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATT9_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATT9_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATT9_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATT9_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATT9_FL_PIN)

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".

First order term (BATT9_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATT9_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATT9_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATT9_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATT9_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATT9_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT9_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATT9_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATT9_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATT9_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATT9_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATT9_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATT9_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT9_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATT9_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATT9_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATT9_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATT9_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATT9_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATT9_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATT9_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATTA_ Parameters

Battery monitoring (BATTA_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATTA_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATTA_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATTA_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATTA_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATTA_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATTA_LOW_VOLT)

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.

Low battery capacity (BATTA_LOW_MAH)

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.

Critical battery voltage (BATTA_CRT_VOLT)

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 critical capacity (BATTA_CRT_MAH)

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.

Low battery failsafe action (BATTA_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATTA_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATTA_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATTA_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter.

Battery monitor options (BATTA_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATTA_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATTA_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATTA_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATTA_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATTA_AMP_PERVLT)

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.

AMP offset (BATTA_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATTA_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATTA_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTA_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATTA_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATTA_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATTA_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATTA_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATTA_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATTA_FL_PIN)

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".

First order term (BATTA_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATTA_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATTA_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATTA_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATTA_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATTA_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTA_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATTA_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATTA_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATTA_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATTA_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATTA_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATTA_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTA_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATTA_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATTA_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATTA_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATTA_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATTA_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATTA_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATTA_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATTB_ Parameters

Battery monitoring (BATTB_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATTB_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATTB_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATTB_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATTB_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATTB_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATTB_LOW_VOLT)

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.

Low battery capacity (BATTB_LOW_MAH)

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.

Critical battery voltage (BATTB_CRT_VOLT)

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 critical capacity (BATTB_CRT_MAH)

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.

Low battery failsafe action (BATTB_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATTB_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATTB_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATTB_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter.

Battery monitor options (BATTB_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATTB_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATTB_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATTB_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATTB_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATTB_AMP_PERVLT)

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.

AMP offset (BATTB_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATTB_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATTB_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTB_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATTB_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATTB_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATTB_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATTB_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATTB_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATTB_FL_PIN)

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".

First order term (BATTB_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATTB_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATTB_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATTB_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATTB_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATTB_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTB_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATTB_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATTB_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATTB_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATTB_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATTB_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATTB_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTB_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATTB_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATTB_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATTB_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATTB_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATTB_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATTB_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATTB_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATTC_ Parameters

Battery monitoring (BATTC_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATTC_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATTC_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATTC_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATTC_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATTC_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATTC_LOW_VOLT)

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.

Low battery capacity (BATTC_LOW_MAH)

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.

Critical battery voltage (BATTC_CRT_VOLT)

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 critical capacity (BATTC_CRT_MAH)

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.

Low battery failsafe action (BATTC_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATTC_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATTC_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATTC_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter.

Battery monitor options (BATTC_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATTC_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATTC_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATTC_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATTC_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATTC_AMP_PERVLT)

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.

AMP offset (BATTC_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATTC_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATTC_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTC_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATTC_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATTC_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATTC_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATTC_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATTC_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATTC_FL_PIN)

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".

First order term (BATTC_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATTC_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATTC_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATTC_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATTC_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATTC_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTC_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATTC_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATTC_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATTC_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATTC_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATTC_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATTC_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTC_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATTC_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATTC_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATTC_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATTC_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATTC_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATTC_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATTC_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATTD_ Parameters

Battery monitoring (BATTD_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATTD_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATTD_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATTD_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATTD_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATTD_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATTD_LOW_VOLT)

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.

Low battery capacity (BATTD_LOW_MAH)

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.

Critical battery voltage (BATTD_CRT_VOLT)

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 critical capacity (BATTD_CRT_MAH)

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.

Low battery failsafe action (BATTD_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATTD_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATTD_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATTD_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter.

Battery monitor options (BATTD_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATTD_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATTD_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATTD_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATTD_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATTD_AMP_PERVLT)

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.

AMP offset (BATTD_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATTD_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATTD_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTD_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATTD_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATTD_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATTD_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATTD_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATTD_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATTD_FL_PIN)

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".

First order term (BATTD_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATTD_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATTD_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATTD_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATTD_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATTD_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTD_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATTD_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATTD_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATTD_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATTD_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATTD_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATTD_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTD_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATTD_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATTD_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATTD_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATTD_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATTD_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATTD_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATTD_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATTE_ Parameters

Battery monitoring (BATTE_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATTE_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATTE_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATTE_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATTE_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATTE_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATTE_LOW_VOLT)

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.

Low battery capacity (BATTE_LOW_MAH)

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.

Critical battery voltage (BATTE_CRT_VOLT)

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 critical capacity (BATTE_CRT_MAH)

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.

Low battery failsafe action (BATTE_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATTE_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATTE_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATTE_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter.

Battery monitor options (BATTE_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATTE_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATTE_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATTE_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATTE_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATTE_AMP_PERVLT)

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.

AMP offset (BATTE_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATTE_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATTE_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTE_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATTE_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATTE_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATTE_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATTE_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATTE_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATTE_FL_PIN)

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".

First order term (BATTE_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATTE_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATTE_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATTE_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATTE_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATTE_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTE_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATTE_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATTE_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATTE_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATTE_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATTE_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATTE_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTE_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATTE_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATTE_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATTE_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATTE_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATTE_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATTE_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATTE_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATTF_ Parameters

Battery monitoring (BATTF_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATTF_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATTF_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATTF_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATTF_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATTF_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATTF_LOW_VOLT)

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.

Low battery capacity (BATTF_LOW_MAH)

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.

Critical battery voltage (BATTF_CRT_VOLT)

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 critical capacity (BATTF_CRT_MAH)

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.

Low battery failsafe action (BATTF_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATTF_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATTF_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATTF_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter.

Battery monitor options (BATTF_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATTF_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATTF_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATTF_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATTF_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATTF_AMP_PERVLT)

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.

AMP offset (BATTF_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATTF_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATTF_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTF_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATTF_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATTF_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATTF_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATTF_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATTF_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATTF_FL_PIN)

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".

First order term (BATTF_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATTF_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATTF_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATTF_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATTF_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATTF_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTF_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATTF_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATTF_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATTF_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATTF_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATTF_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATTF_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTF_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATTF_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATTF_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATTF_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATTF_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATTF_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATTF_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATTF_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATTG_ Parameters

Battery monitoring (BATTG_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATTG_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATTG_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATTG_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATTG_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATTG_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATTG_LOW_VOLT)

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.

Low battery capacity (BATTG_LOW_MAH)

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.

Critical battery voltage (BATTG_CRT_VOLT)

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 critical capacity (BATTG_CRT_MAH)

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.

Low battery failsafe action (BATTG_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATTG_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATTG_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATTG_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter.

Battery monitor options (BATTG_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATTG_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATTG_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATTG_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATTG_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATTG_AMP_PERVLT)

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.

AMP offset (BATTG_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATTG_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATTG_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTG_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATTG_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATTG_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATTG_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATTG_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATTG_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATTG_FL_PIN)

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".

First order term (BATTG_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATTG_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATTG_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATTG_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATTG_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATTG_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTG_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATTG_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATTG_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATTG_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATTG_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATTG_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATTG_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATTG_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATTG_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATTG_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATTG_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATTG_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATTG_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATTG_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATTG_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BATT_ Parameters

Battery monitoring (BATT_MONITOR)

Controls enabling monitoring of the battery's voltage and current

Battery capacity (BATT_CAPACITY)

Capacity of the battery in mAh when full

Maximum allowed power (Watts) (BATT_WATT_MAX)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Battery serial number (BATT_SERIAL_NUM)

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

Low voltage timeout (BATT_LOW_TIMER)

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Failsafe voltage source (BATT_FS_VOLTSRC)

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Low battery voltage (BATT_LOW_VOLT)

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.

Low battery capacity (BATT_LOW_MAH)

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.

Critical battery voltage (BATT_CRT_VOLT)

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 critical capacity (BATT_CRT_MAH)

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.

Low battery failsafe action (BATT_FS_LOW_ACT)

What action the vehicle should perform if it hits a low battery failsafe

Critical battery failsafe action (BATT_FS_CRT_ACT)

What action the vehicle should perform if it hits a critical battery failsafe

Required arming voltage (BATT_ARM_VOLT)

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Required arming remaining capacity (BATT_ARM_MAH)

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter.

Battery monitor options (BATT_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

ESC Telemetry Index to write to (BATT_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Battery Voltage sensing pin (BATT_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring.

Battery Current sensing pin (BATT_CURR_PIN)

Sets the analog input pin that should be used for current monitoring.

Voltage Multiplier (BATT_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

Amps per volt (BATT_AMP_PERVLT)

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.

AMP offset (BATT_AMP_OFFSET)

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Voltage offset (BATT_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Battery monitor I2C bus number (BATT_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address

Battery Sum mask (BATT_SUM_MASK)

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Scales reported power monitor current (BATT_CURR_MULT)

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Empty fuel level voltage (BATT_FL_VLT_MIN)

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level voltage multiplier (BATT_FL_V_MULT)

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Fuel level filter frequency (BATT_FL_FLTR)

Note: This parameter is for advanced users

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.

Fuel level analog pin number (BATT_FL_PIN)

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".

First order term (BATT_FL_FF)

Note: This parameter is for advanced users

First order polynomial fit term

Second order term (BATT_FL_FS)

Note: This parameter is for advanced users

Second order polynomial fit term

Third order term (BATT_FL_FT)

Note: This parameter is for advanced users

Third order polynomial fit term

Offset term (BATT_FL_OFF)

Note: This parameter is for advanced users

Offset polynomial fit term

Maximum Battery Voltage (BATT_MAX_VOLT)

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Battery monitor I2C bus number (BATT_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

Battery monitor max current (BATT_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Battery monitor shunt resistor (BATT_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

ESC mask (BATT_ESC_MASK)

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

Battery monitor max current (BATT_MAX_AMPS)

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Battery monitor shunt resistor (BATT_SHUNT)

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Battery monitor I2C bus number (BATT_I2C_BUS)

Note: This parameter is for advanced users

Battery monitor I2C bus number

Battery monitor I2C address (BATT_I2C_ADDR)

Note: This parameter is for advanced users

Battery monitor I2C address. If this is zero then probe list of supported addresses

INA3221 channel (BATT_CHANNEL)

Note: This parameter is for advanced users

INA3221 channel to return data for

Battery Voltage sensing pin on the AD7091R5 Ic (BATT_VOLT_PIN)

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Battery Current sensing pin (BATT_CURR_PIN)

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Voltage Multiplier (BATT_VOLT_MULT)

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

Amps per volt (BATT_AMP_PERVLT)

Number of amps that a 1V reading on the current sensor corresponds to.

AMP offset (BATT_AMP_OFFSET)

Voltage offset at zero current on current sensor

Volage offset (BATT_VLT_OFFSET)

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

BRD_ Parameters

Serial 1 flow control (BRD_SER1_RTSCTS)

Note: This parameter is for advanced users

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.

Serial 2 flow control (BRD_SER2_RTSCTS)

Note: This parameter is for advanced users

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.

Serial 3 flow control (BRD_SER3_RTSCTS)

Note: This parameter is for advanced users

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.

Serial 4 flow control (BRD_SER4_RTSCTS)

Note: This parameter is for advanced users

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.

Serial 5 flow control (BRD_SER5_RTSCTS)

Note: This parameter is for advanced users

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.

Serial 6 flow control (BRD_SER6_RTSCTS)

Note: This parameter is for advanced users

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.

Serial 7 flow control (BRD_SER7_RTSCTS)

Note: This parameter is for advanced users

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.

Serial 8 flow control (BRD_SER8_RTSCTS)

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.

Sets default state of the safety switch (BRD_SAFETY_DEFLT)

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.

SBUS output rate (BRD_SBUS_OUT)

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz

User-defined serial number (BRD_SERIAL_NUM)

User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot

Outputs which ignore the safety switch state (BRD_SAFETY_MASK)

Note: This parameter is for advanced users

A bitmask which controls what outputs can move while the safety switch has not been pressed

Board heater temperature target (BRD_HEAT_TARG)

Note: This parameter is for advanced users

Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.

Board type (BRD_TYPE)

Note: This parameter is for advanced users

This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)

Enable IO co-processor (BRD_IO_ENABLE)

Note: This parameter is for advanced users

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

Options for safety button behavior (BRD_SAFETYOPTION)

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

Autopilot board voltage requirement (BRD_VBUS_MIN)

Note: This parameter is for advanced users

Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.

Servo voltage requirement (BRD_VSERVO_MIN)

Note: This parameter is for advanced users

Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.

microSD slowdown (BRD_SD_SLOWDOWN)

Note: This parameter is for advanced users

This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.

Set PWM Out Voltage (BRD_PWM_VOLT_SEL)

Note: This parameter is for advanced users

This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.

Board options (BRD_OPTIONS)

Note: This parameter is for advanced users

Board specific option flags

Boot delay (BRD_BOOT_DELAY)

Note: This parameter is for advanced users

This adds a delay in milliseconds to boot to ensure peripherals initialise fully

Board Heater P gain (BRD_HEAT_P)

Note: This parameter is for advanced users

Board Heater P gain

Board Heater I gain (BRD_HEAT_I)

Note: This parameter is for advanced users

Board Heater integrator gain

Board Heater IMAX (BRD_HEAT_IMAX)

Note: This parameter is for advanced users

Board Heater integrator maximum

Alternative HW config (BRD_ALT_CONFIG)

Note: This parameter is for advanced users

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.

Board heater temp lower margin (BRD_HEAT_LOWMGN)

Note: This parameter is for advanced users

Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check

SDCard Mission size (BRD_SD_MISSION)

Note: This parameter is for advanced users

This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.

SDCard Fence size (BRD_SD_FENCE)

Note: This parameter is for advanced users

This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.

Load DShot FW on IO (BRD_IO_DSHOT)

Note: This parameter is for advanced users

This loads the DShot firmware on the IO co-processor

BRD_RADIO Parameters

Set type of direct attached radio (BRD_RADIO_TYPE)

This enables support for direct attached radio receivers

protocol (BRD_RADIO_PROT)

Note: This parameter is for advanced users

Select air protocol

debug level (BRD_RADIO_DEBUG)

Note: This parameter is for advanced users

radio debug level

disable receive CRC (BRD_RADIO_DISCRC)

Note: This parameter is for advanced users

disable receive CRC (for debug)

RSSI signal strength (BRD_RADIO_SIGCH)

Note: This parameter is for advanced users

Channel to show receive RSSI signal strength, or zero for disabled

Packet rate channel (BRD_RADIO_PPSCH)

Note: This parameter is for advanced users

Channel to show received packet-per-second rate, or zero for disabled

Enable telemetry (BRD_RADIO_TELEM)

Note: This parameter is for advanced users

If this is non-zero then telemetry packets will be sent over DSM

Telemetry Transmit power (BRD_RADIO_TXPOW)

Note: This parameter is for advanced users

Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX

Put radio into FCC test mode (BRD_RADIO_FCCTST)

Note: This parameter is for advanced users

If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled

Stick input mode (BRD_RADIO_STKMD)

Note: This parameter is for advanced users

This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.

Set radio to factory test channel (BRD_RADIO_TESTCH)

Note: This parameter is for advanced users

This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.

RSSI value channel for telemetry data on transmitter (BRD_RADIO_TSIGCH)

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Telemetry PPS channel (BRD_RADIO_TPPSCH)

Note: This parameter is for advanced users

Channel to show telemetry packets-per-second value, as received at TX

Transmitter transmit power (BRD_RADIO_TXMAX)

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Transmitter buzzer adjustment (BRD_RADIO_BZOFS)

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Auto-bind time (BRD_RADIO_ABTIME)

Note: This parameter is for advanced users

When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.

Auto-bind level (BRD_RADIO_ABLVL)

Note: This parameter is for advanced users

This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially

BRD_RTC Parameters

Allowed sources of RTC time (BRD_RTC_TYPES)

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Timezone offset from UTC (BRD_RTC_TZ_MIN)

Note: This parameter is for advanced users

Adds offset in +- minutes from UTC to calculate local time

BTN_ Parameters

Enable button reporting (BTN_ENABLE)

Note: This parameter is for advanced users

This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible

First button Pin (BTN_PIN1)

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.

Second button Pin (BTN_PIN2)

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.

Third button Pin (BTN_PIN3)

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.

Fourth button Pin (BTN_PIN4)

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.

Report send time (BTN_REPORT_SEND)

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.

Button Pin 1 Options (BTN_OPTIONS1)

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.

Button Pin 2 Options (BTN_OPTIONS2)

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.

Button Pin 3 Options (BTN_OPTIONS3)

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.

Button Pin 4 Options (BTN_OPTIONS4)

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.

Button Pin 1 RC Channel function (BTN_FUNC1)

Auxiliary RC Options function executed on pin change

Button Pin 2 RC Channel function (BTN_FUNC2)

Auxiliary RC Options function executed on pin change

Button Pin 3 RC Channel function (BTN_FUNC3)

Auxiliary RC Options function executed on pin change

Button Pin 4 RC Channel function (BTN_FUNC4)

Auxiliary RC Options function executed on pin change

CAM Parameters

Maximum photo roll angle. (CAM_MAX_ROLL)

Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).

Distance-trigging in AUTO mode only (CAM_AUTO_ONLY)

When enabled, trigging by distance is done in AUTO mode only.

CAM1 Parameters

Camera shutter (trigger) type (CAM1_TYPE)

how to trigger the camera to take a picture

Camera shutter duration held open (CAM1_DURATION)

Duration in seconds that the camera shutter is held open

Camera servo ON PWM value (CAM1_SERVO_ON)

PWM value in microseconds to move servo to when shutter is activated

Camera servo OFF PWM value (CAM1_SERVO_OFF)

PWM value in microseconds to move servo to when shutter is deactivated

Camera trigger distance (CAM1_TRIGG_DIST)

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.

Camera relay ON value (CAM1_RELAY_ON)

This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera

Camera minimum time interval between photos (CAM1_INTRVAL_MIN)

Postpone shooting if previous picture was taken less than this many seconds ago

Camera feedback pin (CAM1_FEEDBAK_PIN)

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.

Camera feedback pin polarity (CAM1_FEEDBAK_POL)

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

Camera options (CAM1_OPTIONS)

Camera options bitmask

Camera Mount instance (CAM1_MNT_INST)

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 (CAM1_HFOV)

Camera horizontal field of view. 0 if unknown

Camera vertical field of view (CAM1_VFOV)

Camera vertical field of view. 0 if unknown

CAM1_RC_ Parameters

RunCam device type (CAM1_RC_TYPE)

RunCam device type used to determine OSD menu structure and shutter options.

RunCam features available (CAM1_RC_FEATURES)

Note: This parameter is for advanced users

The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.

RunCam boot delay before allowing updates (CAM1_RC_BT_DELAY)

Note: This parameter is for advanced users

Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.

RunCam button delay before allowing further button presses (CAM1_RC_BTN_DELAY)

Note: This parameter is for advanced users

Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.

RunCam mode delay before allowing further button presses (CAM1_RC_MDE_DELAY)

Note: This parameter is for advanced users

Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.

RunCam control option (CAM1_RC_CONTROL)

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu and other option like autorecording

CAM2 Parameters

Camera shutter (trigger) type (CAM2_TYPE)

how to trigger the camera to take a picture

Camera shutter duration held open (CAM2_DURATION)

Duration in seconds that the camera shutter is held open

Camera servo ON PWM value (CAM2_SERVO_ON)

PWM value in microseconds to move servo to when shutter is activated

Camera servo OFF PWM value (CAM2_SERVO_OFF)

PWM value in microseconds to move servo to when shutter is deactivated

Camera trigger distance (CAM2_TRIGG_DIST)

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.

Camera relay ON value (CAM2_RELAY_ON)

This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera

Camera minimum time interval between photos (CAM2_INTRVAL_MIN)

Postpone shooting if previous picture was taken less than this many seconds ago

Camera feedback pin (CAM2_FEEDBAK_PIN)

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.

Camera feedback pin polarity (CAM2_FEEDBAK_POL)

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

Camera options (CAM2_OPTIONS)

Camera options bitmask

Camera Mount instance (CAM2_MNT_INST)

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 (CAM2_HFOV)

Camera horizontal field of view. 0 if unknown

Camera vertical field of view (CAM2_VFOV)

Camera vertical field of view. 0 if unknown

CAM2_RC_ Parameters

RunCam device type (CAM2_RC_TYPE)

RunCam device type used to determine OSD menu structure and shutter options.

RunCam features available (CAM2_RC_FEATURES)

Note: This parameter is for advanced users

The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.

RunCam boot delay before allowing updates (CAM2_RC_BT_DELAY)

Note: This parameter is for advanced users

Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.

RunCam button delay before allowing further button presses (CAM2_RC_BTN_DELAY)

Note: This parameter is for advanced users

Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.

RunCam mode delay before allowing further button presses (CAM2_RC_MDE_DELAY)

Note: This parameter is for advanced users

Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.

RunCam control option (CAM2_RC_CONTROL)

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu and other option like autorecording

CAN_ Parameters

Loglevel (CAN_LOGLEVEL)

Note: This parameter is for advanced users

Loglevel for recording initialisation and debug information from CAN Interface

CAN_D1_ Parameters

Enable use of specific protocol over virtual driver (CAN_D1_PROTOCOL)

Note: This parameter is for advanced users

Enabling this option starts selected protocol that will use this virtual driver

Secondary protocol with 11 bit CAN addressing (CAN_D1_PROTOCOL2)

Note: This parameter is for advanced users

Secondary protocol with 11 bit CAN addressing

CAN_D1_PC_ Parameters

ESC channels (CAN_D1_PC_ESC_BM)

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

ESC output rate (CAN_D1_PC_ESC_RT)

Note: This parameter is for advanced users

Output rate of ESC command messages

Servo channels (CAN_D1_PC_SRV_BM)

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Servo command output rate (CAN_D1_PC_SRV_RT)

Note: This parameter is for advanced users

Output rate of servo command messages

ECU Node ID (CAN_D1_PC_ECU_ID)

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

ECU command output rate (CAN_D1_PC_ECU_RT)

Note: This parameter is for advanced users

Output rate of ECU command messages

CAN_D1_UC_ Parameters

Own node ID (CAN_D1_UC_NODE)

Note: This parameter is for advanced users

DroneCAN node ID used by the driver itself on this network

Output channels to be transmitted as servo over DroneCAN (CAN_D1_UC_SRV_BM)

Bitmask with one set for channel to be transmitted as a servo command over DroneCAN

Output channels to be transmitted as ESC over DroneCAN (CAN_D1_UC_ESC_BM)

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN

Servo output rate (CAN_D1_UC_SRV_RT)

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

DroneCAN options (CAN_D1_UC_OPTION)

Note: This parameter is for advanced users

Option flags

Notify State rate (CAN_D1_UC_NTF_RT)

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

ESC Output channels offset (CAN_D1_UC_ESC_OF)

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo 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

CAN pool size (CAN_D1_UC_POOL)

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D1_UC_ESC_RV)

Note: This parameter is for advanced users

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

DroneCAN relay output rate (CAN_D1_UC_RLY_RT)

Note: This parameter is for advanced users

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

DroneCAN Serial enable (CAN_D1_UC_SER_EN)

Note: This parameter is for advanced users

Enable DroneCAN virtual serial ports

Serial CAN remote node number (CAN_D1_UC_S1_NOD)

Note: This parameter is for advanced users

CAN remote node number for serial port

DroneCAN Serial1 index (CAN_D1_UC_S1_IDX)

Note: This parameter is for advanced users

Serial port number on remote CAN node

DroneCAN Serial default baud rate (CAN_D1_UC_S1_BD)

Note: This parameter is for advanced users

Serial baud rate on remote CAN node

Serial protocol of DroneCAN serial port (CAN_D1_UC_S1_PRO)

Note: This parameter is for advanced users

Serial protocol of DroneCAN serial port

Serial CAN remote node number (CAN_D1_UC_S2_NOD)

Note: This parameter is for advanced users

CAN remote node number for serial port

Serial port number on remote CAN node (CAN_D1_UC_S2_IDX)

Note: This parameter is for advanced users

Serial port number on remote CAN node

DroneCAN Serial default baud rate (CAN_D1_UC_S2_BD)

Note: This parameter is for advanced users

Serial baud rate on remote CAN node

Serial protocol of DroneCAN serial port (CAN_D1_UC_S2_PRO)

Note: This parameter is for advanced users

Serial protocol of DroneCAN serial port

Serial CAN remote node number (CAN_D1_UC_S3_NOD)

Note: This parameter is for advanced users

CAN node number for serial port

Serial port number on remote CAN node (CAN_D1_UC_S3_IDX)

Note: This parameter is for advanced users

Serial port number on remote CAN node

Serial baud rate on remote CAN node (CAN_D1_UC_S3_BD)

Note: This parameter is for advanced users

Serial baud rate on remote CAN node

Serial protocol of DroneCAN serial port (CAN_D1_UC_S3_PRO)

Note: This parameter is for advanced users

Serial protocol of DroneCAN serial port

CAN_D2_ Parameters

Enable use of specific protocol over virtual driver (CAN_D2_PROTOCOL)

Note: This parameter is for advanced users

Enabling this option starts selected protocol that will use this virtual driver

Secondary protocol with 11 bit CAN addressing (CAN_D2_PROTOCOL2)

Note: This parameter is for advanced users

Secondary protocol with 11 bit CAN addressing

CAN_D2_PC_ Parameters

ESC channels (CAN_D2_PC_ESC_BM)

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

ESC output rate (CAN_D2_PC_ESC_RT)

Note: This parameter is for advanced users

Output rate of ESC command messages

Servo channels (CAN_D2_PC_SRV_BM)

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Servo command output rate (CAN_D2_PC_SRV_RT)

Note: This parameter is for advanced users

Output rate of servo command messages

ECU Node ID (CAN_D2_PC_ECU_ID)

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

ECU command output rate (CAN_D2_PC_ECU_RT)

Note: This parameter is for advanced users

Output rate of ECU command messages

CAN_D2_UC_ Parameters

Own node ID (CAN_D2_UC_NODE)

Note: This parameter is for advanced users

DroneCAN node ID used by the driver itself on this network

Output channels to be transmitted as servo over DroneCAN (CAN_D2_UC_SRV_BM)

Bitmask with one set for channel to be transmitted as a servo command over DroneCAN

Output channels to be transmitted as ESC over DroneCAN (CAN_D2_UC_ESC_BM)

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN

Servo output rate (CAN_D2_UC_SRV_RT)

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

DroneCAN options (CAN_D2_UC_OPTION)

Note: This parameter is for advanced users

Option flags

Notify State rate (CAN_D2_UC_NTF_RT)

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

ESC Output channels offset (CAN_D2_UC_ESC_OF)

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo 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

CAN pool size (CAN_D2_UC_POOL)

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D2_UC_ESC_RV)

Note: This parameter is for advanced users

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

DroneCAN relay output rate (CAN_D2_UC_RLY_RT)

Note: This parameter is for advanced users

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

DroneCAN Serial enable (CAN_D2_UC_SER_EN)

Note: This parameter is for advanced users

Enable DroneCAN virtual serial ports

Serial CAN remote node number (CAN_D2_UC_S1_NOD)

Note: This parameter is for advanced users

CAN remote node number for serial port

DroneCAN Serial1 index (CAN_D2_UC_S1_IDX)

Note: This parameter is for advanced users

Serial port number on remote CAN node

DroneCAN Serial default baud rate (CAN_D2_UC_S1_BD)

Note: This parameter is for advanced users

Serial baud rate on remote CAN node

Serial protocol of DroneCAN serial port (CAN_D2_UC_S1_PRO)

Note: This parameter is for advanced users

Serial protocol of DroneCAN serial port

Serial CAN remote node number (CAN_D2_UC_S2_NOD)

Note: This parameter is for advanced users

CAN remote node number for serial port

Serial port number on remote CAN node (CAN_D2_UC_S2_IDX)

Note: This parameter is for advanced users

Serial port number on remote CAN node

DroneCAN Serial default baud rate (CAN_D2_UC_S2_BD)

Note: This parameter is for advanced users

Serial baud rate on remote CAN node

Serial protocol of DroneCAN serial port (CAN_D2_UC_S2_PRO)

Note: This parameter is for advanced users

Serial protocol of DroneCAN serial port

Serial CAN remote node number (CAN_D2_UC_S3_NOD)

Note: This parameter is for advanced users

CAN node number for serial port

Serial port number on remote CAN node (CAN_D2_UC_S3_IDX)

Note: This parameter is for advanced users

Serial port number on remote CAN node

Serial baud rate on remote CAN node (CAN_D2_UC_S3_BD)

Note: This parameter is for advanced users

Serial baud rate on remote CAN node

Serial protocol of DroneCAN serial port (CAN_D2_UC_S3_PRO)

Note: This parameter is for advanced users

Serial protocol of DroneCAN serial port

CAN_D3_ Parameters

Enable use of specific protocol over virtual driver (CAN_D3_PROTOCOL)

Note: This parameter is for advanced users

Enabling this option starts selected protocol that will use this virtual driver

Secondary protocol with 11 bit CAN addressing (CAN_D3_PROTOCOL2)

Note: This parameter is for advanced users

Secondary protocol with 11 bit CAN addressing

CAN_D3_PC_ Parameters

ESC channels (CAN_D3_PC_ESC_BM)

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

ESC output rate (CAN_D3_PC_ESC_RT)

Note: This parameter is for advanced users

Output rate of ESC command messages

Servo channels (CAN_D3_PC_SRV_BM)

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Servo command output rate (CAN_D3_PC_SRV_RT)

Note: This parameter is for advanced users

Output rate of servo command messages

ECU Node ID (CAN_D3_PC_ECU_ID)

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

ECU command output rate (CAN_D3_PC_ECU_RT)

Note: This parameter is for advanced users

Output rate of ECU command messages

CAN_D3_UC_ Parameters

Own node ID (CAN_D3_UC_NODE)

Note: This parameter is for advanced users

DroneCAN node ID used by the driver itself on this network

Output channels to be transmitted as servo over DroneCAN (CAN_D3_UC_SRV_BM)

Bitmask with one set for channel to be transmitted as a servo command over DroneCAN

Output channels to be transmitted as ESC over DroneCAN (CAN_D3_UC_ESC_BM)

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN

Servo output rate (CAN_D3_UC_SRV_RT)

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

DroneCAN options (CAN_D3_UC_OPTION)

Note: This parameter is for advanced users

Option flags

Notify State rate (CAN_D3_UC_NTF_RT)

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

ESC Output channels offset (CAN_D3_UC_ESC_OF)

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo 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

CAN pool size (CAN_D3_UC_POOL)

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D3_UC_ESC_RV)

Note: This parameter is for advanced users

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

DroneCAN relay output rate (CAN_D3_UC_RLY_RT)

Note: This parameter is for advanced users

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

DroneCAN Serial enable (CAN_D3_UC_SER_EN)

Note: This parameter is for advanced users

Enable DroneCAN virtual serial ports

Serial CAN remote node number (CAN_D3_UC_S1_NOD)

Note: This parameter is for advanced users

CAN remote node number for serial port

DroneCAN Serial1 index (CAN_D3_UC_S1_IDX)

Note: This parameter is for advanced users

Serial port number on remote CAN node

DroneCAN Serial default baud rate (CAN_D3_UC_S1_BD)

Note: This parameter is for advanced users

Serial baud rate on remote CAN node

Serial protocol of DroneCAN serial port (CAN_D3_UC_S1_PRO)

Note: This parameter is for advanced users

Serial protocol of DroneCAN serial port

Serial CAN remote node number (CAN_D3_UC_S2_NOD)

Note: This parameter is for advanced users

CAN remote node number for serial port

Serial port number on remote CAN node (CAN_D3_UC_S2_IDX)

Note: This parameter is for advanced users

Serial port number on remote CAN node

DroneCAN Serial default baud rate (CAN_D3_UC_S2_BD)

Note: This parameter is for advanced users

Serial baud rate on remote CAN node

Serial protocol of DroneCAN serial port (CAN_D3_UC_S2_PRO)

Note: This parameter is for advanced users

Serial protocol of DroneCAN serial port

Serial CAN remote node number (CAN_D3_UC_S3_NOD)

Note: This parameter is for advanced users

CAN node number for serial port

Serial port number on remote CAN node (CAN_D3_UC_S3_IDX)

Note: This parameter is for advanced users

Serial port number on remote CAN node

Serial baud rate on remote CAN node (CAN_D3_UC_S3_BD)

Note: This parameter is for advanced users

Serial baud rate on remote CAN node

Serial protocol of DroneCAN serial port (CAN_D3_UC_S3_PRO)

Note: This parameter is for advanced users

Serial protocol of DroneCAN serial port

CAN_P1_ Parameters

Index of virtual driver to be used with physical CAN interface (CAN_P1_DRIVER)

Enabling this option enables use of CAN buses.

Bitrate of CAN interface (CAN_P1_BITRATE)

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Bitrate of CANFD interface (CAN_P1_FDBITRATE)

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

CAN per-interface options (CAN_P1_OPTIONS)

Note: This parameter is for advanced users

CAN per-interface options

CAN_P2_ Parameters

Index of virtual driver to be used with physical CAN interface (CAN_P2_DRIVER)

Enabling this option enables use of CAN buses.

Bitrate of CAN interface (CAN_P2_BITRATE)

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Bitrate of CANFD interface (CAN_P2_FDBITRATE)

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

CAN per-interface options (CAN_P2_OPTIONS)

Note: This parameter is for advanced users

CAN per-interface options

CAN_P3_ Parameters

Index of virtual driver to be used with physical CAN interface (CAN_P3_DRIVER)

Enabling this option enables use of CAN buses.

Bitrate of CAN interface (CAN_P3_BITRATE)

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Bitrate of CANFD interface (CAN_P3_FDBITRATE)

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

CAN per-interface options (CAN_P3_OPTIONS)

Note: This parameter is for advanced users

CAN per-interface options

CAN_SLCAN_ Parameters

SLCAN Route (CAN_SLCAN_CPORT)

CAN Interface ID to be routed to SLCAN, 0 means no routing

SLCAN Serial Port (CAN_SLCAN_SERNUM)

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

SLCAN Timeout (CAN_SLCAN_TIMOUT)

Duration of inactivity after which SLCAN is switched back to original driver in seconds.

SLCAN Start Delay (CAN_SLCAN_SDELAY)

Duration after which slcan starts after setting SERNUM in seconds.

CHUTE_ Parameters

Parachute release enabled or disabled (CHUTE_ENABLED)

Parachute release enabled or disabled

Parachute release mechanism type (relay or servo) (CHUTE_TYPE)

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.

Parachute Servo ON PWM value (CHUTE_SERVO_ON)

Parachute Servo PWM value in microseconds when parachute is released

Servo OFF PWM value (CHUTE_SERVO_OFF)

Parachute Servo PWM value in microseconds when parachute is not released

Parachute min altitude in meters above home (CHUTE_ALT_MIN)

Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.

Parachute release delay (CHUTE_DELAY_MS)

Delay in millseconds between motor stop and chute release

Critical sink speed rate in m/s to trigger emergency parachute (CHUTE_CRT_SINK)

Release parachute when critical sink rate is reached

Parachute options (CHUTE_OPTIONS)

Optional behaviour for parachute

COMPASS_ Parameters

Compass offsets in milligauss on the X axis (COMPASS_OFS_X)

Note: This parameter is for advanced users

Offset to be added to the compass x-axis values to compensate for metal in the frame

Compass offsets in milligauss on the Y axis (COMPASS_OFS_Y)

Note: This parameter is for advanced users

Offset to be added to the compass y-axis values to compensate for metal in the frame

Compass offsets in milligauss on the Z axis (COMPASS_OFS_Z)

Note: This parameter is for advanced users

Offset to be added to the compass z-axis values to compensate for metal in the frame

Compass declination (COMPASS_DEC)

An angle to compensate between the true north and magnetic north

Learn compass offsets automatically (COMPASS_LEARN)

Note: This parameter is for advanced users

Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.

Use compass for yaw (COMPASS_USE)

Note: This parameter is for advanced users

Enable or disable the use of the compass (instead of the GPS) for determining heading

Auto Declination (COMPASS_AUTODEC)

Note: This parameter is for advanced users

Enable or disable the automatic calculation of the declination based on gps location

Motor interference compensation type (COMPASS_MOTCT)

Note: This parameter is for advanced users

Set motor interference compensation type to disabled, throttle or current. Do not change manually.

Motor interference compensation for body frame X axis (COMPASS_MOT_X)

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Motor interference compensation for body frame Y axis (COMPASS_MOT_Y)

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Motor interference compensation for body frame Z axis (COMPASS_MOT_Z)

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Compass orientation (COMPASS_ORIENT)

Note: This parameter is for advanced users

The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Compass is attached via an external cable (COMPASS_EXTERNAL)

Note: This parameter is for advanced users

Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Compass2 offsets in milligauss on the X axis (COMPASS_OFS2_X)

Note: This parameter is for advanced users

Offset to be added to compass2's x-axis values to compensate for metal in the frame

Compass2 offsets in milligauss on the Y axis (COMPASS_OFS2_Y)

Note: This parameter is for advanced users

Offset to be added to compass2's y-axis values to compensate for metal in the frame

Compass2 offsets in milligauss on the Z axis (COMPASS_OFS2_Z)

Note: This parameter is for advanced users

Offset to be added to compass2's z-axis values to compensate for metal in the frame

Motor interference compensation to compass2 for body frame X axis (COMPASS_MOT2_X)

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Motor interference compensation to compass2 for body frame Y axis (COMPASS_MOT2_Y)

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Motor interference compensation to compass2 for body frame Z axis (COMPASS_MOT2_Z)

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Compass3 offsets in milligauss on the X axis (COMPASS_OFS3_X)

Note: This parameter is for advanced users

Offset to be added to compass3's x-axis values to compensate for metal in the frame

Compass3 offsets in milligauss on the Y axis (COMPASS_OFS3_Y)

Note: This parameter is for advanced users

Offset to be added to compass3's y-axis values to compensate for metal in the frame

Compass3 offsets in milligauss on the Z axis (COMPASS_OFS3_Z)

Note: This parameter is for advanced users

Offset to be added to compass3's z-axis values to compensate for metal in the frame

Motor interference compensation to compass3 for body frame X axis (COMPASS_MOT3_X)

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Motor interference compensation to compass3 for body frame Y axis (COMPASS_MOT3_Y)

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Motor interference compensation to compass3 for body frame Z axis (COMPASS_MOT3_Z)

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Compass device id (COMPASS_DEV_ID)

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

Compass2 device id (COMPASS_DEV_ID2)

Note: This parameter is for advanced users

Second compass's device id. Automatically detected, do not set manually

Compass3 device id (COMPASS_DEV_ID3)

Note: This parameter is for advanced users

Third compass's device id. Automatically detected, do not set manually

Compass2 used for yaw (COMPASS_USE2)

Note: This parameter is for advanced users

Enable or disable the secondary compass for determining heading.

Compass2 orientation (COMPASS_ORIENT2)

Note: This parameter is for advanced users

The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Compass2 is attached via an external cable (COMPASS_EXTERN2)

Note: This parameter is for advanced users

Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Compass3 used for yaw (COMPASS_USE3)

Note: This parameter is for advanced users

Enable or disable the tertiary compass for determining heading.

Compass3 orientation (COMPASS_ORIENT3)

Note: This parameter is for advanced users

The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Compass3 is attached via an external cable (COMPASS_EXTERN3)

Note: This parameter is for advanced users

Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Compass soft-iron diagonal X component (COMPASS_DIA_X)

Note: This parameter is for advanced users

DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass soft-iron diagonal Y component (COMPASS_DIA_Y)

Note: This parameter is for advanced users

DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass soft-iron diagonal Z component (COMPASS_DIA_Z)

Note: This parameter is for advanced users

DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass soft-iron off-diagonal X component (COMPASS_ODI_X)

Note: This parameter is for advanced users

ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass soft-iron off-diagonal Y component (COMPASS_ODI_Y)

Note: This parameter is for advanced users

ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass soft-iron off-diagonal Z component (COMPASS_ODI_Z)

Note: This parameter is for advanced users

ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass2 soft-iron diagonal X component (COMPASS_DIA2_X)

Note: This parameter is for advanced users

DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass2 soft-iron diagonal Y component (COMPASS_DIA2_Y)

Note: This parameter is for advanced users

DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass2 soft-iron diagonal Z component (COMPASS_DIA2_Z)

Note: This parameter is for advanced users

DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass2 soft-iron off-diagonal X component (COMPASS_ODI2_X)

Note: This parameter is for advanced users

ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass2 soft-iron off-diagonal Y component (COMPASS_ODI2_Y)

Note: This parameter is for advanced users

ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass2 soft-iron off-diagonal Z component (COMPASS_ODI2_Z)

Note: This parameter is for advanced users

ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass3 soft-iron diagonal X component (COMPASS_DIA3_X)

Note: This parameter is for advanced users

DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass3 soft-iron diagonal Y component (COMPASS_DIA3_Y)

Note: This parameter is for advanced users

DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass3 soft-iron diagonal Z component (COMPASS_DIA3_Z)

Note: This parameter is for advanced users

DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass3 soft-iron off-diagonal X component (COMPASS_ODI3_X)

Note: This parameter is for advanced users

ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass3 soft-iron off-diagonal Y component (COMPASS_ODI3_Y)

Note: This parameter is for advanced users

ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass3 soft-iron off-diagonal Z component (COMPASS_ODI3_Z)

Note: This parameter is for advanced users

ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Compass calibration fitness (COMPASS_CAL_FIT)

Note: This parameter is for advanced users

This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.

Compass maximum offset (COMPASS_OFFS_MAX)

Note: This parameter is for advanced users

This sets the maximum allowed compass offset in calibration and arming checks

Compass disable driver type mask (COMPASS_DISBLMSK)

Note: This parameter is for advanced users

This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup

Range in which sample is accepted (COMPASS_FLTR_RNG)

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.

Automatically check orientation (COMPASS_AUTO_ROT)

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.

Compass device id with 1st order priority (COMPASS_PRIO1_ID)

Note: This parameter is for advanced users

Compass device id with 1st order priority, set automatically if 0. Reboot required after change.

Compass device id with 2nd order priority (COMPASS_PRIO2_ID)

Note: This parameter is for advanced users

Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.

Compass device id with 3rd order priority (COMPASS_PRIO3_ID)

Note: This parameter is for advanced users

Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.

Enable Compass (COMPASS_ENABLE)

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.

Compass1 scale factor (COMPASS_SCALE)

Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Compass2 scale factor (COMPASS_SCALE2)

Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Compass3 scale factor (COMPASS_SCALE3)

Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Compass options (COMPASS_OPTIONS)

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Compass4 device id (COMPASS_DEV_ID4)

Note: This parameter is for advanced users

Extra 4th compass's device id. Automatically detected, do not set manually

Compass5 device id (COMPASS_DEV_ID5)

Note: This parameter is for advanced users

Extra 5th compass's device id. Automatically detected, do not set manually

Compass6 device id (COMPASS_DEV_ID6)

Note: This parameter is for advanced users

Extra 6th compass's device id. Automatically detected, do not set manually

Compass7 device id (COMPASS_DEV_ID7)

Note: This parameter is for advanced users

Extra 7th compass's device id. Automatically detected, do not set manually

Compass8 device id (COMPASS_DEV_ID8)

Note: This parameter is for advanced users

Extra 8th compass's device id. Automatically detected, do not set manually

Custom orientation roll offset (COMPASS_CUS_ROLL)

Note: This parameter is for advanced users

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.

Custom orientation pitch offset (COMPASS_CUS_PIT)

Note: This parameter is for advanced users

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.

Custom orientation yaw offset (COMPASS_CUS_YAW)

Note: This parameter is for advanced users

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.

COMPASS_PMOT Parameters

per-motor compass correction enable (COMPASS_PMOT_EN)

Note: This parameter is for advanced users

This enables per-motor compass corrections

per-motor exponential correction (COMPASS_PMOT_EXP)

Note: This parameter is for advanced users

This is the exponential correction for the power output of the motor for per-motor compass correction

Compass per-motor1 X (COMPASS_PMOT1_X)

Note: This parameter is for advanced users

Compensation for X axis of motor1

Compass per-motor1 Y (COMPASS_PMOT1_Y)

Note: This parameter is for advanced users

Compensation for Y axis of motor1

Compass per-motor1 Z (COMPASS_PMOT1_Z)

Note: This parameter is for advanced users

Compensation for Z axis of motor1

Compass per-motor2 X (COMPASS_PMOT2_X)

Note: This parameter is for advanced users

Compensation for X axis of motor2

Compass per-motor2 Y (COMPASS_PMOT2_Y)

Note: This parameter is for advanced users

Compensation for Y axis of motor2

Compass per-motor2 Z (COMPASS_PMOT2_Z)

Note: This parameter is for advanced users

Compensation for Z axis of motor2

Compass per-motor3 X (COMPASS_PMOT3_X)

Note: This parameter is for advanced users

Compensation for X axis of motor3

Compass per-motor3 Y (COMPASS_PMOT3_Y)

Note: This parameter is for advanced users

Compensation for Y axis of motor3

Compass per-motor3 Z (COMPASS_PMOT3_Z)

Note: This parameter is for advanced users

Compensation for Z axis of motor3

Compass per-motor4 X (COMPASS_PMOT4_X)

Note: This parameter is for advanced users

Compensation for X axis of motor4

Compass per-motor4 Y (COMPASS_PMOT4_Y)

Note: This parameter is for advanced users

Compensation for Y axis of motor4

Compass per-motor4 Z (COMPASS_PMOT4_Z)

Note: This parameter is for advanced users

Compensation for Z axis of motor4

CUST_ROT Parameters

Enable Custom rotations (CUST_ROT_ENABLE)

This enables custom rotations

CUST_ROT1_ Parameters

Custom roll (CUST_ROT1_ROLL)

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

Custom pitch (CUST_ROT1_PITCH)

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

Custom yaw (CUST_ROT1_YAW)

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

CUST_ROT2_ Parameters

Custom roll (CUST_ROT2_ROLL)

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

Custom pitch (CUST_ROT2_PITCH)

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

Custom yaw (CUST_ROT2_YAW)

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

DDS Parameters

DDS enable (DDS_ENABLE)

Note: This parameter is for advanced users

Enable DDS subsystem

DDS UDP port (DDS_UDP_PORT)

UDP port number for DDS

DDS DOMAIN ID (DDS_DOMAIN_ID)

Set the ROS_DOMAIN_ID

DDS ping timeout (DDS_TIMEOUT_MS)

The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.

DDS ping max attempts (DDS_MAX_RETRY)

The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting. Set to 0 to allow unlimited retries.

DDS_IP Parameters

IPv4 Address 1st byte (DDS_IP0)

IPv4 address. Example: 192.xxx.xxx.xxx

IPv4 Address 2nd byte (DDS_IP1)

IPv4 address. Example: xxx.168.xxx.xxx

IPv4 Address 3rd byte (DDS_IP2)

IPv4 address. Example: xxx.xxx.144.xxx

IPv4 Address 4th byte (DDS_IP3)

IPv4 address. Example: xxx.xxx.xxx.14

DID_ Parameters

Enable ODID subsystem (DID_ENABLE)

Enable ODID subsystem

MAVLink serial port (DID_MAVPORT)

Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.

DroneCAN driver number (DID_CANDRIVER)

DroneCAN driver index, 0 to disable DroneCAN

OpenDroneID options (DID_OPTIONS)

Options for OpenDroneID subsystem

Barometer vertical accuraacy (DID_BARO_ACC)

Note: This parameter is for advanced users

Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default

EAHRS Parameters

AHRS type (EAHRS_TYPE)

Type of AHRS device

AHRS data rate (EAHRS_RATE)

Requested rate for AHRS device

External AHRS options (EAHRS_OPTIONS)

External AHRS options bitmask

External AHRS sensors (EAHRS_SENSORS)

Note: This parameter is for advanced users

External AHRS sensors bitmask

AHRS logging rate (EAHRS_LOG_RATE)

Logging rate for EARHS devices

EFI Parameters

EFI communication type (EFI_TYPE)

Note: This parameter is for advanced users

What method of communication is used for EFI #1

EFI Calibration Coefficient 1 (EFI_COEF1)

Note: This parameter is for advanced users

Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle

EFI Calibration Coefficient 2 (EFI_COEF2)

Note: This parameter is for advanced users

Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1

ECU Fuel Density (EFI_FUEL_DENS)

Note: This parameter is for advanced users

Used to calculate fuel consumption

EFI_THRLIN Parameters

Enable throttle linearisation (EFI_THRLIN_EN)

Note: This parameter is for advanced users

Enable EFI throttle linearisation

Throttle linearisation - First Order (EFI_THRLIN_COEF1)

Note: This parameter is for advanced users

First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)

Throttle linearisation - Second Order (EFI_THRLIN_COEF2)

Note: This parameter is for advanced users

Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)

Throttle linearisation - Third Order (EFI_THRLIN_COEF3)

Note: This parameter is for advanced users

Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)

throttle linearization offset (EFI_THRLIN_OFS)

Note: This parameter is for advanced users

Offset for throttle linearization

EK2_ Parameters

Enable EKF2 (EK2_ENABLE)

Note: This parameter is for advanced users

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.

GPS mode control (EK2_GPS_TYPE)

Note: This parameter is for advanced users

This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.

GPS horizontal velocity measurement noise (m/s) (EK2_VELNE_M_NSE)

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

GPS vertical velocity measurement noise (m/s) (EK2_VELD_M_NSE)

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

GPS velocity innovation gate size (EK2_VEL_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

GPS horizontal position measurement noise (m) (EK2_POSNE_M_NSE)

Note: This parameter is for advanced users

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

GPS position measurement gate size (EK2_POS_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

GPS glitch radius gate size (m) (EK2_GLITCH_RAD)

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.

Primary altitude sensor source (EK2_ALT_SOURCE)

Note: This parameter is for advanced users

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).

Altitude measurement noise (m) (EK2_ALT_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.

Height measurement gate size (EK2_HGT_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Height measurement delay (msec) (EK2_HGT_DELAY)

Note: This parameter is for advanced users

This is the number of msec that the Height measurements lag behind the inertial measurements.

Magnetometer measurement noise (Gauss) (EK2_MAG_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

Magnetometer default fusion mode (EK2_MAG_CAL)

Note: This parameter is for advanced users

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.

Magnetometer measurement gate size (EK2_MAG_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Equivalent airspeed measurement noise (m/s) (EK2_EAS_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

Airspeed measurement gate size (EK2_EAS_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range finder measurement noise (m) (EK2_RNG_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

Range finder measurement gate size (EK2_RNG_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Maximum valid optical flow rate (EK2_MAX_FLOW)

Note: This parameter is for advanced users

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

Optical flow measurement noise (rad/s) (EK2_FLOW_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

Optical Flow measurement gate size (EK2_FLOW_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Optical Flow measurement delay (msec) (EK2_FLOW_DELAY)

Note: This parameter is for advanced users

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.

Rate gyro noise (rad/s) (EK2_GYRO_P_NSE)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

Accelerometer noise (m/s^2) (EK2_ACC_P_NSE)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

Rate gyro bias stability (rad/s/s) (EK2_GBIAS_P_NSE)

Note: This parameter is for advanced users

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

Rate gyro scale factor stability (1/s) (EK2_GSCL_P_NSE)

Note: This parameter is for advanced users

This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.

Accelerometer bias stability (m/s^3) (EK2_ABIAS_P_NSE)

Note: This parameter is for advanced users

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

Wind velocity process noise (m/s^2) (EK2_WIND_P_NSE)

Note: This parameter is for advanced users

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

Height rate to wind process noise scaler (EK2_WIND_PSCALE)

Note: This parameter is for advanced users

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

GPS preflight check (EK2_GPS_CHECK)

Note: This parameter is for advanced users

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

Bitmask of active IMUs (EK2_IMU_MASK)

Note: This parameter is for advanced users

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.

GPS accuracy check scaler (%) (EK2_CHECK_SCALE)

Note: This parameter is for advanced users

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

Non-GPS operation position uncertainty (m) (EK2_NOAID_M_NSE)

Note: This parameter is for advanced users

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

Yaw measurement noise (rad) (EK2_YAW_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

Yaw measurement gate size (EK2_YAW_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Output complementary filter time constant (centi-sec) (EK2_TAU_OUTPUT)

Note: This parameter is for advanced users

Sets the time constant of the output complementary filter/predictor in centi-seconds.

Earth magnetic field process noise (gauss/s) (EK2_MAGE_P_NSE)

Note: This parameter is for advanced users

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

Body magnetic field process noise (gauss/s) (EK2_MAGB_P_NSE)

Note: This parameter is for advanced users

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

Range finder switch height percentage (EK2_RNG_USE_HGT)

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND*_MAX). 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.

Maximum terrain gradient (EK2_TERR_GRAD)

Note: This parameter is for advanced users

Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.

Range beacon measurement noise (m) (EK2_BCN_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

Range beacon measurement gate size (EK2_BCN_I_GTE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range beacon measurement delay (msec) (EK2_BCN_DELAY)

Note: This parameter is for advanced users

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.

Range finder max ground speed (EK2_RNG_USE_SPD)

Note: This parameter is for advanced users

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

Bitmask of active EKF cores that will always use heading fusion (EK2_MAG_MASK)

Note: This parameter is for advanced users

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

Bitmask control of EKF reference height correction (EK2_OGN_HGT_MASK)

Note: This parameter is for advanced users

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).

Optical flow use bitmask (EK2_FLOW_USE)

Note: This parameter is for advanced users

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

EarthField error limit (EK2_MAG_EF_LIM)

Note: This parameter is for advanced users

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

Height rate filter crossover frequency (EK2_HRT_FILT)

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

Bitmask of which EKF-GSF yaw estimators run (EK2_GSF_RUN_MASK)

Note: This parameter is for advanced users

A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0.

Bitmask of which EKF-GSF yaw estimators are used (EK2_GSF_USE_MASK)

Note: This parameter is for advanced users

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.

Maximum number of resets to the EKF-GSF yaw estimate allowed (EK2_GSF_RST_MAX)

Note: This parameter is for advanced users

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 EKF behaviour (EK2_OPTIONS)

Note: This parameter is for advanced users

optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution

EK3_ Parameters

Enable EKF3 (EK3_ENABLE)

Note: This parameter is for advanced users

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.

GPS horizontal velocity measurement noise (m/s) (EK3_VELNE_M_NSE)

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

GPS vertical velocity measurement noise (m/s) (EK3_VELD_M_NSE)

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

GPS velocity innovation gate size (EK3_VEL_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

GPS horizontal position measurement noise (m) (EK3_POSNE_M_NSE)

Note: This parameter is for advanced users

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

GPS position measurement gate size (EK3_POS_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

GPS glitch radius gate size (m) (EK3_GLITCH_RAD)

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.

Altitude measurement noise (m) (EK3_ALT_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.

Height measurement gate size (EK3_HGT_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.

Height measurement delay (msec) (EK3_HGT_DELAY)

Note: This parameter is for advanced users

This is the number of msec that the Height measurements lag behind the inertial measurements.

Magnetometer measurement noise (Gauss) (EK3_MAG_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

Magnetometer default fusion mode (EK3_MAG_CAL)

Note: This parameter is for advanced users

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states 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.

Magnetometer measurement gate size (EK3_MAG_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Equivalent airspeed measurement noise (m/s) (EK3_EAS_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

Airspeed measurement gate size (EK3_EAS_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range finder measurement noise (m) (EK3_RNG_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

Range finder measurement gate size (EK3_RNG_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Optical flow rate maximum (EK3_FLOW_MAX)

Note: This parameter is for advanced users

The maximum optical flow rate in rad/sec that will be accepted by the filter. Flow rates above this value will not be fused.

Optical flow measurement noise (rad/s) (EK3_FLOW_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

Optical Flow measurement gate size (EK3_FLOW_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Optical Flow measurement delay (msec) (EK3_FLOW_DELAY)

Note: This parameter is for advanced users

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.

Rate gyro noise (rad/s) (EK3_GYRO_P_NSE)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

Accelerometer noise (m/s^2) (EK3_ACC_P_NSE)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

Rate gyro bias stability (rad/s/s) (EK3_GBIAS_P_NSE)

Note: This parameter is for advanced users

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

Accelerometer bias stability (m/s^3) (EK3_ABIAS_P_NSE)

Note: This parameter is for advanced users

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

Wind velocity process noise (m/s^2) (EK3_WIND_P_NSE)

Note: This parameter is for advanced users

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

Height rate to wind process noise scaler (EK3_WIND_PSCALE)

Note: This parameter is for advanced users

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

GPS preflight check (EK3_GPS_CHECK)

Note: This parameter is for advanced users

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

Bitmask of active IMUs (EK3_IMU_MASK)

Note: This parameter is for advanced users

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.

GPS accuracy check scaler (%) (EK3_CHECK_SCALE)

Note: This parameter is for advanced users

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

Non-GPS operation position uncertainty (m) (EK3_NOAID_M_NSE)

Note: This parameter is for advanced users

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

Bitmask controlling sidelip angle fusion (EK3_BETA_MASK)

Note: This parameter is for advanced users

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.

Yaw measurement noise (rad) (EK3_YAW_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

Yaw measurement gate size (EK3_YAW_I_GATE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Output complementary filter time constant (centi-sec) (EK3_TAU_OUTPUT)

Note: This parameter is for advanced users

Sets the time constant of the output complementary filter/predictor in centi-seconds.

Earth magnetic field process noise (gauss/s) (EK3_MAGE_P_NSE)

Note: This parameter is for advanced users

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

Body magnetic field process noise (gauss/s) (EK3_MAGB_P_NSE)

Note: This parameter is for advanced users

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

Range finder switch height percentage (EK3_RNG_USE_HGT)

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX) 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.

Maximum terrain gradient (EK3_TERR_GRAD)

Note: This parameter is for advanced users

Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference

Range beacon measurement noise (m) (EK3_BCN_M_NSE)

Note: This parameter is for advanced users

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

Range beacon measurement gate size (EK3_BCN_I_GTE)

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range beacon measurement delay (msec) (EK3_BCN_DELAY)

Note: This parameter is for advanced users

This is the number of msec that the range beacon measurements lag behind the inertial measurements.

Range finder max ground speed (EK3_RNG_USE_SPD)

Note: This parameter is for advanced users

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

Accelerometer bias limit (EK3_ACC_BIAS_LIM)

Note: This parameter is for advanced users

The accelerometer bias state will be limited to +- this value

Bitmask of active EKF cores that will always use heading fusion (EK3_MAG_MASK)

Note: This parameter is for advanced users

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

Bitmask control of EKF reference height correction (EK3_OGN_HGT_MASK)

Note: This parameter is for advanced users

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).

Visual odometry minimum velocity error (EK3_VIS_VERR_MIN)

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

Visual odometry maximum velocity error (EK3_VIS_VERR_MAX)

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

Wheel odometry velocity error (EK3_WENC_VERR)

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.

Optical flow use bitmask (EK3_FLOW_USE)

Note: This parameter is for advanced users

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

Height rate filter crossover frequency (EK3_HRT_FILT)

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

EarthField error limit (EK3_MAG_EF_LIM)

Note: This parameter is for advanced users

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

Bitmask of which EKF-GSF yaw estimators run (EK3_GSF_RUN_MASK)

Note: This parameter is for advanced users

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.

Bitmask of which EKF-GSF yaw estimators are used (EK3_GSF_USE_MASK)

Note: This parameter is for advanced users

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.

Maximum number of resets to the EKF-GSF yaw estimate allowed (EK3_GSF_RST_MAX)

Note: This parameter is for advanced users

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.

EKF3 Lane Relative Error Sensitivity Threshold (EK3_ERR_THRESH)

Note: This parameter is for advanced users

lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences

EKF3 Sensor Affinity Options (EK3_AFFINITY)

Note: This parameter is for advanced users

These options control the affinity between sensor instances and EKF cores

Ballistic coefficient for X axis drag (EK3_DRAG_BCOEF_X)

Note: This parameter is for advanced users

Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a 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.

Ballistic coefficient for Y axis drag (EK3_DRAG_BCOEF_Y)

Note: This parameter is for advanced users

Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a 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.

Observation noise for drag acceleration (EK3_DRAG_M_NSE)

Note: This parameter is for advanced users

This sets the amount of noise used when fusing X and Y acceleration as an observation that enables estimation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters

Momentum coefficient for propeller drag (EK3_DRAG_MCOEF)

Note: This parameter is for advanced users

This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a 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.

On ground not moving test scale factor (EK3_OGNM_TEST_SF)

Note: This parameter is for advanced users

This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.

Baro height ground effect dead zone (EK3_GND_EFF_DZ)

Note: This parameter is for advanced users

This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.

Primary core number (EK3_PRIMARY)

Note: This parameter is for advanced users

The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.

Logging Level (EK3_LOG_LEVEL)

Note: This parameter is for advanced users

Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.

GPS vertical accuracy threshold (EK3_GPS_VACC_MAX)

Note: This parameter is for advanced users

Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.

Optional EKF behaviour (EK3_OPTIONS)

Note: This parameter is for advanced users

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. Bit 2 (Optflow may use terrain alt): Terrain SRTM data will be used if the vehicle climbs above the rangefinder's range allowing optical flow to be used at higher altitudes.

EK3_SRC Parameters

Position Horizontal Source (Primary) (EK3_SRC1_POSXY)

Note: This parameter is for advanced users

Position Horizontal Source (Primary)

Velocity Horizontal Source (EK3_SRC1_VELXY)

Note: This parameter is for advanced users

Velocity Horizontal Source

Position Vertical Source (EK3_SRC1_POSZ)

Note: This parameter is for advanced users

Position Vertical Source

Velocity Vertical Source (EK3_SRC1_VELZ)

Note: This parameter is for advanced users

Velocity Vertical Source

Yaw Source (EK3_SRC1_YAW)

Note: This parameter is for advanced users

Yaw Source

Position Horizontal Source (Secondary) (EK3_SRC2_POSXY)

Note: This parameter is for advanced users

Position Horizontal Source (Secondary)

Velocity Horizontal Source (Secondary) (EK3_SRC2_VELXY)

Note: This parameter is for advanced users

Velocity Horizontal Source (Secondary)

Position Vertical Source (Secondary) (EK3_SRC2_POSZ)

Note: This parameter is for advanced users

Position Vertical Source (Secondary)

Velocity Vertical Source (Secondary) (EK3_SRC2_VELZ)

Note: This parameter is for advanced users

Velocity Vertical Source (Secondary)

Yaw Source (Secondary) (EK3_SRC2_YAW)

Note: This parameter is for advanced users

Yaw Source (Secondary)

Position Horizontal Source (Tertiary) (EK3_SRC3_POSXY)

Note: This parameter is for advanced users

Position Horizontal Source (Tertiary)

Velocity Horizontal Source (Tertiary) (EK3_SRC3_VELXY)

Note: This parameter is for advanced users

Velocity Horizontal Source (Tertiary)

Position Vertical Source (Tertiary) (EK3_SRC3_POSZ)

Note: This parameter is for advanced users

Position Vertical Source (Tertiary)

Velocity Vertical Source (Tertiary) (EK3_SRC3_VELZ)

Note: This parameter is for advanced users

Velocity Vertical Source (Tertiary)

Yaw Source (Tertiary) (EK3_SRC3_YAW)

Note: This parameter is for advanced users

Yaw Source (Tertiary)

EKF Source Options (EK3_SRC_OPTIONS)

Note: This parameter is for advanced users

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.

ESC_TLM Parameters

ESC Telemetry mavlink offset (ESC_TLM_MAV_OFS)

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

FENCE_ Parameters

Fence enable/disable (FENCE_ENABLE)

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.

Fence Type (FENCE_TYPE)

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.

Fence Action (FENCE_ACTION)

What action should be taken when fence is breached

Fence Maximum Altitude (FENCE_ALT_MAX)

Maximum altitude allowed before geofence triggers

Circular Fence Radius (FENCE_RADIUS)

Circle fence radius which when breached will cause an RTL

Fence Margin (FENCE_MARGIN)

Distance that autopilot's should maintain from the fence to avoid a breach

Fence polygon point total (FENCE_TOTAL)

Number of polygon points saved in eeprom (do not update manually)

Fence Minimum Altitude (FENCE_ALT_MIN)

Minimum altitude allowed before geofence triggers

Fence Return to Rally (FENCE_RET_RALLY)

Should the vehicle return to fence return point or rally point

Fence Return Altitude (FENCE_RET_ALT)

Altitude the vehicle will transit to when a fence breach occurs

Fence Auto-Enable (FENCE_AUTOENABLE)

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.

Fence options (FENCE_OPTIONS)

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.

Fence margin notification frequency in hz (FENCE_NTF_FREQ)

Note: This parameter is for advanced users

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.

FFT_ Parameters

Enable (FFT_ENABLE)

Note: This parameter is for advanced users

Enable Gyro FFT analyser

Minimum Frequency (FFT_MINHZ)

Note: This parameter is for advanced users

Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.

Maximum Frequency (FFT_MAXHZ)

Note: This parameter is for advanced users

Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.

Sample Mode (FFT_SAMPLE_MODE)

Note: This parameter is for advanced users

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.

FFT window size (FFT_WINDOW_SIZE)

Note: This parameter is for advanced users

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.

FFT window overlap (FFT_WINDOW_OLAP)

Note: This parameter is for advanced users

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.

FFT learned hover frequency (FFT_FREQ_HOVER)

Note: This parameter is for advanced users

The learned hover noise frequency

FFT learned thrust reference (FFT_THR_REF)

Note: This parameter is for advanced users

FFT learned thrust reference for the hover frequency and FFT minimum frequency.

FFT SNR reference threshold (FFT_SNR_REF)

Note: This parameter is for advanced users

FFT SNR reference threshold in dB at which a signal is determined to be present.

FFT attenuation for bandwidth calculation (FFT_ATT_REF)

Note: This parameter is for advanced users

FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.

FFT learned bandwidth at hover (FFT_BW_HOVER)

Note: This parameter is for advanced users

FFT learned bandwidth at hover for the attenuation frequencies.

FFT harmonic fit frequency threshold (FFT_HMNC_FIT)

Note: This parameter is for advanced users

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.

FFT harmonic peak target (FFT_HMNC_PEAK)

Note: This parameter is for advanced users

The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).

FFT output frames to retain and average (FFT_NUM_FRAMES)

Note: This parameter is for advanced users

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 options (FFT_OPTIONS)

Note: This parameter is for advanced users

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

FILT1_ Parameters

Filter Type (FILT1_TYPE)

Filter Type

Notch Filter center frequency (FILT1_NOTCH_FREQ)

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Notch Filter quality factor (FILT1_NOTCH_Q)

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Notch Filter attenuation (FILT1_NOTCH_ATT)

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

FILT2_ Parameters

Filter Type (FILT2_TYPE)

Filter Type

Notch Filter center frequency (FILT2_NOTCH_FREQ)

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Notch Filter quality factor (FILT2_NOTCH_Q)

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Notch Filter attenuation (FILT2_NOTCH_ATT)

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

FILT3_ Parameters

Filter Type (FILT3_TYPE)

Filter Type

Notch Filter center frequency (FILT3_NOTCH_FREQ)

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Notch Filter quality factor (FILT3_NOTCH_Q)

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Notch Filter attenuation (FILT3_NOTCH_ATT)

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

FILT4_ Parameters

Filter Type (FILT4_TYPE)

Filter Type

Notch Filter center frequency (FILT4_NOTCH_FREQ)

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Notch Filter quality factor (FILT4_NOTCH_Q)

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Notch Filter attenuation (FILT4_NOTCH_ATT)

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

FILT5_ Parameters

Filter Type (FILT5_TYPE)

Filter Type

Notch Filter center frequency (FILT5_NOTCH_FREQ)

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Notch Filter quality factor (FILT5_NOTCH_Q)

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Notch Filter attenuation (FILT5_NOTCH_ATT)

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

FILT6_ Parameters

Filter Type (FILT6_TYPE)

Filter Type

Notch Filter center frequency (FILT6_NOTCH_FREQ)

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Notch Filter quality factor (FILT6_NOTCH_Q)

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Notch Filter attenuation (FILT6_NOTCH_ATT)

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

FILT7_ Parameters

Filter Type (FILT7_TYPE)

Filter Type

Notch Filter center frequency (FILT7_NOTCH_FREQ)

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Notch Filter quality factor (FILT7_NOTCH_Q)

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Notch Filter attenuation (FILT7_NOTCH_ATT)

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

FILT8_ Parameters

Filter Type (FILT8_TYPE)

Filter Type

Notch Filter center frequency (FILT8_NOTCH_FREQ)

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Notch Filter quality factor (FILT8_NOTCH_Q)

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Notch Filter attenuation (FILT8_NOTCH_ATT)

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

FLOW Parameters

Optical flow sensor type (FLOW_TYPE)

Optical flow sensor type

X axis optical flow scale factor correction (FLOW_FXSCALER)

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.

Y axis optical flow scale factor correction (FLOW_FYSCALER)

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.

Flow sensor yaw alignment (FLOW_ORIENT_YAW)

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 offset (FLOW_POS_X)

Note: This parameter is for advanced users

X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.

Y position offset (FLOW_POS_Y)

Note: This parameter is for advanced users

Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.

Z position offset (FLOW_POS_Z)

Note: This parameter is for advanced users

Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.

Address on the bus (FLOW_ADDR)

Note: This parameter is for advanced users

This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.

Height override of sensor above ground (FLOW_HGT_OVR)

Note: This parameter is for advanced users

This is used in rover vehicles, where the sensor is a fixed height above the ground

Optical flow options (FLOW_OPTIONS)

Optical flow options. Bit 0 should be set if the sensor is stabilised (e.g. mounted on a gimbal)

FOLL Parameters

Follow enable/disable (FOLL_ENABLE)

Enabled/disable following a target

Follow target's mavlink system id (FOLL_SYSID)

Follow target's mavlink system id

Follow distance maximum (FOLL_DIST_MAX)

Follow distance maximum. If exceeded, the follow estimate will be considered invalid.

Follow offset type (FOLL_OFS_TYPE)

Follow offset type

Follow offsets in meters north/forward (FOLL_OFS_X)

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 (FOLL_OFS_Y)

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 (FOLL_OFS_Z)

Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle

Follow yaw behaviour (FOLL_YAW_BEHAVE)

Follow yaw behaviour

Follow position error P gain (FOLL_POS_P)

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 (FOLL_ALT_TYPE)

Follow altitude type

Follow options (FOLL_OPTIONS)

Follow options bitmask

Acceleration limit for the horizontal kinematic input shaping (FOLL_ACCEL_NE)

Note: This parameter is for advanced users

Acceleration limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in velocity

Jerk limit for the horizontal kinematic input shaping (FOLL_JERK_NE)

Note: This parameter is for advanced users

Jerk limit of the horizontal kinematic path generation used to determine how quickly the estimate varies in acceleration

Acceleration limit for the vertical kinematic input shaping (FOLL_ACCEL_D)

Note: This parameter is for advanced users

Acceleration limit of the vertical kinematic path generation used to determine how quickly the estimate varies in velocity

Jerk limit for the vertical kinematic input shaping (FOLL_JERK_D)

Note: This parameter is for advanced users

Jerk limit of the vertical kinematic path generation used to determine how quickly the estimate varies in acceleration

Angular acceleration limit for the heading kinematic input shaping (FOLL_ACCEL_H)

Note: This parameter is for advanced users

Angular acceleration limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular velocity

Angular jerk limit for the heading kinematic input shaping (FOLL_JERK_H)

Note: This parameter is for advanced users

Angular jerk limit of the heading kinematic path generation used to determine how quickly the estimate varies in angular acceleration

FRSKY_ Parameters

Uplink sensor id (FRSKY_UPLINK_ID)

Note: This parameter is for advanced users

Change the uplink sensor id (SPort only)

First downlink sensor id (FRSKY_DNLINK1_ID)

Note: This parameter is for advanced users

Change the first extra downlink sensor id (SPort only)

Second downlink sensor id (FRSKY_DNLINK2_ID)

Note: This parameter is for advanced users

Change the second extra downlink sensor id (SPort only)

Default downlink sensor id (FRSKY_DNLINK_ID)

Note: This parameter is for advanced users

Change the default downlink sensor id (SPort only)

FRSky Telemetry Options (FRSKY_OPTIONS)

A bitmask to set some FRSky Telemetry specific options

GEN_ Parameters

Generator type (GEN_TYPE)

Generator type

Generator Options (GEN_OPTIONS)

Bitmask of options for generators

GPS Parameters

Navigation filter setting (GPS_NAVFILTER)

Note: This parameter is for advanced users

Navigation filter engine setting

Automatic Switchover Setting (GPS_AUTO_SWITCH)

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary

SBAS Mode (GPS_SBAS_MODE)

Note: This parameter is for advanced users

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.

Minimum elevation (GPS_MIN_ELEV)

Note: This parameter is for advanced users

This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.

Destination for GPS_INJECT_DATA MAVLink packets (GPS_INJECT_TO)

Note: This parameter is for advanced users

The GGS can send raw serial packets to inject data to multiple GPSes.

Swift Binary Protocol Logging Mask (GPS_SBP_LOGMASK)

Note: This parameter is for advanced users

Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged

Raw data logging (GPS_RAW_DATA)

Note: This parameter is for advanced users

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

Save GPS configuration (GPS_SAVE_CFG)

Note: This parameter is for advanced users

Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.

Automatic GPS configuration (GPS_AUTO_CONFIG)

Note: This parameter is for advanced users

Controls if the autopilot should automatically configure the GPS based on the parameters and default settings

Multi GPS Blending Mask (GPS_BLEND_MASK)

Note: This parameter is for advanced users

Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)

driver options (GPS_DRV_OPTIONS)

Note: This parameter is for advanced users

Additional backend specific options

Primary GPS (GPS_PRIMARY)

Note: This parameter is for advanced users

This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.

1st GPS type (GPS_TYPE)

Note: This parameter is for advanced users

GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE

2nd GPS type.Renamed in 4.6 to GPS2_TYPE (GPS_TYPE2)

Note: This parameter is for advanced users

GPS type of 2nd GPS

GNSS system configuration (GPS_GNSS_MODE)

Note: This parameter is for advanced users

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE.

GNSS system configuration. (GPS_GNSS_MODE2)

Note: This parameter is for advanced users

Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE

GPS update rate in milliseconds (GPS_RATE_MS)

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS

GPS 2 update rate in milliseconds (GPS_RATE_MS2)

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS

Antenna X position offset (GPS_POS1_X)

Note: This parameter is for advanced users

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X.

Antenna Y position offset (GPS_POS1_Y)

Note: This parameter is for advanced users

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y.

Antenna Z position offset (GPS_POS1_Z)

Note: This parameter is for advanced users

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z.

Antenna X position offset (GPS_POS2_X)

Note: This parameter is for advanced users

X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X.

Antenna Y position offset (GPS_POS2_Y)

Note: This parameter is for advanced users

Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y.

Antenna Z position offset (GPS_POS2_Z)

Note: This parameter is for advanced users

Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z.

GPS delay in milliseconds (GPS_DELAY_MS)

Note: This parameter is for advanced users

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.

GPS 2 delay in milliseconds (GPS_DELAY_MS2)

Note: This parameter is for advanced users

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.

GPS physical COM port (GPS_COM_PORT)

Note: This parameter is for advanced users

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 physical COM port (GPS_COM_PORT2)

Note: This parameter is for advanced users

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 1 (GPS_CAN_NODEID1)

Note: This parameter is for advanced users

GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID.

GPS Node ID 2 (GPS_CAN_NODEID2)

Note: This parameter is for advanced users

GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID.

GPS1_ Parameters

GPS type (GPS1_TYPE)

Note: This parameter is for advanced users

GPS type

GNSS system configuration (GPS1_GNSS_MODE)

Note: This parameter is for advanced users

Bitmask for what GNSS system to use (all unchecked or zero to leave GPS as configured)

GPS update rate in milliseconds (GPS1_RATE_MS)

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

Antenna X position offset (GPS1_POS_X)

Note: This parameter is for advanced users

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Antenna Y position offset (GPS1_POS_Y)

Note: This parameter is for advanced users

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Antenna Z position offset (GPS1_POS_Z)

Note: This parameter is for advanced users

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

GPS delay in milliseconds (GPS1_DELAY_MS)

Note: This parameter is for advanced users

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.

GPS physical COM port (GPS1_COM_PORT)

Note: This parameter is for advanced users

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS

Detected CAN Node ID for GPS (GPS1_CAN_NODEID)

Note: This parameter is for advanced users

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

DroneCAN GPS NODE ID (GPS1_CAN_OVRIDE)

Note: This parameter is for advanced users

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

GPS1_MB_ Parameters

Moving base type (GPS1_MB_TYPE)

Note: This parameter is for advanced users

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Base antenna X position offset (GPS1_MB_OFS_X)

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Base antenna Y position offset (GPS1_MB_OFS_Y)

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Base antenna Z position offset (GPS1_MB_OFS_Z)

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

GPS2_ Parameters

GPS type (GPS2_TYPE)

Note: This parameter is for advanced users

GPS type

GNSS system configuration (GPS2_GNSS_MODE)

Note: This parameter is for advanced users

Bitmask for what GNSS system to use (all unchecked or zero to leave GPS as configured)

GPS update rate in milliseconds (GPS2_RATE_MS)

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

Antenna X position offset (GPS2_POS_X)

Note: This parameter is for advanced users

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Antenna Y position offset (GPS2_POS_Y)

Note: This parameter is for advanced users

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Antenna Z position offset (GPS2_POS_Z)

Note: This parameter is for advanced users

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

GPS delay in milliseconds (GPS2_DELAY_MS)

Note: This parameter is for advanced users

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.

GPS physical COM port (GPS2_COM_PORT)

Note: This parameter is for advanced users

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS

Detected CAN Node ID for GPS (GPS2_CAN_NODEID)

Note: This parameter is for advanced users

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

DroneCAN GPS NODE ID (GPS2_CAN_OVRIDE)

Note: This parameter is for advanced users

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

GPS2_MB_ Parameters

Moving base type (GPS2_MB_TYPE)

Note: This parameter is for advanced users

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Base antenna X position offset (GPS2_MB_OFS_X)

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Base antenna Y position offset (GPS2_MB_OFS_Y)

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Base antenna Z position offset (GPS2_MB_OFS_Z)

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

GPS_MB1_ Parameters

Moving base type (GPS_MB1_TYPE)

Note: This parameter is for advanced users

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Base antenna X position offset (GPS_MB1_OFS_X)

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Base antenna Y position offset (GPS_MB1_OFS_Y)

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Base antenna Z position offset (GPS_MB1_OFS_Z)

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

GPS_MB2_ Parameters

Moving base type (GPS_MB2_TYPE)

Note: This parameter is for advanced users

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Base antenna X position offset (GPS_MB2_OFS_X)

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Base antenna Y position offset (GPS_MB2_OFS_Y)

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Base antenna Z position offset (GPS_MB2_OFS_Z)

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

GRIP_ Parameters

Gripper Enable/Disable (GRIP_ENABLE)

Gripper enable/disable

Gripper Type (GRIP_TYPE)

Gripper enable/disable

Gripper Grab PWM (GRIP_GRAB)

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

Gripper Release PWM (GRIP_RELEASE)

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Neutral PWM (GRIP_NEUTRAL)

Note: This parameter is for advanced users

PWM value in microseconds sent to grabber when not grabbing or releasing

EPM Gripper Regrab interval (GRIP_REGRAB)

Note: This parameter is for advanced users

Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable

EPM UAVCAN Hardpoint ID (GRIP_CAN_ID)

Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface

Gripper Autoclose time (GRIP_AUTOCLOSE)

Note: This parameter is for advanced users

Time in seconds that gripper close the gripper after opening; 0 to disable

GUIDED_ Parameters

PID Proportional Gain (GUIDED_P)

P Gain which produces an output value that is proportional to the current error value

PID Integral Gain (GUIDED_I)

I Gain which produces an output that is proportional to both the magnitude and the duration of the error

PID Derivative Gain (GUIDED_D)

D Gain which produces an output that is proportional to the rate of change of the error

FF FeedForward Gain (GUIDED_FF)

FF Gain which produces an output value that is proportional to the demanded input

PID Integral Maximum (GUIDED_IMAX)

The maximum/minimum value that the I term can output

PID Target filter frequency in Hz (GUIDED_FLTT)

Low-pass filter frequency applied to the target input (Hz)

PID Error filter frequency in Hz (GUIDED_FLTE)

Low-pass filter frequency applied to the error (Hz)

PID Derivative term filter frequency in Hz (GUIDED_FLTD)

Low-pass filter frequency applied to the derivative (Hz)

Slew rate limit (GUIDED_SMAX)

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

PD sum maximum (GUIDED_PDMX)

Note: This parameter is for advanced users

The maximum/minimum value that the sum of the P and D term can output

PID Derivative FeedForward Gain (GUIDED_D_FF)

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

PID Target notch filter index (GUIDED_NTF)

Note: This parameter is for advanced users

PID Target notch filter index

PID Error notch filter index (GUIDED_NEF)

Note: This parameter is for advanced users

PID Error notch filter index

ICE_ Parameters

Enable ICEngine control (ICE_ENABLE)

Note: This parameter is for advanced users

This enables internal combustion engine control

Input channel for engine start (ICE_START_CHAN)

This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disarmed. See ICE_STARTCHN_MIN parameter to change engine stop PWM value and/or to enable debouncing of the START_CH to avoid accidental engine kills due to noise on channel.

Time to run starter (ICE_STARTER_TIME)

This is the number of seconds to run the starter when trying to start the engine

Time to wait between starts (ICE_START_DELAY)

Delay between start attempts

RPM threshold (ICE_RPM_THRESH)

This is the measured RPM above which the engine is considered to be running

PWM value for ignition on (ICE_PWM_IGN_ON)

This is the value sent to the ignition channel when on

PWM value for ignition off (ICE_PWM_IGN_OFF)

This is the value sent to the ignition channel when off

PWM value for starter on (ICE_PWM_STRT_ON)

This is the value sent to the starter channel when on

PWM value for starter off (ICE_PWM_STRT_OFF)

This is the value sent to the starter channel when off

RPM instance channel to use (ICE_RPM_CHAN)

This is which of the RPM instances to use for detecting the RPM of the engine

Throttle percentage for engine start (ICE_START_PCT)

This is the percentage throttle output for engine start

Throttle percentage for engine idle (ICE_IDLE_PCT)

This is the minimum percentage throttle output while running, this includes being disarmed, but not safe

RPM Setpoint for Idle Governor (ICE_IDLE_RPM)

Note: This parameter is for advanced users

This configures the RPM that will be commanded by the idle governor. Set to -1 to disable

Deadband for Idle Governor (ICE_IDLE_DB)

This configures the deadband that is tolerated before adjusting the idle setpoint

Slew Rate for idle control (ICE_IDLE_SLEW)

This configures the slewrate used to adjust the idle setpoint in percentage points per second

ICE options (ICE_OPTIONS)

Options for ICE control. The Disable ignition in RC failsafe option will cause the ignition to be set off on any R/C failsafe. If Throttle while disarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode. If disable while disarmed is set the engine will not start while the vehicle is disarmed unless overriden by the MAVLink DO_ENGINE_CONTROL command.

Input channel for engine start minimum PWM (ICE_STARTCHN_MIN)

This is a minimum PWM value for engine start channel for an engine stop to be commanded. Setting this value will avoid RC input glitches with low PWM values from causing an unwanted engine stop. A value of zero means any PWM above 800 and below 1300 triggers an engine stop. To stop the engine start channel must above the larger of this value and 800 and below 1300.

RPM of the redline limit for the engine (ICE_REDLINE_RPM)

Note: This parameter is for advanced users

Maximum RPM for the engine provided by the manufacturer. A value of 0 disables this feature. See ICE_OPTIONS to enable or disable the governor.

Maximum number of retries (ICE_STRT_MX_RTRY)

If set 0 then there is no limit to retrials. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up.

INS Parameters

Gyro offsets of X axis (INS_GYROFFS_X)

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

Gyro offsets of Y axis (INS_GYROFFS_Y)

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Gyro offsets of Z axis (INS_GYROFFS_Z)

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Gyro2 offsets of X axis (INS_GYR2OFFS_X)

Note: This parameter is for advanced users

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Gyro2 offsets of Y axis (INS_GYR2OFFS_Y)

Note: This parameter is for advanced users

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Gyro2 offsets of Z axis (INS_GYR2OFFS_Z)

Note: This parameter is for advanced users

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Gyro3 offsets of X axis (INS_GYR3OFFS_X)

Note: This parameter is for advanced users

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Gyro3 offsets of Y axis (INS_GYR3OFFS_Y)

Note: This parameter is for advanced users

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Gyro3 offsets of Z axis (INS_GYR3OFFS_Z)

Note: This parameter is for advanced users

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Accelerometer scaling of X axis (INS_ACCSCAL_X)

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Accelerometer scaling of Y axis (INS_ACCSCAL_Y)

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Accelerometer scaling of Z axis (INS_ACCSCAL_Z)

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Accelerometer offsets of X axis (INS_ACCOFFS_X)

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Accelerometer offsets of Y axis (INS_ACCOFFS_Y)

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Accelerometer offsets of Z axis (INS_ACCOFFS_Z)

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

Accelerometer2 scaling of X axis (INS_ACC2SCAL_X)

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

Accelerometer2 scaling of Y axis (INS_ACC2SCAL_Y)

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

Accelerometer2 scaling of Z axis (INS_ACC2SCAL_Z)

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

Accelerometer2 offsets of X axis (INS_ACC2OFFS_X)

Note: This parameter is for advanced users

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

Accelerometer2 offsets of Y axis (INS_ACC2OFFS_Y)

Note: This parameter is for advanced users

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

Accelerometer2 offsets of Z axis (INS_ACC2OFFS_Z)

Note: This parameter is for advanced users

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

Accelerometer3 scaling of X axis (INS_ACC3SCAL_X)

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

Accelerometer3 scaling of Y axis (INS_ACC3SCAL_Y)

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

Accelerometer3 scaling of Z axis (INS_ACC3SCAL_Z)

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

Accelerometer3 offsets of X axis (INS_ACC3OFFS_X)

Note: This parameter is for advanced users

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

Accelerometer3 offsets of Y axis (INS_ACC3OFFS_Y)

Note: This parameter is for advanced users

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

Accelerometer3 offsets of Z axis (INS_ACC3OFFS_Z)

Note: This parameter is for advanced users

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

Gyro filter cutoff frequency (INS_GYRO_FILTER)

Note: This parameter is for advanced users

Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

Accel filter cutoff frequency (INS_ACCEL_FILTER)

Note: This parameter is for advanced users

Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

Use first IMU for attitude, velocity and position estimates (INS_USE)

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Use second IMU for attitude, velocity and position estimates (INS_USE2)

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

Use third IMU for attitude, velocity and position estimates (INS_USE3)

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

Stillness threshold for detecting if we are moving (INS_STILL_THRESH)

Note: This parameter is for advanced users

Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5

Gyro Calibration scheme (INS_GYR_CAL)

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

Accel cal trim option (INS_TRIM_OPTION)

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

Body-fixed accelerometer (INS_ACC_BODYFIX)

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

IMU accelerometer X position (INS_POS1_X)

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer Y position (INS_POS1_Y)

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer Z position (INS_POS1_Z)

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer X position (INS_POS2_X)

Note: This parameter is for advanced users

X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer Y position (INS_POS2_Y)

Note: This parameter is for advanced users

Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer Z position (INS_POS2_Z)

Note: This parameter is for advanced users

Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer X position (INS_POS3_X)

Note: This parameter is for advanced users

X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer Y position (INS_POS3_Y)

Note: This parameter is for advanced users

Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer Z position (INS_POS3_Z)

Note: This parameter is for advanced users

Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Gyro ID (INS_GYR_ID)

Note: This parameter is for advanced users

Gyro sensor ID, taking into account its type, bus and instance

Gyro2 ID (INS_GYR2_ID)

Note: This parameter is for advanced users

Gyro2 sensor ID, taking into account its type, bus and instance

Gyro3 ID (INS_GYR3_ID)

Note: This parameter is for advanced users

Gyro3 sensor ID, taking into account its type, bus and instance

Accelerometer ID (INS_ACC_ID)

Note: This parameter is for advanced users

Accelerometer sensor ID, taking into account its type, bus and instance

Accelerometer2 ID (INS_ACC2_ID)

Note: This parameter is for advanced users

Accelerometer2 sensor ID, taking into account its type, bus and instance

Accelerometer3 ID (INS_ACC3_ID)

Note: This parameter is for advanced users

Accelerometer3 sensor ID, taking into account its type, bus and instance

Fast sampling mask (INS_FAST_SAMPLE)

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

IMU enable mask (INS_ENABLE_MASK)

Note: This parameter is for advanced users

Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs

Gyro rate for IMUs with Fast Sampling enabled (INS_GYRO_RATE)

Note: This parameter is for advanced users

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.

Calibration temperature for 1st accelerometer (INS_ACC1_CALTEMP)

Note: This parameter is for advanced users

Temperature that the 1st accelerometer was calibrated at

Calibration temperature for 1st gyroscope (INS_GYR1_CALTEMP)

Note: This parameter is for advanced users

Temperature that the 1st gyroscope was calibrated at

Calibration temperature for 2nd accelerometer (INS_ACC2_CALTEMP)

Note: This parameter is for advanced users

Temperature that the 2nd accelerometer was calibrated at

Calibration temperature for 2nd gyroscope (INS_GYR2_CALTEMP)

Note: This parameter is for advanced users

Temperature that the 2nd gyroscope was calibrated at

Calibration temperature for 3rd accelerometer (INS_ACC3_CALTEMP)

Note: This parameter is for advanced users

Temperature that the 3rd accelerometer was calibrated at

Calibration temperature for 3rd gyroscope (INS_GYR3_CALTEMP)

Note: This parameter is for advanced users

Temperature that the 3rd gyroscope was calibrated at

Options for temperature calibration (INS_TCAL_OPTIONS)

Note: This parameter is for advanced users

This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.

Raw logging options (INS_RAW_LOG_OPT)

Note: This parameter is for advanced users

Raw logging options bitmask

INS4_ Parameters

Use first IMU for attitude, velocity and position estimates (INS4_USE)

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Accelerometer ID (INS4_ACC_ID)

Note: This parameter is for advanced users

Accelerometer sensor ID, taking into account its type, bus and instance

Accelerometer scaling of X axis (INS4_ACCSCAL_X)

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Accelerometer scaling of Y axis (INS4_ACCSCAL_Y)

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Accelerometer scaling of Z axis (INS4_ACCSCAL_Z)

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Accelerometer offsets of X axis (INS4_ACCOFFS_X)

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Accelerometer offsets of Y axis (INS4_ACCOFFS_Y)

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Accelerometer offsets of Z axis (INS4_ACCOFFS_Z)

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

IMU accelerometer X position (INS4_POS_X)

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer Y position (INS4_POS_Y)

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer Z position (INS4_POS_Z)

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Calibration temperature for accelerometer (INS4_ACC_CALTEMP)

Note: This parameter is for advanced users

Temperature that the accelerometer was calibrated at

Gyro ID (INS4_GYR_ID)

Note: This parameter is for advanced users

Gyro sensor ID, taking into account its type, bus and instance

Gyro offsets of X axis (INS4_GYROFFS_X)

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

Gyro offsets of Y axis (INS4_GYROFFS_Y)

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Gyro offsets of Z axis (INS4_GYROFFS_Z)

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Calibration temperature for gyroscope (INS4_GYR_CALTEMP)

Note: This parameter is for advanced users

Temperature that the gyroscope was calibrated at

INS4_TCAL_ Parameters

Enable temperature calibration (INS4_TCAL_ENABLE)

Note: This parameter is for advanced users

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

Temperature calibration min (INS4_TCAL_TMIN)

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Temperature calibration max (INS4_TCAL_TMAX)

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Accelerometer 1st order temperature coefficient X axis (INS4_TCAL_ACC1_X)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 1st order temperature coefficient Y axis (INS4_TCAL_ACC1_Y)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 1st order temperature coefficient Z axis (INS4_TCAL_ACC1_Z)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient X axis (INS4_TCAL_ACC2_X)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient Y axis (INS4_TCAL_ACC2_Y)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient Z axis (INS4_TCAL_ACC2_Z)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient X axis (INS4_TCAL_ACC3_X)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient Y axis (INS4_TCAL_ACC3_Y)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient Z axis (INS4_TCAL_ACC3_Z)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient X axis (INS4_TCAL_GYR1_X)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient Y axis (INS4_TCAL_GYR1_Y)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient Z axis (INS4_TCAL_GYR1_Z)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient X axis (INS4_TCAL_GYR2_X)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient Y axis (INS4_TCAL_GYR2_Y)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient Z axis (INS4_TCAL_GYR2_Z)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient X axis (INS4_TCAL_GYR3_X)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient Y axis (INS4_TCAL_GYR3_Y)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient Z axis (INS4_TCAL_GYR3_Z)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

INS5_ Parameters

Use first IMU for attitude, velocity and position estimates (INS5_USE)

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Accelerometer ID (INS5_ACC_ID)

Note: This parameter is for advanced users

Accelerometer sensor ID, taking into account its type, bus and instance

Accelerometer scaling of X axis (INS5_ACCSCAL_X)

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Accelerometer scaling of Y axis (INS5_ACCSCAL_Y)

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Accelerometer scaling of Z axis (INS5_ACCSCAL_Z)

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Accelerometer offsets of X axis (INS5_ACCOFFS_X)

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Accelerometer offsets of Y axis (INS5_ACCOFFS_Y)

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Accelerometer offsets of Z axis (INS5_ACCOFFS_Z)

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

IMU accelerometer X position (INS5_POS_X)

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer Y position (INS5_POS_Y)

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

IMU accelerometer Z position (INS5_POS_Z)

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Calibration temperature for accelerometer (INS5_ACC_CALTEMP)

Note: This parameter is for advanced users

Temperature that the accelerometer was calibrated at

Gyro ID (INS5_GYR_ID)

Note: This parameter is for advanced users

Gyro sensor ID, taking into account its type, bus and instance

Gyro offsets of X axis (INS5_GYROFFS_X)

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

Gyro offsets of Y axis (INS5_GYROFFS_Y)

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Gyro offsets of Z axis (INS5_GYROFFS_Z)

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Calibration temperature for gyroscope (INS5_GYR_CALTEMP)

Note: This parameter is for advanced users

Temperature that the gyroscope was calibrated at

INS5_TCAL_ Parameters

Enable temperature calibration (INS5_TCAL_ENABLE)

Note: This parameter is for advanced users

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

Temperature calibration min (INS5_TCAL_TMIN)

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Temperature calibration max (INS5_TCAL_TMAX)

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Accelerometer 1st order temperature coefficient X axis (INS5_TCAL_ACC1_X)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 1st order temperature coefficient Y axis (INS5_TCAL_ACC1_Y)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 1st order temperature coefficient Z axis (INS5_TCAL_ACC1_Z)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient X axis (INS5_TCAL_ACC2_X)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient Y axis (INS5_TCAL_ACC2_Y)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient Z axis (INS5_TCAL_ACC2_Z)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient X axis (INS5_TCAL_ACC3_X)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient Y axis (INS5_TCAL_ACC3_Y)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient Z axis (INS5_TCAL_ACC3_Z)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient X axis (INS5_TCAL_GYR1_X)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient Y axis (INS5_TCAL_GYR1_Y)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient Z axis (INS5_TCAL_GYR1_Z)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient X axis (INS5_TCAL_GYR2_X)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient Y axis (INS5_TCAL_GYR2_Y)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient Z axis (INS5_TCAL_GYR2_Z)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient X axis (INS5_TCAL_GYR3_X)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient Y axis (INS5_TCAL_GYR3_Y)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient Z axis (INS5_TCAL_GYR3_Z)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

INS_HNTC2_ Parameters

Harmonic Notch Filter enable (INS_HNTC2_ENABLE)

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Harmonic Notch Filter base frequency (INS_HNTC2_FREQ)

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Harmonic Notch Filter bandwidth (INS_HNTC2_BW)

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

Harmonic Notch Filter attenuation (INS_HNTC2_ATT)

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

Harmonic Notch Filter harmonics (INS_HNTC2_HMNCS)

Note: This parameter is for advanced users

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.

Harmonic Notch Filter reference value (INS_HNTC2_REF)

Note: This parameter is for advanced users

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 (INS_HNTC2_MODE)

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Harmonic Notch Filter options (INS_HNTC2_OPTS)

Note: This parameter is for advanced users

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.

Throttle notch min frequency ratio (INS_HNTC2_FM_RAT)

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

INS_HNTC3_ Parameters

Harmonic Notch Filter enable (INS_HNTC3_ENABLE)

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Harmonic Notch Filter base frequency (INS_HNTC3_FREQ)

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Harmonic Notch Filter bandwidth (INS_HNTC3_BW)

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

Harmonic Notch Filter attenuation (INS_HNTC3_ATT)

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

Harmonic Notch Filter harmonics (INS_HNTC3_HMNCS)

Note: This parameter is for advanced users

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.

Harmonic Notch Filter reference value (INS_HNTC3_REF)

Note: This parameter is for advanced users

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 (INS_HNTC3_MODE)

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Harmonic Notch Filter options (INS_HNTC3_OPTS)

Note: This parameter is for advanced users

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.

Throttle notch min frequency ratio (INS_HNTC3_FM_RAT)

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

INS_HNTC4_ Parameters

Harmonic Notch Filter enable (INS_HNTC4_ENABLE)

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Harmonic Notch Filter base frequency (INS_HNTC4_FREQ)

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Harmonic Notch Filter bandwidth (INS_HNTC4_BW)

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

Harmonic Notch Filter attenuation (INS_HNTC4_ATT)

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

Harmonic Notch Filter harmonics (INS_HNTC4_HMNCS)

Note: This parameter is for advanced users

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.

Harmonic Notch Filter reference value (INS_HNTC4_REF)

Note: This parameter is for advanced users

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 (INS_HNTC4_MODE)

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Harmonic Notch Filter options (INS_HNTC4_OPTS)

Note: This parameter is for advanced users

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.

Throttle notch min frequency ratio (INS_HNTC4_FM_RAT)

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

INS_HNTCH_ Parameters

Harmonic Notch Filter enable (INS_HNTCH_ENABLE)

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Harmonic Notch Filter base frequency (INS_HNTCH_FREQ)

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Harmonic Notch Filter bandwidth (INS_HNTCH_BW)

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

Harmonic Notch Filter attenuation (INS_HNTCH_ATT)

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

Harmonic Notch Filter harmonics (INS_HNTCH_HMNCS)

Note: This parameter is for advanced users

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.

Harmonic Notch Filter reference value (INS_HNTCH_REF)

Note: This parameter is for advanced users

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 (INS_HNTCH_MODE)

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Harmonic Notch Filter options (INS_HNTCH_OPTS)

Note: This parameter is for advanced users

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.

Throttle notch min frequency ratio (INS_HNTCH_FM_RAT)

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

INS_LOG_ Parameters

sample count per batch (INS_LOG_BAT_CNT)

Note: This parameter is for advanced users

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.

Sensor Bitmask (INS_LOG_BAT_MASK)

Note: This parameter is for advanced users

Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.

Batch Logging Options Mask (INS_LOG_BAT_OPT)

Note: This parameter is for advanced users

Options for the BatchSampler.

logging interval (INS_LOG_BAT_LGIN)

Interval between pushing samples to the AP_Logger log

logging count (INS_LOG_BAT_LGCT)

Number of samples to push to count every INS_LOG_BAT_LGIN

INS_TCAL1_ Parameters

Enable temperature calibration (INS_TCAL1_ENABLE)

Note: This parameter is for advanced users

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

Temperature calibration min (INS_TCAL1_TMIN)

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Temperature calibration max (INS_TCAL1_TMAX)

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Accelerometer 1st order temperature coefficient X axis (INS_TCAL1_ACC1_X)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL1_ACC1_Y)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL1_ACC1_Z)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL1_ACC2_X)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL1_ACC2_Y)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL1_ACC2_Z)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL1_ACC3_X)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL1_ACC3_Y)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL1_ACC3_Z)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient X axis (INS_TCAL1_GYR1_X)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL1_GYR1_Y)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL1_GYR1_Z)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL1_GYR2_X)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL1_GYR2_Y)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL1_GYR2_Z)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL1_GYR3_X)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL1_GYR3_Y)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL1_GYR3_Z)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

INS_TCAL2_ Parameters

Enable temperature calibration (INS_TCAL2_ENABLE)

Note: This parameter is for advanced users

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

Temperature calibration min (INS_TCAL2_TMIN)

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Temperature calibration max (INS_TCAL2_TMAX)

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Accelerometer 1st order temperature coefficient X axis (INS_TCAL2_ACC1_X)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL2_ACC1_Y)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL2_ACC1_Z)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL2_ACC2_X)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL2_ACC2_Y)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL2_ACC2_Z)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL2_ACC3_X)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL2_ACC3_Y)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL2_ACC3_Z)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient X axis (INS_TCAL2_GYR1_X)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL2_GYR1_Y)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL2_GYR1_Z)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL2_GYR2_X)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL2_GYR2_Y)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL2_GYR2_Z)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL2_GYR3_X)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL2_GYR3_Y)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL2_GYR3_Z)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

INS_TCAL3_ Parameters

Enable temperature calibration (INS_TCAL3_ENABLE)

Note: This parameter is for advanced users

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

Temperature calibration min (INS_TCAL3_TMIN)

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Temperature calibration max (INS_TCAL3_TMAX)

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Accelerometer 1st order temperature coefficient X axis (INS_TCAL3_ACC1_X)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL3_ACC1_Y)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL3_ACC1_Z)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL3_ACC2_X)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL3_ACC2_Y)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL3_ACC2_Z)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL3_ACC3_X)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL3_ACC3_Y)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL3_ACC3_Z)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient X axis (INS_TCAL3_GYR1_X)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL3_GYR1_Y)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL3_GYR1_Z)

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL3_GYR2_X)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL3_GYR2_Y)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL3_GYR2_Z)

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL3_GYR3_X)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL3_GYR3_Y)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL3_GYR3_Z)

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

KDE_ Parameters

Number of motor poles (KDE_NPOLE)

Sets the number of motor poles to calculate the correct RPM value

LAND_ Parameters

Landing slope re-calc threshold (LAND_SLOPE_RCALC)

Note: This parameter is for advanced users

This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m.

Landing auto-abort slope threshold (LAND_ABORT_DEG)

Note: This parameter is for advanced users

This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the original slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.

Landing Pitch (LAND_PITCH_DEG)

Note: This parameter is for advanced users

Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate.

Landing flare altitude (LAND_FLARE_ALT)

Note: This parameter is for advanced users

Altitude in autoland at which to lock heading and flare to the LAND_PITCH_DEG pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC.

Landing flare time (LAND_FLARE_SEC)

Note: This parameter is for advanced users

Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate. Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT).

Landing pre-flare altitude (LAND_PF_ALT)

Note: This parameter is for advanced users

Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0.

Landing pre-flare time (LAND_PF_SEC)

Note: This parameter is for advanced users

Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0.

Landing pre-flare airspeed (LAND_PF_ARSPD)

Note: This parameter is for advanced users

Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable.

Landing throttle slew rate (LAND_THR_SLEW)

This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough.

Landing disarm delay (LAND_DISARMDELAY)

Note: This parameter is for advanced users

After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm.

Set servos to neutral after landing (LAND_THEN_NEUTRL)

Note: This parameter is for advanced users

When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain.

Landing abort using throttle (LAND_ABORT_THR)

Note: This parameter is for advanced users

Allow a landing abort to trigger with an input throttle >= 90%. This works with or without stick-mixing enabled.

Landing flap percentage (LAND_FLAP_PERCNT)

Note: This parameter is for advanced users

The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing

Landing options bitmask (LAND_OPTIONS)

Note: This parameter is for advanced users

Bitmask of options to use with landing.

Flare aim point adjustment percentage. (LAND_FLARE_AIM)

Note: This parameter is for advanced users

This parameter controls how much the aim point is moved to allow for the time spent in the flare manoeuvre. When set to 100% the aim point is adjusted on the assumption that the flare sink rate controller instantly achieves the sink rate set by TECS_LAND_SINK. when set to 0%, no aim point adjustment is made. If the plane consistently touches down short of the aim point reduce the parameter and vice verse.

Headwind Compensation when Landing (LAND_WIND_COMP)

Note: This parameter is for advanced users

This param controls how much headwind compensation is used when landing. Headwind speed component multiplied by this parameter is added to TECS_LAND_ARSPD command. Set to Zero to disable. Note: The target landing airspeed command is still limited to AIRSPEED_MAX.

Auto-landing type (LAND_TYPE)

Specifies the auto-landing type to use

LAND_DS_ Parameters

Deepstall forward velocity (LAND_DS_V_FWD)

Note: This parameter is for advanced users

The forward velocity of the aircraft while stalled

Deepstall slope a (LAND_DS_SLOPE_A)

Note: This parameter is for advanced users

The a component of distance = a*wind + b

Deepstall slope b (LAND_DS_SLOPE_B)

Note: This parameter is for advanced users

The a component of distance = a*wind + b

Deepstall approach extension (LAND_DS_APP_EXT)

Note: This parameter is for advanced users

The horizontal distance from which the aircraft will approach before the stall

Deepstall velocity down (LAND_DS_V_DWN)

Note: This parameter is for advanced users

The downward velocity of the aircraft while stalled

Deepstall slew speed (LAND_DS_SLEW_SPD)

Note: This parameter is for advanced users

The speed at which the elevator slews to deepstall

Deepstall elevator PWM (LAND_DS_ELEV_PWM)

Note: This parameter is for advanced users

The PWM value in microseconds for the elevator at full deflection in deepstall

Deepstall enabled airspeed (LAND_DS_ARSP_MAX)

Note: This parameter is for advanced users

The maximum aispeed where the deepstall steering controller is allowed to have control

Deepstall minimum derating airspeed (LAND_DS_ARSP_MIN)

Note: This parameter is for advanced users

Deepstall lowest airspeed where the deepstall controller isn't allowed full control

Deepstall L1 period (LAND_DS_L1)

Note: This parameter is for advanced users

Deepstall L1 navigational controller period

Deepstall L1 I gain (LAND_DS_L1_I)

Note: This parameter is for advanced users

Deepstall L1 integratior gain

Deepstall yaw rate limit (LAND_DS_YAW_LIM)

Note: This parameter is for advanced users

The yaw rate limit while navigating in deepstall

Deepstall L1 time constant (LAND_DS_L1_TCON)

Note: This parameter is for advanced users

Time constant for deepstall L1 control

P gain (LAND_DS_P)

P gain

I gain (LAND_DS_I)

I gain

D gain (LAND_DS_D)

D gain

IMax (LAND_DS_IMAX)

Maximum integrator value

Deepstall minimum abort altitude (LAND_DS_ABORTALT)

Note: This parameter is for advanced users

The minimum altitude which the aircraft must be above to abort a deepstall landing

Aileron landing gain scalaing (LAND_DS_AIL_SCL)

Note: This parameter is for advanced users

A scalar to reduce or increase the aileron control

LGR_ Parameters

Enable landing gear (LGR_ENABLE)

Enable landing gear control

Landing Gear Startup position (LGR_STARTUP)

Landing Gear Startup behaviour control

Chassis deployment feedback pin (LGR_DEPLOY_PIN)

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.

Chassis deployment feedback pin polarity (LGR_DEPLOY_POL)

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.

Weight on wheels feedback pin (LGR_WOW_PIN)

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.

Weight on wheels feedback pin polarity (LGR_WOW_POL)

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.

Landing gear deployment altitude (LGR_DEPLOY_ALT)

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.

Landing gear retract altitude (LGR_RETRACT_ALT)

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.

Landing gear auto retract/deploy options (LGR_OPTIONS)

Options to retract or deploy landing gear in Auto, Takeoff and Autoland modes

LOG Parameters

AP_Logger Backend Storage type (LOG_BACKEND_TYPE)

Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.

Logging File and Block Backend buffer size max (in kibibytes) (LOG_FILE_BUFSIZE)

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

Enable logging while disarmed (LOG_DISARMED)

If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.

Enable logging of information needed for Replay (LOG_REPLAY)

If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.

Stop logging to current file on disarm (LOG_FILE_DSRMROT)

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.

Maximum AP_Logger MAVLink Backend buffer size (LOG_MAV_BUFSIZE)

Note: This parameter is for advanced users

Maximum amount of memory to allocate to AP_Logger-over-mavlink

Timeout before giving up on file writes (LOG_FILE_TIMEOUT)

This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.

Old logs on the SD card will be deleted to maintain this amount of free space (LOG_FILE_MB_FREE)

Set this such that the free space is larger than your largest typical flight log

Maximum logging rate for file backend (LOG_FILE_RATEMAX)

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.

Maximum logging rate for mavlink backend (LOG_MAV_RATEMAX)

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.

Maximum logging rate for block backend (LOG_BLK_RATEMAX)

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.

Maximum logging rate when disarmed (LOG_DARM_RATEMAX)

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.

Maximum number of log files (LOG_MAX_FILES)

Note: This parameter is for advanced users

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.

MAV Parameters

MAVLink system ID of this vehicle (MAV_SYSID)

Note: This parameter is for advanced users

Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network.

My ground station number (MAV_GCS_SYSID)

Note: This parameter is for advanced users

This sets what MAVLink source system IDs are accepted for GCS failsafe handling, RC overrides and manual control. When MAV_GCS_SYSID_HI is less than MAV_GCS_SYSID then only this value is considered to be a GCS. When MAV_GCS_SYSID_HI is greater than or equal to MAV_GCS_SYSID then the range of values between MAV_GCS_SYSID and MAV_GCS_SYSID_HI (inclusive) are all treated as valid GCS MAVLink system IDs

ground station system ID, maximum (MAV_GCS_SYSID_HI)

Note: This parameter is for advanced users

Upper limit of MAVLink source system IDs considered to be from the GCS. When this is less than MAV_GCS_SYSID then only MAV_GCS_SYSID is used as GCS ID. When this is greater than or equal to MAV_GCS_SYSID then the range of values from MAV_GCS_SYSID to MAV_GCS_SYSID_HI (inclusive) is treated as a GCS ID.

MAVLink Options (MAV_OPTIONS)

Note: This parameter is for advanced users

Alters various behaviour of the MAVLink interface

Telemetry startup delay (MAV_TELEM_DELAY)

Note: This parameter is for advanced users

The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up

MAV1 Parameters

Raw sensor stream rate (MAV1_RAW_SENS)

Note: This parameter is for advanced users

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Extended status stream rate (MAV1_EXT_STAT)

Note: This parameter is for advanced users

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

RC Channel stream rate (MAV1_RC_CHAN)

Note: This parameter is for advanced users

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Raw Control stream rate (MAV1_RAW_CTRL)

Note: This parameter is for advanced users

MAVLink Raw Control stream rate of SERVO_OUT

Position stream rate (MAV1_POSITION)

Note: This parameter is for advanced users

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Extra data type 1 stream rate (MAV1_EXTRA1)

Note: This parameter is for advanced users

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Extra data type 2 stream rate (MAV1_EXTRA2)

Note: This parameter is for advanced users

MAVLink Stream rate of VFR_HUD

Extra data type 3 stream rate (MAV1_EXTRA3)

Note: This parameter is for advanced users

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

Parameter stream rate (MAV1_PARAMS)

Note: This parameter is for advanced users

MAVLink Stream rate of PARAM_VALUE

ADSB stream rate (MAV1_ADSB)

Note: This parameter is for advanced users

MAVLink ADSB stream rate

Bitmask for configuring this telemetry channel (MAV1_OPTIONS)

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.

MAV10 Parameters

Raw sensor stream rate (MAV10_RAW_SENS)

Note: This parameter is for advanced users

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Extended status stream rate (MAV10_EXT_STAT)

Note: This parameter is for advanced users

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

RC Channel stream rate (MAV10_RC_CHAN)

Note: This parameter is for advanced users

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Raw Control stream rate (MAV10_RAW_CTRL)

Note: This parameter is for advanced users

MAVLink Raw Control stream rate of SERVO_OUT

Position stream rate (MAV10_POSITION)

Note: This parameter is for advanced users

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Extra data type 1 stream rate (MAV10_EXTRA1)

Note: This parameter is for advanced users

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Extra data type 2 stream rate (MAV10_EXTRA2)

Note: This parameter is for advanced users

MAVLink Stream rate of VFR_HUD

Extra data type 3 stream rate (MAV10_EXTRA3)

Note: This parameter is for advanced users

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

Parameter stream rate (MAV10_PARAMS)

Note: This parameter is for advanced users

MAVLink Stream rate of PARAM_VALUE

ADSB stream rate (MAV10_ADSB)

Note: This parameter is for advanced users

MAVLink ADSB stream rate

Bitmask for configuring this telemetry channel (MAV10_OPTIONS)

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.

MAV2 Parameters

Raw sensor stream rate (MAV2_RAW_SENS)

Note: This parameter is for advanced users

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Extended status stream rate (MAV2_EXT_STAT)

Note: This parameter is for advanced users

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

RC Channel stream rate (MAV2_RC_CHAN)

Note: This parameter is for advanced users

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Raw Control stream rate (MAV2_RAW_CTRL)

Note: This parameter is for advanced users

MAVLink Raw Control stream rate of SERVO_OUT

Position stream rate (MAV2_POSITION)

Note: This parameter is for advanced users

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Extra data type 1 stream rate (MAV2_EXTRA1)

Note: This parameter is for advanced users

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Extra data type 2 stream rate (MAV2_EXTRA2)

Note: This parameter is for advanced users

MAVLink Stream rate of VFR_HUD

Extra data type 3 stream rate (MAV2_EXTRA3)

Note: This parameter is for advanced users

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

Parameter stream rate (MAV2_PARAMS)

Note: This parameter is for advanced users

MAVLink Stream rate of PARAM_VALUE

ADSB stream rate (MAV2_ADSB)

Note: This parameter is for advanced users

MAVLink ADSB stream rate

Bitmask for configuring this telemetry channel (MAV2_OPTIONS)

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.

MAV3 Parameters

Raw sensor stream rate (MAV3_RAW_SENS)

Note: This parameter is for advanced users

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Extended status stream rate (MAV3_EXT_STAT)

Note: This parameter is for advanced users

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

RC Channel stream rate (MAV3_RC_CHAN)

Note: This parameter is for advanced users

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Raw Control stream rate (MAV3_RAW_CTRL)

Note: This parameter is for advanced users

MAVLink Raw Control stream rate of SERVO_OUT

Position stream rate (MAV3_POSITION)

Note: This parameter is for advanced users

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Extra data type 1 stream rate (MAV3_EXTRA1)

Note: This parameter is for advanced users

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Extra data type 2 stream rate (MAV3_EXTRA2)

Note: This parameter is for advanced users

MAVLink Stream rate of VFR_HUD

Extra data type 3 stream rate (MAV3_EXTRA3)

Note: This parameter is for advanced users

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

Parameter stream rate (MAV3_PARAMS)

Note: This parameter is for advanced users

MAVLink Stream rate of PARAM_VALUE

ADSB stream rate (MAV3_ADSB)

Note: This parameter is for advanced users

MAVLink ADSB stream rate

Bitmask for configuring this telemetry channel (MAV3_OPTIONS)

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.

MAV4 Parameters

Raw sensor stream rate (MAV4_RAW_SENS)

Note: This parameter is for advanced users

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Extended status stream rate (MAV4_EXT_STAT)

Note: This parameter is for advanced users

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

RC Channel stream rate (MAV4_RC_CHAN)

Note: This parameter is for advanced users

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Raw Control stream rate (MAV4_RAW_CTRL)

Note: This parameter is for advanced users

MAVLink Raw Control stream rate of SERVO_OUT

Position stream rate (MAV4_POSITION)

Note: This parameter is for advanced users

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Extra data type 1 stream rate (MAV4_EXTRA1)

Note: This parameter is for advanced users

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Extra data type 2 stream rate (MAV4_EXTRA2)

Note: This parameter is for advanced users

MAVLink Stream rate of VFR_HUD

Extra data type 3 stream rate (MAV4_EXTRA3)

Note: This parameter is for advanced users

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

Parameter stream rate (MAV4_PARAMS)

Note: This parameter is for advanced users

MAVLink Stream rate of PARAM_VALUE

ADSB stream rate (MAV4_ADSB)

Note: This parameter is for advanced users

MAVLink ADSB stream rate

Bitmask for configuring this telemetry channel (MAV4_OPTIONS)

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.

MAV5 Parameters

Raw sensor stream rate (MAV5_RAW_SENS)

Note: This parameter is for advanced users

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Extended status stream rate (MAV5_EXT_STAT)

Note: This parameter is for advanced users

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

RC Channel stream rate (MAV5_RC_CHAN)

Note: This parameter is for advanced users

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Raw Control stream rate (MAV5_RAW_CTRL)

Note: This parameter is for advanced users

MAVLink Raw Control stream rate of SERVO_OUT

Position stream rate (MAV5_POSITION)

Note: This parameter is for advanced users

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Extra data type 1 stream rate (MAV5_EXTRA1)

Note: This parameter is for advanced users

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Extra data type 2 stream rate (MAV5_EXTRA2)

Note: This parameter is for advanced users

MAVLink Stream rate of VFR_HUD

Extra data type 3 stream rate (MAV5_EXTRA3)

Note: This parameter is for advanced users

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

Parameter stream rate (MAV5_PARAMS)

Note: This parameter is for advanced users

MAVLink Stream rate of PARAM_VALUE

ADSB stream rate (MAV5_ADSB)

Note: This parameter is for advanced users

MAVLink ADSB stream rate

Bitmask for configuring this telemetry channel (MAV5_OPTIONS)

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.

MAV6 Parameters

Raw sensor stream rate (MAV6_RAW_SENS)

Note: This parameter is for advanced users

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Extended status stream rate (MAV6_EXT_STAT)

Note: This parameter is for advanced users

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

RC Channel stream rate (MAV6_RC_CHAN)

Note: This parameter is for advanced users

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Raw Control stream rate (MAV6_RAW_CTRL)

Note: This parameter is for advanced users

MAVLink Raw Control stream rate of SERVO_OUT

Position stream rate (MAV6_POSITION)

Note: This parameter is for advanced users

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Extra data type 1 stream rate (MAV6_EXTRA1)

Note: This parameter is for advanced users

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Extra data type 2 stream rate (MAV6_EXTRA2)

Note: This parameter is for advanced users

MAVLink Stream rate of VFR_HUD

Extra data type 3 stream rate (MAV6_EXTRA3)

Note: This parameter is for advanced users

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

Parameter stream rate (MAV6_PARAMS)

Note: This parameter is for advanced users

MAVLink Stream rate of PARAM_VALUE

ADSB stream rate (MAV6_ADSB)

Note: This parameter is for advanced users

MAVLink ADSB stream rate

Bitmask for configuring this telemetry channel (MAV6_OPTIONS)

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.

MAV7 Parameters

Raw sensor stream rate (MAV7_RAW_SENS)

Note: This parameter is for advanced users

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Extended status stream rate (MAV7_EXT_STAT)

Note: This parameter is for advanced users

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

RC Channel stream rate (MAV7_RC_CHAN)

Note: This parameter is for advanced users

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Raw Control stream rate (MAV7_RAW_CTRL)

Note: This parameter is for advanced users

MAVLink Raw Control stream rate of SERVO_OUT

Position stream rate (MAV7_POSITION)

Note: This parameter is for advanced users

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Extra data type 1 stream rate (MAV7_EXTRA1)

Note: This parameter is for advanced users

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Extra data type 2 stream rate (MAV7_EXTRA2)

Note: This parameter is for advanced users

MAVLink Stream rate of VFR_HUD

Extra data type 3 stream rate (MAV7_EXTRA3)

Note: This parameter is for advanced users

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

Parameter stream rate (MAV7_PARAMS)

Note: This parameter is for advanced users

MAVLink Stream rate of PARAM_VALUE

ADSB stream rate (MAV7_ADSB)

Note: This parameter is for advanced users

MAVLink ADSB stream rate

Bitmask for configuring this telemetry channel (MAV7_OPTIONS)

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.

MAV8 Parameters

Raw sensor stream rate (MAV8_RAW_SENS)

Note: This parameter is for advanced users

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Extended status stream rate (MAV8_EXT_STAT)

Note: This parameter is for advanced users

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

RC Channel stream rate (MAV8_RC_CHAN)

Note: This parameter is for advanced users

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Raw Control stream rate (MAV8_RAW_CTRL)

Note: This parameter is for advanced users

MAVLink Raw Control stream rate of SERVO_OUT

Position stream rate (MAV8_POSITION)

Note: This parameter is for advanced users

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Extra data type 1 stream rate (MAV8_EXTRA1)

Note: This parameter is for advanced users

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Extra data type 2 stream rate (MAV8_EXTRA2)

Note: This parameter is for advanced users

MAVLink Stream rate of VFR_HUD

Extra data type 3 stream rate (MAV8_EXTRA3)

Note: This parameter is for advanced users

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

Parameter stream rate (MAV8_PARAMS)

Note: This parameter is for advanced users

MAVLink Stream rate of PARAM_VALUE

ADSB stream rate (MAV8_ADSB)

Note: This parameter is for advanced users

MAVLink ADSB stream rate

Bitmask for configuring this telemetry channel (MAV8_OPTIONS)

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.

MAV9 Parameters

Raw sensor stream rate (MAV9_RAW_SENS)

Note: This parameter is for advanced users

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Extended status stream rate (MAV9_EXT_STAT)

Note: This parameter is for advanced users

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

RC Channel stream rate (MAV9_RC_CHAN)

Note: This parameter is for advanced users

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Raw Control stream rate (MAV9_RAW_CTRL)

Note: This parameter is for advanced users

MAVLink Raw Control stream rate of SERVO_OUT

Position stream rate (MAV9_POSITION)

Note: This parameter is for advanced users

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Extra data type 1 stream rate (MAV9_EXTRA1)

Note: This parameter is for advanced users

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Extra data type 2 stream rate (MAV9_EXTRA2)

Note: This parameter is for advanced users

MAVLink Stream rate of VFR_HUD

Extra data type 3 stream rate (MAV9_EXTRA3)

Note: This parameter is for advanced users

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

Parameter stream rate (MAV9_PARAMS)

Note: This parameter is for advanced users

MAVLink Stream rate of PARAM_VALUE

ADSB stream rate (MAV9_ADSB)

Note: This parameter is for advanced users

MAVLink ADSB stream rate

Bitmask for configuring this telemetry channel (MAV9_OPTIONS)

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.

MIS_ Parameters

Total mission commands (MIS_TOTAL)

Note: This parameter is for advanced users

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

Mission Restart when entering Auto mode (MIS_RESTART)

Note: This parameter is for advanced users

Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)

Mission options bitmask (MIS_OPTIONS)

Note: This parameter is for advanced users

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.

MNT1 Parameters

Mount Type (MNT1_TYPE)

Mount Type

Mount default operating mode (MNT1_DEFLT_MODE)

Mount default operating mode on startup and after control is returned from autopilot

Mount RC Rate (MNT1_RC_RATE)

Pilot rate control's maximum rate. Set to zero to use angle control

Mount Roll angle minimum (MNT1_ROLL_MIN)

Mount Roll angle minimum

Mount Roll angle maximum (MNT1_ROLL_MAX)

Mount Roll angle maximum

Mount Pitch angle minimum (MNT1_PITCH_MIN)

Mount Pitch angle minimum

Mount Pitch angle maximum (MNT1_PITCH_MAX)

Mount Pitch angle maximum

Mount Yaw angle minimum (MNT1_YAW_MIN)

Mount Yaw angle minimum

Mount Yaw angle maximum (MNT1_YAW_MAX)

Mount Yaw angle maximum

Mount roll angle when in retracted position (MNT1_RETRACT_X)

Mount roll angle when in retracted position

Mount pitch angle when in retracted position (MNT1_RETRACT_Y)

Mount pitch angle when in retracted position

Mount yaw angle when in retracted position (MNT1_RETRACT_Z)

Mount yaw angle when in retracted position

Mount roll angle when in neutral position (MNT1_NEUTRAL_X)

Mount roll angle when in neutral position

Mount pitch angle when in neutral position (MNT1_NEUTRAL_Y)

Mount pitch angle when in neutral position

Mount yaw angle when in neutral position (MNT1_NEUTRAL_Z)

Mount yaw angle when in neutral position

Mount Roll stabilization lead time (MNT1_LEAD_RLL)

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

Mount Pitch stabilization lead time (MNT1_LEAD_PTCH)

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

Mount Target sysID (MNT1_SYSID_DFLT)

Default Target sysID for the mount to point to

Mount Device ID (MNT1_DEVID)

Note: This parameter is for advanced users

Mount device ID, taking into account its type, bus and instance

Mount options (MNT1_OPTIONS)

Mount options bitmask

MNT2 Parameters

Mount Type (MNT2_TYPE)

Mount Type

Mount default operating mode (MNT2_DEFLT_MODE)

Mount default operating mode on startup and after control is returned from autopilot

Mount RC Rate (MNT2_RC_RATE)

Pilot rate control's maximum rate. Set to zero to use angle control

Mount Roll angle minimum (MNT2_ROLL_MIN)

Mount Roll angle minimum

Mount Roll angle maximum (MNT2_ROLL_MAX)

Mount Roll angle maximum

Mount Pitch angle minimum (MNT2_PITCH_MIN)

Mount Pitch angle minimum

Mount Pitch angle maximum (MNT2_PITCH_MAX)

Mount Pitch angle maximum

Mount Yaw angle minimum (MNT2_YAW_MIN)

Mount Yaw angle minimum

Mount Yaw angle maximum (MNT2_YAW_MAX)

Mount Yaw angle maximum

Mount roll angle when in retracted position (MNT2_RETRACT_X)

Mount roll angle when in retracted position

Mount pitch angle when in retracted position (MNT2_RETRACT_Y)

Mount pitch angle when in retracted position

Mount yaw angle when in retracted position (MNT2_RETRACT_Z)

Mount yaw angle when in retracted position

Mount roll angle when in neutral position (MNT2_NEUTRAL_X)

Mount roll angle when in neutral position

Mount pitch angle when in neutral position (MNT2_NEUTRAL_Y)

Mount pitch angle when in neutral position

Mount yaw angle when in neutral position (MNT2_NEUTRAL_Z)

Mount yaw angle when in neutral position

Mount Roll stabilization lead time (MNT2_LEAD_RLL)

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

Mount Pitch stabilization lead time (MNT2_LEAD_PTCH)

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

Mount Target sysID (MNT2_SYSID_DFLT)

Default Target sysID for the mount to point to

Mount Device ID (MNT2_DEVID)

Note: This parameter is for advanced users

Mount device ID, taking into account its type, bus and instance

Mount options (MNT2_OPTIONS)

Mount options bitmask

MSP Parameters

Cell count override (MSP_OSD_NCELLS)

Used for average cell voltage calculation

MSP OSD Options (MSP_OPTIONS)

A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts. EnableINAVFonts uses INAV fonts and overrides EnableBTFLFonts if that option is enabled.

NAVL1_ Parameters

L1 control period (NAVL1_PERIOD)

Period in seconds of L1 tracking loop. This parameter is the primary control for aggressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.

L1 control damping ratio (NAVL1_DAMPING)

Note: This parameter is for advanced users

Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.

L1 control crosstrack integrator gain (NAVL1_XTRACK_I)

Note: This parameter is for advanced users

Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.

Loiter Radius Bank Angle Limit (NAVL1_LIM_BANK)

Note: This parameter is for advanced users

The sealevel bank angle limit for a continuous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly

NET_ Parameters

Networking Enable (NET_ENABLE)

Note: This parameter is for advanced users

Networking Enable

IP Subnet mask (NET_NETMASK)

Note: This parameter is for advanced users

Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0

DHCP client (NET_DHCP)

Note: This parameter is for advanced users

Enable/Disable DHCP client

Test enable flags (NET_TESTS)

Note: This parameter is for advanced users

Enable/Disable networking tests

Networking options (NET_OPTIONS)

Note: This parameter is for advanced users

Networking options

NET_GWADDR Parameters

IPv4 Address 1st byte (NET_GWADDR0)

IPv4 address. Example: 192.xxx.xxx.xxx

IPv4 Address 2nd byte (NET_GWADDR1)

IPv4 address. Example: xxx.168.xxx.xxx

IPv4 Address 3rd byte (NET_GWADDR2)

IPv4 address. Example: xxx.xxx.144.xxx

IPv4 Address 4th byte (NET_GWADDR3)

IPv4 address. Example: xxx.xxx.xxx.14

NET_IPADDR Parameters

IPv4 Address 1st byte (NET_IPADDR0)

IPv4 address. Example: 192.xxx.xxx.xxx

IPv4 Address 2nd byte (NET_IPADDR1)

IPv4 address. Example: xxx.168.xxx.xxx

IPv4 Address 3rd byte (NET_IPADDR2)

IPv4 address. Example: xxx.xxx.144.xxx

IPv4 Address 4th byte (NET_IPADDR3)

IPv4 address. Example: xxx.xxx.xxx.14

NET_MACADDR Parameters

MAC Address 1st byte (NET_MACADDR0)

Note: This parameter is for advanced users

MAC address 1st byte

MAC Address 2nd byte (NET_MACADDR1)

Note: This parameter is for advanced users

MAC address 2nd byte

MAC Address 3rd byte (NET_MACADDR2)

Note: This parameter is for advanced users

MAC address 3rd byte

MAC Address 4th byte (NET_MACADDR3)

Note: This parameter is for advanced users

MAC address 4th byte

MAC Address 5th byte (NET_MACADDR4)

Note: This parameter is for advanced users

MAC address 5th byte

MAC Address 6th byte (NET_MACADDR5)

Note: This parameter is for advanced users

MAC address 6th byte

NET_P1_ Parameters

Port type (NET_P1_TYPE)

Note: This parameter is for advanced users

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.

Protocol (NET_P1_PROTOCOL)

Note: This parameter is for advanced users

Networked serial port protocol

Port number (NET_P1_PORT)

Note: This parameter is for advanced users

Port number

NET_P1_IP Parameters

IPv4 Address 1st byte (NET_P1_IP0)

IPv4 address. Example: 192.xxx.xxx.xxx

IPv4 Address 2nd byte (NET_P1_IP1)

IPv4 address. Example: xxx.168.xxx.xxx

IPv4 Address 3rd byte (NET_P1_IP2)

IPv4 address. Example: xxx.xxx.144.xxx

IPv4 Address 4th byte (NET_P1_IP3)

IPv4 address. Example: xxx.xxx.xxx.14

NET_P2_ Parameters

Port type (NET_P2_TYPE)

Note: This parameter is for advanced users

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.

Protocol (NET_P2_PROTOCOL)

Note: This parameter is for advanced users

Networked serial port protocol

Port number (NET_P2_PORT)

Note: This parameter is for advanced users

Port number

NET_P2_IP Parameters

IPv4 Address 1st byte (NET_P2_IP0)

IPv4 address. Example: 192.xxx.xxx.xxx

IPv4 Address 2nd byte (NET_P2_IP1)

IPv4 address. Example: xxx.168.xxx.xxx

IPv4 Address 3rd byte (NET_P2_IP2)

IPv4 address. Example: xxx.xxx.144.xxx

IPv4 Address 4th byte (NET_P2_IP3)

IPv4 address. Example: xxx.xxx.xxx.14

NET_P3_ Parameters

Port type (NET_P3_TYPE)

Note: This parameter is for advanced users

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.

Protocol (NET_P3_PROTOCOL)

Note: This parameter is for advanced users

Networked serial port protocol

Port number (NET_P3_PORT)

Note: This parameter is for advanced users

Port number

NET_P3_IP Parameters

IPv4 Address 1st byte (NET_P3_IP0)

IPv4 address. Example: 192.xxx.xxx.xxx

IPv4 Address 2nd byte (NET_P3_IP1)

IPv4 address. Example: xxx.168.xxx.xxx

IPv4 Address 3rd byte (NET_P3_IP2)

IPv4 address. Example: xxx.xxx.144.xxx

IPv4 Address 4th byte (NET_P3_IP3)

IPv4 address. Example: xxx.xxx.xxx.14

NET_P4_ Parameters

Port type (NET_P4_TYPE)

Note: This parameter is for advanced users

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.

Protocol (NET_P4_PROTOCOL)

Note: This parameter is for advanced users

Networked serial port protocol

Port number (NET_P4_PORT)

Note: This parameter is for advanced users

Port number

NET_P4_IP Parameters

IPv4 Address 1st byte (NET_P4_IP0)

IPv4 address. Example: 192.xxx.xxx.xxx

IPv4 Address 2nd byte (NET_P4_IP1)

IPv4 address. Example: xxx.168.xxx.xxx

IPv4 Address 3rd byte (NET_P4_IP2)

IPv4 address. Example: xxx.xxx.144.xxx

IPv4 Address 4th byte (NET_P4_IP3)

IPv4 address. Example: xxx.xxx.xxx.14

NET_REMPPP_IP Parameters

IPv4 Address 1st byte (NET_REMPPP_IP0)

IPv4 address. Example: 192.xxx.xxx.xxx

IPv4 Address 2nd byte (NET_REMPPP_IP1)

IPv4 address. Example: xxx.168.xxx.xxx

IPv4 Address 3rd byte (NET_REMPPP_IP2)

IPv4 address. Example: xxx.xxx.144.xxx

IPv4 Address 4th byte (NET_REMPPP_IP3)

IPv4 address. Example: xxx.xxx.xxx.14

NET_TEST_IP Parameters

IPv4 Address 1st byte (NET_TEST_IP0)

IPv4 address. Example: 192.xxx.xxx.xxx

IPv4 Address 2nd byte (NET_TEST_IP1)

IPv4 address. Example: xxx.168.xxx.xxx

IPv4 Address 3rd byte (NET_TEST_IP2)

IPv4 address. Example: xxx.xxx.144.xxx

IPv4 Address 4th byte (NET_TEST_IP3)

IPv4 address. Example: xxx.xxx.xxx.14

NMEA_ Parameters

NMEA Output rate (NMEA_RATE_MS)

NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.

Messages Enable bitmask (NMEA_MSG_EN)

This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval

NTF_ Parameters

LED Brightness (NTF_LED_BRIGHT)

Note: This parameter is for advanced users

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

Buzzer Driver Types (NTF_BUZZ_TYPES)

Note: This parameter is for advanced users

Controls what types of Buzzer will be enabled

Specifies colour source for the RGBLed (NTF_LED_OVERRIDE)

Note: This parameter is for advanced users

Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.

Type of on-board I2C display (NTF_DISPLAY_TYPE)

Note: This parameter is for advanced users

This sets up the type of on-board I2C display. Disabled by default.

OreoLED Theme (NTF_OREO_THEME)

Note: This parameter is for advanced users

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

Buzzer pin (NTF_BUZZ_PIN)

Note: This parameter is for advanced users

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

LED Driver Types (NTF_LED_TYPES)

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

Buzzer-on pin logic level (NTF_BUZZ_ON_LVL)

Note: This parameter is for advanced users

Specifies pin level that indicates buzzer should play

Buzzer volume (NTF_BUZZ_VOLUME)

Control the volume of the buzzer

Serial LED String Length (NTF_LED_LEN)

Note: This parameter is for advanced users

The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)

OSD Parameters

OSD type (OSD_TYPE)

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.

Screen switch transmitter channel (OSD_CHAN)

This sets the channel used to switch different OSD screens.

Screen switch method (OSD_SW_METHOD)

This sets the method used to switch different OSD screens.

OSD Options (OSD_OPTIONS)

This sets options that change the display

OSD Font (OSD_FONT)

This sets which OSD font to use. It is an integer from 0 to the number of fonts available

OSD vertical offset (OSD_V_OFFSET)

Sets vertical offset of the osd inside image

OSD horizontal offset (OSD_H_OFFSET)

Sets horizontal offset of the osd inside image

RSSI warn level (in %) (OSD_W_RSSI)

Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.

NSAT warn level (OSD_W_NSAT)

Set level at which NSAT item will flash

BAT_VOLT warn level (OSD_W_BATVOLT)

Set level at which BAT_VOLT item will flash

Display Units (OSD_UNITS)

Sets the units to use in displaying items

Message display duration in seconds (OSD_MSG_TIME)

Sets message duration seconds

Arm screen (OSD_ARM_SCR)

Screen to be shown on Arm event. Zero to disable the feature.

Disarm screen (OSD_DSARM_SCR)

Screen to be shown on disarm event. Zero to disable the feature.

Failsafe screen (OSD_FS_SCR)

Screen to be shown on failsafe event. Zero to disable the feature.

Button delay (OSD_BTN_DELAY)

Note: This parameter is for advanced users

Debounce time in ms for stick commanded parameter navigation.

Terrain warn level (OSD_W_TERR)

Set level below which TER_HGT item will flash. -1 disables.

AVGCELLV warn level (OSD_W_AVGCELLV)

Set level at which AVGCELLV item will flash

Battery cell count (OSD_CELL_COUNT)

Note: This parameter is for advanced users

Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.

RESTVOLT warn level (OSD_W_RESTVOLT)

Set level at which RESTVOLT item will flash

Avg Cell Resting Volt warn level (OSD_W_ACRVOLT)

Set level at which ACRVOLT item will flash

RC link quality warn level (in %) (OSD_W_LQ)

Set level at which RC_LQ item will flash (%)

RC link SNR warn level (in %) (OSD_W_SNR)

Set level at which RC_SNR item will flash (in db)

Sidebar horizontal offset (OSD_SB_H_OFS)

Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen.

Sidebar vertical extension (OSD_SB_V_EXT)

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 (OSD_TYPE2)

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.

OSD1_ Parameters

Enable screen (OSD1_ENABLE)

Enable this screen

Transmitter switch screen minimum pwm (OSD1_CHAN_MIN)

This sets the PWM lower limit for this screen

Transmitter switch screen maximum pwm (OSD1_CHAN_MAX)

This sets the PWM upper limit for this screen

ALTITUDE_EN (OSD1_ALTITUDE_EN)

Enables display of altitude AGL

ALTITUDE_X (OSD1_ALTITUDE_X)

Horizontal position on screen

ALTITUDE_Y (OSD1_ALTITUDE_Y)

Vertical position on screen

BATVOLT_EN (OSD1_BAT_VOLT_EN)

Displays main battery voltage

BATVOLT_X (OSD1_BAT_VOLT_X)

Horizontal position on screen

BATVOLT_Y (OSD1_BAT_VOLT_Y)

Vertical position on screen

RSSI_EN (OSD1_RSSI_EN)

Displays RC signal strength

RSSI_X (OSD1_RSSI_X)

Horizontal position on screen

RSSI_Y (OSD1_RSSI_Y)

Vertical position on screen

CURRENT_EN (OSD1_CURRENT_EN)

Displays main battery current

CURRENT_X (OSD1_CURRENT_X)

Horizontal position on screen

CURRENT_Y (OSD1_CURRENT_Y)

Vertical position on screen

BATUSED_EN (OSD1_BATUSED_EN)

Displays primary battery mAh consumed

BATUSED_X (OSD1_BATUSED_X)

Horizontal position on screen

BATUSED_Y (OSD1_BATUSED_Y)

Vertical position on screen

SATS_EN (OSD1_SATS_EN)

Displays number of acquired satellites

SATS_X (OSD1_SATS_X)

Horizontal position on screen

SATS_Y (OSD1_SATS_Y)

Vertical position on screen

FLTMODE_EN (OSD1_FLTMODE_EN)

Displays flight mode

FLTMODE_X (OSD1_FLTMODE_X)

Horizontal position on screen

FLTMODE_Y (OSD1_FLTMODE_Y)

Vertical position on screen

MESSAGE_EN (OSD1_MESSAGE_EN)

Displays Mavlink messages

MESSAGE_X (OSD1_MESSAGE_X)

Horizontal position on screen

MESSAGE_Y (OSD1_MESSAGE_Y)

Vertical position on screen

GSPEED_EN (OSD1_GSPEED_EN)

Displays GPS ground speed

GSPEED_X (OSD1_GSPEED_X)

Horizontal position on screen

GSPEED_Y (OSD1_GSPEED_Y)

Vertical position on screen

HORIZON_EN (OSD1_HORIZON_EN)

Displays artificial horizon

HORIZON_X (OSD1_HORIZON_X)

Horizontal position on screen

HORIZON_Y (OSD1_HORIZON_Y)

Vertical position on screen

HOME_EN (OSD1_HOME_EN)

Displays distance and relative direction to HOME

HOME_X (OSD1_HOME_X)

Horizontal position on screen

HOME_Y (OSD1_HOME_Y)

Vertical position on screen

HEADING_EN (OSD1_HEADING_EN)

Displays heading

HEADING_X (OSD1_HEADING_X)

Horizontal position on screen

HEADING_Y (OSD1_HEADING_Y)

Vertical position on screen

THROTTLE_EN (OSD1_THROTTLE_EN)

Displays actual throttle percentage being sent to motor(s)

THROTTLE_X (OSD1_THROTTLE_X)

Horizontal position on screen

THROTTLE_Y (OSD1_THROTTLE_Y)

Vertical position on screen

COMPASS_EN (OSD1_COMPASS_EN)

Enables display of compass rose

COMPASS_X (OSD1_COMPASS_X)

Horizontal position on screen

COMPASS_Y (OSD1_COMPASS_Y)

Vertical position on screen

WIND_EN (OSD1_WIND_EN)

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

WIND_X (OSD1_WIND_X)

Horizontal position on screen

WIND_Y (OSD1_WIND_Y)

Vertical position on screen

ASPEED_EN (OSD1_ASPEED_EN)

Displays airspeed value being used by TECS (fused value)

ASPEED_X (OSD1_ASPEED_X)

Horizontal position on screen

ASPEED_Y (OSD1_ASPEED_Y)

Vertical position on screen

VSPEED_EN (OSD1_VSPEED_EN)

Displays climb rate

VSPEED_X (OSD1_VSPEED_X)

Horizontal position on screen

VSPEED_Y (OSD1_VSPEED_Y)

Vertical position on screen

ESCTEMP_EN (OSD1_ESCTEMP_EN)

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

ESCTEMP_X (OSD1_ESCTEMP_X)

Horizontal position on screen

ESCTEMP_Y (OSD1_ESCTEMP_Y)

Vertical position on screen

ESCRPM_EN (OSD1_ESCRPM_EN)

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

ESCRPM_X (OSD1_ESCRPM_X)

Horizontal position on screen

ESCRPM_Y (OSD1_ESCRPM_Y)

Vertical position on screen

ESCAMPS_EN (OSD1_ESCAMPS_EN)

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

ESCAMPS_X (OSD1_ESCAMPS_X)

Horizontal position on screen

ESCAMPS_Y (OSD1_ESCAMPS_Y)

Vertical position on screen

GPSLAT_EN (OSD1_GPSLAT_EN)

Displays GPS latitude

GPSLAT_X (OSD1_GPSLAT_X)

Horizontal position on screen

GPSLAT_Y (OSD1_GPSLAT_Y)

Vertical position on screen

GPSLONG_EN (OSD1_GPSLONG_EN)

Displays GPS longitude

GPSLONG_X (OSD1_GPSLONG_X)

Horizontal position on screen

GPSLONG_Y (OSD1_GPSLONG_Y)

Vertical position on screen

ROLL_EN (OSD1_ROLL_EN)

Displays degrees of roll from level

ROLL_X (OSD1_ROLL_X)

Horizontal position on screen

ROLL_Y (OSD1_ROLL_Y)

Vertical position on screen

PITCH_EN (OSD1_PITCH_EN)

Displays degrees of pitch from level

PITCH_X (OSD1_PITCH_X)

Horizontal position on screen

PITCH_Y (OSD1_PITCH_Y)

Vertical position on screen

TEMP_EN (OSD1_TEMP_EN)

Displays temperature reported by primary barometer

TEMP_X (OSD1_TEMP_X)

Horizontal position on screen

TEMP_Y (OSD1_TEMP_Y)

Vertical position on screen

HDOP_EN (OSD1_HDOP_EN)

Displays Horizontal Dilution Of Position

HDOP_X (OSD1_HDOP_X)

Horizontal position on screen

HDOP_Y (OSD1_HDOP_Y)

Vertical position on screen

WAYPOINT_EN (OSD1_WAYPOINT_EN)

Displays bearing and distance to next waypoint

WAYPOINT_X (OSD1_WAYPOINT_X)

Horizontal position on screen

WAYPOINT_Y (OSD1_WAYPOINT_Y)

Vertical position on screen

XTRACK_EN (OSD1_XTRACK_EN)

Displays crosstrack error

XTRACK_X (OSD1_XTRACK_X)

Horizontal position on screen

XTRACK_Y (OSD1_XTRACK_Y)

Vertical position on screen

DIST_EN (OSD1_DIST_EN)

Displays total distance flown

DIST_X (OSD1_DIST_X)

Horizontal position on screen

DIST_Y (OSD1_DIST_Y)

Vertical position on screen

STATS_EN (OSD1_STATS_EN)

Displays flight stats

STATS_X (OSD1_STATS_X)

Horizontal position on screen

STATS_Y (OSD1_STATS_Y)

Vertical position on screen

FLTIME_EN (OSD1_FLTIME_EN)

Displays total flight time

FLTIME_X (OSD1_FLTIME_X)

Horizontal position on screen

FLTIME_Y (OSD1_FLTIME_Y)

Vertical position on screen

CLIMBEFF_EN (OSD1_CLIMBEFF_EN)

Displays climb efficiency (climb rate/current)

CLIMBEFF_X (OSD1_CLIMBEFF_X)

Horizontal position on screen

CLIMBEFF_Y (OSD1_CLIMBEFF_Y)

Vertical position on screen

EFF_EN (OSD1_EFF_EN)

Displays flight efficiency (mAh/km or /mi)

EFF_X (OSD1_EFF_X)

Horizontal position on screen

EFF_Y (OSD1_EFF_Y)

Vertical position on screen

BTEMP_EN (OSD1_BTEMP_EN)

Displays temperature reported by secondary barometer

BTEMP_X (OSD1_BTEMP_X)

Horizontal position on screen

BTEMP_Y (OSD1_BTEMP_Y)

Vertical position on screen

ATEMP_EN (OSD1_ATEMP_EN)

Displays temperature reported by primary airspeed sensor

ATEMP_X (OSD1_ATEMP_X)

Horizontal position on screen

ATEMP_Y (OSD1_ATEMP_Y)

Vertical position on screen

BAT2VLT_EN (OSD1_BAT2_VLT_EN)

Displays battery2 voltage

BAT2VLT_X (OSD1_BAT2_VLT_X)

Horizontal position on screen

BAT2VLT_Y (OSD1_BAT2_VLT_Y)

Vertical position on screen

BAT2USED_EN (OSD1_BAT2USED_EN)

Displays secondary battery mAh consumed

BAT2USED_X (OSD1_BAT2USED_X)

Horizontal position on screen

BAT2USED_Y (OSD1_BAT2USED_Y)

Vertical position on screen

ASPD2_EN (OSD1_ASPD2_EN)

Displays airspeed reported directly from secondary airspeed sensor

ASPD2_X (OSD1_ASPD2_X)

Horizontal position on screen

ASPD2_Y (OSD1_ASPD2_Y)

Vertical position on screen

ASPD1_EN (OSD1_ASPD1_EN)

Displays airspeed reported directly from primary airspeed sensor

ASPD1_X (OSD1_ASPD1_X)

Horizontal position on screen

ASPD1_Y (OSD1_ASPD1_Y)

Vertical position on screen

CLK_EN (OSD1_CLK_EN)

Displays a clock panel based on AP_RTC local time

CLK_X (OSD1_CLK_X)

Horizontal position on screen

CLK_Y (OSD1_CLK_Y)

Vertical position on screen

SIDEBARS_EN (OSD1_SIDEBARS_EN)

Displays artificial horizon side bars

SIDEBARS_X (OSD1_SIDEBARS_X)

Horizontal position on screen

SIDEBARS_Y (OSD1_SIDEBARS_Y)

Vertical position on screen

CRSSHAIR_EN (OSD1_CRSSHAIR_EN)

Displays artificial horizon crosshair (MSP OSD only)

CRSSHAIR_X (OSD1_CRSSHAIR_X)

Horizontal position on screen (MSP OSD only)

CRSSHAIR_Y (OSD1_CRSSHAIR_Y)

Vertical position on screen (MSP OSD only)

HOMEDIST_EN (OSD1_HOMEDIST_EN)

Displays distance from HOME (MSP OSD only)

HOMEDIST_X (OSD1_HOMEDIST_X)

Horizontal position on screen (MSP OSD only)

HOMEDIST_Y (OSD1_HOMEDIST_Y)

Vertical position on screen (MSP OSD only)

HOMEDIR_EN (OSD1_HOMEDIR_EN)

Displays relative direction to HOME (MSP OSD only)

HOMEDIR_X (OSD1_HOMEDIR_X)

Horizontal position on screen

HOMEDIR_Y (OSD1_HOMEDIR_Y)

Vertical position on screen

POWER_EN (OSD1_POWER_EN)

Displays power (MSP OSD only)

POWER_X (OSD1_POWER_X)

Horizontal position on screen

POWER_Y (OSD1_POWER_Y)

Vertical position on screen

CELL_VOLT_EN (OSD1_CELLVOLT_EN)

Displays average cell voltage (MSP OSD only)

CELL_VOLT_X (OSD1_CELLVOLT_X)

Horizontal position on screen

CELL_VOLT_Y (OSD1_CELLVOLT_Y)

Vertical position on screen

BATT_BAR_EN (OSD1_BATTBAR_EN)

Displays battery usage bar (MSP OSD only)

BATT_BAR_X (OSD1_BATTBAR_X)

Horizontal position on screen

BATT_BAR_Y (OSD1_BATTBAR_Y)

Vertical position on screen

ARMING_EN (OSD1_ARMING_EN)

Displays arming status (MSP OSD only)

ARMING_X (OSD1_ARMING_X)

Horizontal position on screen

ARMING_Y (OSD1_ARMING_Y)

Vertical position on screen

PLUSCODE_EN (OSD1_PLUSCODE_EN)

Displays pluscode (OLC) element

PLUSCODE_X (OSD1_PLUSCODE_X)

Horizontal position on screen

PLUSCODE_Y (OSD1_PLUSCODE_Y)

Vertical position on screen

CALLSIGN_EN (OSD1_CALLSIGN_EN)

Displays callsign from callsign.txt on microSD card

CALLSIGN_X (OSD1_CALLSIGN_X)

Horizontal position on screen

CALLSIGN_Y (OSD1_CALLSIGN_Y)

Vertical position on screen

CURRENT2_EN (OSD1_CURRENT2_EN)

Displays 2nd battery current

CURRENT2_X (OSD1_CURRENT2_X)

Horizontal position on screen

CURRENT2_Y (OSD1_CURRENT2_Y)

Vertical position on screen

VTX_PWR_EN (OSD1_VTX_PWR_EN)

Displays VTX Power

VTX_PWR_X (OSD1_VTX_PWR_X)

Horizontal position on screen

VTX_PWR_Y (OSD1_VTX_PWR_Y)

Vertical position on screen

TER_HGT_EN (OSD1_TER_HGT_EN)

Displays Height above terrain

TER_HGT_X (OSD1_TER_HGT_X)

Horizontal position on screen

TER_HGT_Y (OSD1_TER_HGT_Y)

Vertical position on screen

AVGCELLV_EN (OSD1_AVGCELLV_EN)

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

AVGCELLV_X (OSD1_AVGCELLV_X)

Horizontal position on screen

AVGCELLV_Y (OSD1_AVGCELLV_Y)

Vertical position on screen

RESTVOLT_EN (OSD1_RESTVOLT_EN)

Displays main battery resting voltage

RESTVOLT_X (OSD1_RESTVOLT_X)

Horizontal position on screen

RESTVOLT_Y (OSD1_RESTVOLT_Y)

Vertical position on screen

FENCE_EN (OSD1_FENCE_EN)

Displays indication of fence enable and breach

FENCE_X (OSD1_FENCE_X)

Horizontal position on screen

FENCE_Y (OSD1_FENCE_Y)

Vertical position on screen

RNGF_EN (OSD1_RNGF_EN)

Displays a rangefinder's distance in cm

RNGF_X (OSD1_RNGF_X)

Horizontal position on screen

RNGF_Y (OSD1_RNGF_Y)

Vertical position on screen

ACRVOLT_EN (OSD1_ACRVOLT_EN)

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

ACRVOLT_X (OSD1_ACRVOLT_X)

Horizontal position on screen

ACRVOLT_Y (OSD1_ACRVOLT_Y)

Vertical position on screen

RPM_EN (OSD1_RPM_EN)

Displays main rotor revs/min

RPM_X (OSD1_RPM_X)

Horizontal position on screen

RPM_Y (OSD1_RPM_Y)

Vertical position on screen

LINK_Q_EN (OSD1_LINK_Q_EN)

Displays Receiver link quality

LINK_Q_X (OSD1_LINK_Q_X)

Horizontal position on screen

LINK_Q_Y (OSD1_LINK_Q_Y)

Vertical position on screen

Sets the overlay text resolution (MSP DisplayPort only) (OSD1_TXT_RES)

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only) (OSD1_FONT)

Sets the font index for this screen (MSP DisplayPort only)

RC_PWR_EN (OSD1_RC_PWR_EN)

Displays the RC link transmit (TX) power in mW or W, depending on level

RC_PWR_X (OSD1_RC_PWR_X)

Horizontal position on screen

RC_PWR_Y (OSD1_RC_PWR_Y)

Vertical position on screen

RSSIDBM_EN (OSD1_RSSIDBM_EN)

Displays RC link signal strength in dBm

RSSIDBM_X (OSD1_RSSIDBM_X)

Horizontal position on screen

RSSIDBM_Y (OSD1_RSSIDBM_Y)

Vertical position on screen

RC_SNR_EN (OSD1_RC_SNR_EN)

Displays RC link signal to noise ratio in dB

RC_SNR_X (OSD1_RC_SNR_X)

Horizontal position on screen

RC_SNR_Y (OSD1_RC_SNR_Y)

Vertical position on screen

RC_ANT_EN (OSD1_RC_ANT_EN)

Displays the current RC link active antenna

RC_ANT_X (OSD1_RC_ANT_X)

Horizontal position on screen

RC_ANT_Y (OSD1_RC_ANT_Y)

Vertical position on screen

RC_LQ_EN (OSD1_RC_LQ_EN)

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

RC_LQ_X (OSD1_RC_LQ_X)

Horizontal position on screen

RC_LQ_Y (OSD1_RC_LQ_Y)

Vertical position on screen

ESC_IDX (OSD1_ESC_IDX)

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

OSD2_ Parameters

Enable screen (OSD2_ENABLE)

Enable this screen

Transmitter switch screen minimum pwm (OSD2_CHAN_MIN)

This sets the PWM lower limit for this screen

Transmitter switch screen maximum pwm (OSD2_CHAN_MAX)

This sets the PWM upper limit for this screen

ALTITUDE_EN (OSD2_ALTITUDE_EN)

Enables display of altitude AGL

ALTITUDE_X (OSD2_ALTITUDE_X)

Horizontal position on screen

ALTITUDE_Y (OSD2_ALTITUDE_Y)

Vertical position on screen

BATVOLT_EN (OSD2_BAT_VOLT_EN)

Displays main battery voltage

BATVOLT_X (OSD2_BAT_VOLT_X)

Horizontal position on screen

BATVOLT_Y (OSD2_BAT_VOLT_Y)

Vertical position on screen

RSSI_EN (OSD2_RSSI_EN)

Displays RC signal strength

RSSI_X (OSD2_RSSI_X)

Horizontal position on screen

RSSI_Y (OSD2_RSSI_Y)

Vertical position on screen

CURRENT_EN (OSD2_CURRENT_EN)

Displays main battery current

CURRENT_X (OSD2_CURRENT_X)

Horizontal position on screen

CURRENT_Y (OSD2_CURRENT_Y)

Vertical position on screen

BATUSED_EN (OSD2_BATUSED_EN)

Displays primary battery mAh consumed

BATUSED_X (OSD2_BATUSED_X)

Horizontal position on screen

BATUSED_Y (OSD2_BATUSED_Y)

Vertical position on screen

SATS_EN (OSD2_SATS_EN)

Displays number of acquired satellites

SATS_X (OSD2_SATS_X)

Horizontal position on screen

SATS_Y (OSD2_SATS_Y)

Vertical position on screen

FLTMODE_EN (OSD2_FLTMODE_EN)

Displays flight mode

FLTMODE_X (OSD2_FLTMODE_X)

Horizontal position on screen

FLTMODE_Y (OSD2_FLTMODE_Y)

Vertical position on screen

MESSAGE_EN (OSD2_MESSAGE_EN)

Displays Mavlink messages

MESSAGE_X (OSD2_MESSAGE_X)

Horizontal position on screen

MESSAGE_Y (OSD2_MESSAGE_Y)

Vertical position on screen

GSPEED_EN (OSD2_GSPEED_EN)

Displays GPS ground speed

GSPEED_X (OSD2_GSPEED_X)

Horizontal position on screen

GSPEED_Y (OSD2_GSPEED_Y)

Vertical position on screen

HORIZON_EN (OSD2_HORIZON_EN)

Displays artificial horizon

HORIZON_X (OSD2_HORIZON_X)

Horizontal position on screen

HORIZON_Y (OSD2_HORIZON_Y)

Vertical position on screen

HOME_EN (OSD2_HOME_EN)

Displays distance and relative direction to HOME

HOME_X (OSD2_HOME_X)

Horizontal position on screen

HOME_Y (OSD2_HOME_Y)

Vertical position on screen

HEADING_EN (OSD2_HEADING_EN)

Displays heading

HEADING_X (OSD2_HEADING_X)

Horizontal position on screen

HEADING_Y (OSD2_HEADING_Y)

Vertical position on screen

THROTTLE_EN (OSD2_THROTTLE_EN)

Displays actual throttle percentage being sent to motor(s)

THROTTLE_X (OSD2_THROTTLE_X)

Horizontal position on screen

THROTTLE_Y (OSD2_THROTTLE_Y)

Vertical position on screen

COMPASS_EN (OSD2_COMPASS_EN)

Enables display of compass rose

COMPASS_X (OSD2_COMPASS_X)

Horizontal position on screen

COMPASS_Y (OSD2_COMPASS_Y)

Vertical position on screen

WIND_EN (OSD2_WIND_EN)

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

WIND_X (OSD2_WIND_X)

Horizontal position on screen

WIND_Y (OSD2_WIND_Y)

Vertical position on screen

ASPEED_EN (OSD2_ASPEED_EN)

Displays airspeed value being used by TECS (fused value)

ASPEED_X (OSD2_ASPEED_X)

Horizontal position on screen

ASPEED_Y (OSD2_ASPEED_Y)

Vertical position on screen

VSPEED_EN (OSD2_VSPEED_EN)

Displays climb rate

VSPEED_X (OSD2_VSPEED_X)

Horizontal position on screen

VSPEED_Y (OSD2_VSPEED_Y)

Vertical position on screen

ESCTEMP_EN (OSD2_ESCTEMP_EN)

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

ESCTEMP_X (OSD2_ESCTEMP_X)

Horizontal position on screen

ESCTEMP_Y (OSD2_ESCTEMP_Y)

Vertical position on screen

ESCRPM_EN (OSD2_ESCRPM_EN)

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

ESCRPM_X (OSD2_ESCRPM_X)

Horizontal position on screen

ESCRPM_Y (OSD2_ESCRPM_Y)

Vertical position on screen

ESCAMPS_EN (OSD2_ESCAMPS_EN)

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

ESCAMPS_X (OSD2_ESCAMPS_X)

Horizontal position on screen

ESCAMPS_Y (OSD2_ESCAMPS_Y)

Vertical position on screen

GPSLAT_EN (OSD2_GPSLAT_EN)

Displays GPS latitude

GPSLAT_X (OSD2_GPSLAT_X)

Horizontal position on screen

GPSLAT_Y (OSD2_GPSLAT_Y)

Vertical position on screen

GPSLONG_EN (OSD2_GPSLONG_EN)

Displays GPS longitude

GPSLONG_X (OSD2_GPSLONG_X)

Horizontal position on screen

GPSLONG_Y (OSD2_GPSLONG_Y)

Vertical position on screen

ROLL_EN (OSD2_ROLL_EN)

Displays degrees of roll from level

ROLL_X (OSD2_ROLL_X)

Horizontal position on screen

ROLL_Y (OSD2_ROLL_Y)

Vertical position on screen

PITCH_EN (OSD2_PITCH_EN)

Displays degrees of pitch from level

PITCH_X (OSD2_PITCH_X)

Horizontal position on screen

PITCH_Y (OSD2_PITCH_Y)

Vertical position on screen

TEMP_EN (OSD2_TEMP_EN)

Displays temperature reported by primary barometer

TEMP_X (OSD2_TEMP_X)

Horizontal position on screen

TEMP_Y (OSD2_TEMP_Y)

Vertical position on screen

HDOP_EN (OSD2_HDOP_EN)

Displays Horizontal Dilution Of Position

HDOP_X (OSD2_HDOP_X)

Horizontal position on screen

HDOP_Y (OSD2_HDOP_Y)

Vertical position on screen

WAYPOINT_EN (OSD2_WAYPOINT_EN)

Displays bearing and distance to next waypoint

WAYPOINT_X (OSD2_WAYPOINT_X)

Horizontal position on screen

WAYPOINT_Y (OSD2_WAYPOINT_Y)

Vertical position on screen

XTRACK_EN (OSD2_XTRACK_EN)

Displays crosstrack error

XTRACK_X (OSD2_XTRACK_X)

Horizontal position on screen

XTRACK_Y (OSD2_XTRACK_Y)

Vertical position on screen

DIST_EN (OSD2_DIST_EN)

Displays total distance flown

DIST_X (OSD2_DIST_X)

Horizontal position on screen

DIST_Y (OSD2_DIST_Y)

Vertical position on screen

STATS_EN (OSD2_STATS_EN)

Displays flight stats

STATS_X (OSD2_STATS_X)

Horizontal position on screen

STATS_Y (OSD2_STATS_Y)

Vertical position on screen

FLTIME_EN (OSD2_FLTIME_EN)

Displays total flight time

FLTIME_X (OSD2_FLTIME_X)

Horizontal position on screen

FLTIME_Y (OSD2_FLTIME_Y)

Vertical position on screen

CLIMBEFF_EN (OSD2_CLIMBEFF_EN)

Displays climb efficiency (climb rate/current)

CLIMBEFF_X (OSD2_CLIMBEFF_X)

Horizontal position on screen

CLIMBEFF_Y (OSD2_CLIMBEFF_Y)

Vertical position on screen

EFF_EN (OSD2_EFF_EN)

Displays flight efficiency (mAh/km or /mi)

EFF_X (OSD2_EFF_X)

Horizontal position on screen

EFF_Y (OSD2_EFF_Y)

Vertical position on screen

BTEMP_EN (OSD2_BTEMP_EN)

Displays temperature reported by secondary barometer

BTEMP_X (OSD2_BTEMP_X)

Horizontal position on screen

BTEMP_Y (OSD2_BTEMP_Y)

Vertical position on screen

ATEMP_EN (OSD2_ATEMP_EN)

Displays temperature reported by primary airspeed sensor

ATEMP_X (OSD2_ATEMP_X)

Horizontal position on screen

ATEMP_Y (OSD2_ATEMP_Y)

Vertical position on screen

BAT2VLT_EN (OSD2_BAT2_VLT_EN)

Displays battery2 voltage

BAT2VLT_X (OSD2_BAT2_VLT_X)

Horizontal position on screen

BAT2VLT_Y (OSD2_BAT2_VLT_Y)

Vertical position on screen

BAT2USED_EN (OSD2_BAT2USED_EN)

Displays secondary battery mAh consumed

BAT2USED_X (OSD2_BAT2USED_X)

Horizontal position on screen

BAT2USED_Y (OSD2_BAT2USED_Y)

Vertical position on screen

ASPD2_EN (OSD2_ASPD2_EN)

Displays airspeed reported directly from secondary airspeed sensor

ASPD2_X (OSD2_ASPD2_X)

Horizontal position on screen

ASPD2_Y (OSD2_ASPD2_Y)

Vertical position on screen

ASPD1_EN (OSD2_ASPD1_EN)

Displays airspeed reported directly from primary airspeed sensor

ASPD1_X (OSD2_ASPD1_X)

Horizontal position on screen

ASPD1_Y (OSD2_ASPD1_Y)

Vertical position on screen

CLK_EN (OSD2_CLK_EN)

Displays a clock panel based on AP_RTC local time

CLK_X (OSD2_CLK_X)

Horizontal position on screen

CLK_Y (OSD2_CLK_Y)

Vertical position on screen

SIDEBARS_EN (OSD2_SIDEBARS_EN)

Displays artificial horizon side bars

SIDEBARS_X (OSD2_SIDEBARS_X)

Horizontal position on screen

SIDEBARS_Y (OSD2_SIDEBARS_Y)

Vertical position on screen

CRSSHAIR_EN (OSD2_CRSSHAIR_EN)

Displays artificial horizon crosshair (MSP OSD only)

CRSSHAIR_X (OSD2_CRSSHAIR_X)

Horizontal position on screen (MSP OSD only)

CRSSHAIR_Y (OSD2_CRSSHAIR_Y)

Vertical position on screen (MSP OSD only)

HOMEDIST_EN (OSD2_HOMEDIST_EN)

Displays distance from HOME (MSP OSD only)

HOMEDIST_X (OSD2_HOMEDIST_X)

Horizontal position on screen (MSP OSD only)

HOMEDIST_Y (OSD2_HOMEDIST_Y)

Vertical position on screen (MSP OSD only)

HOMEDIR_EN (OSD2_HOMEDIR_EN)

Displays relative direction to HOME (MSP OSD only)

HOMEDIR_X (OSD2_HOMEDIR_X)

Horizontal position on screen

HOMEDIR_Y (OSD2_HOMEDIR_Y)

Vertical position on screen

POWER_EN (OSD2_POWER_EN)

Displays power (MSP OSD only)

POWER_X (OSD2_POWER_X)

Horizontal position on screen

POWER_Y (OSD2_POWER_Y)

Vertical position on screen

CELL_VOLT_EN (OSD2_CELLVOLT_EN)

Displays average cell voltage (MSP OSD only)

CELL_VOLT_X (OSD2_CELLVOLT_X)

Horizontal position on screen

CELL_VOLT_Y (OSD2_CELLVOLT_Y)

Vertical position on screen

BATT_BAR_EN (OSD2_BATTBAR_EN)

Displays battery usage bar (MSP OSD only)

BATT_BAR_X (OSD2_BATTBAR_X)

Horizontal position on screen

BATT_BAR_Y (OSD2_BATTBAR_Y)

Vertical position on screen

ARMING_EN (OSD2_ARMING_EN)

Displays arming status (MSP OSD only)

ARMING_X (OSD2_ARMING_X)

Horizontal position on screen

ARMING_Y (OSD2_ARMING_Y)

Vertical position on screen

PLUSCODE_EN (OSD2_PLUSCODE_EN)

Displays pluscode (OLC) element

PLUSCODE_X (OSD2_PLUSCODE_X)

Horizontal position on screen

PLUSCODE_Y (OSD2_PLUSCODE_Y)

Vertical position on screen

CALLSIGN_EN (OSD2_CALLSIGN_EN)

Displays callsign from callsign.txt on microSD card

CALLSIGN_X (OSD2_CALLSIGN_X)

Horizontal position on screen

CALLSIGN_Y (OSD2_CALLSIGN_Y)

Vertical position on screen

CURRENT2_EN (OSD2_CURRENT2_EN)

Displays 2nd battery current

CURRENT2_X (OSD2_CURRENT2_X)

Horizontal position on screen

CURRENT2_Y (OSD2_CURRENT2_Y)

Vertical position on screen

VTX_PWR_EN (OSD2_VTX_PWR_EN)

Displays VTX Power

VTX_PWR_X (OSD2_VTX_PWR_X)

Horizontal position on screen

VTX_PWR_Y (OSD2_VTX_PWR_Y)

Vertical position on screen

TER_HGT_EN (OSD2_TER_HGT_EN)

Displays Height above terrain

TER_HGT_X (OSD2_TER_HGT_X)

Horizontal position on screen

TER_HGT_Y (OSD2_TER_HGT_Y)

Vertical position on screen

AVGCELLV_EN (OSD2_AVGCELLV_EN)

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

AVGCELLV_X (OSD2_AVGCELLV_X)

Horizontal position on screen

AVGCELLV_Y (OSD2_AVGCELLV_Y)

Vertical position on screen

RESTVOLT_EN (OSD2_RESTVOLT_EN)

Displays main battery resting voltage

RESTVOLT_X (OSD2_RESTVOLT_X)

Horizontal position on screen

RESTVOLT_Y (OSD2_RESTVOLT_Y)

Vertical position on screen

FENCE_EN (OSD2_FENCE_EN)

Displays indication of fence enable and breach

FENCE_X (OSD2_FENCE_X)

Horizontal position on screen

FENCE_Y (OSD2_FENCE_Y)

Vertical position on screen

RNGF_EN (OSD2_RNGF_EN)

Displays a rangefinder's distance in cm

RNGF_X (OSD2_RNGF_X)

Horizontal position on screen

RNGF_Y (OSD2_RNGF_Y)

Vertical position on screen

ACRVOLT_EN (OSD2_ACRVOLT_EN)

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

ACRVOLT_X (OSD2_ACRVOLT_X)

Horizontal position on screen

ACRVOLT_Y (OSD2_ACRVOLT_Y)

Vertical position on screen

RPM_EN (OSD2_RPM_EN)

Displays main rotor revs/min

RPM_X (OSD2_RPM_X)

Horizontal position on screen

RPM_Y (OSD2_RPM_Y)

Vertical position on screen

LINK_Q_EN (OSD2_LINK_Q_EN)

Displays Receiver link quality

LINK_Q_X (OSD2_LINK_Q_X)

Horizontal position on screen

LINK_Q_Y (OSD2_LINK_Q_Y)

Vertical position on screen

Sets the overlay text resolution (MSP DisplayPort only) (OSD2_TXT_RES)

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only) (OSD2_FONT)

Sets the font index for this screen (MSP DisplayPort only)

RC_PWR_EN (OSD2_RC_PWR_EN)

Displays the RC link transmit (TX) power in mW or W, depending on level

RC_PWR_X (OSD2_RC_PWR_X)

Horizontal position on screen

RC_PWR_Y (OSD2_RC_PWR_Y)

Vertical position on screen

RSSIDBM_EN (OSD2_RSSIDBM_EN)

Displays RC link signal strength in dBm

RSSIDBM_X (OSD2_RSSIDBM_X)

Horizontal position on screen

RSSIDBM_Y (OSD2_RSSIDBM_Y)

Vertical position on screen

RC_SNR_EN (OSD2_RC_SNR_EN)

Displays RC link signal to noise ratio in dB

RC_SNR_X (OSD2_RC_SNR_X)

Horizontal position on screen

RC_SNR_Y (OSD2_RC_SNR_Y)

Vertical position on screen

RC_ANT_EN (OSD2_RC_ANT_EN)

Displays the current RC link active antenna

RC_ANT_X (OSD2_RC_ANT_X)

Horizontal position on screen

RC_ANT_Y (OSD2_RC_ANT_Y)

Vertical position on screen

RC_LQ_EN (OSD2_RC_LQ_EN)

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

RC_LQ_X (OSD2_RC_LQ_X)

Horizontal position on screen

RC_LQ_Y (OSD2_RC_LQ_Y)

Vertical position on screen

ESC_IDX (OSD2_ESC_IDX)

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

OSD3_ Parameters

Enable screen (OSD3_ENABLE)

Enable this screen

Transmitter switch screen minimum pwm (OSD3_CHAN_MIN)

This sets the PWM lower limit for this screen

Transmitter switch screen maximum pwm (OSD3_CHAN_MAX)

This sets the PWM upper limit for this screen

ALTITUDE_EN (OSD3_ALTITUDE_EN)

Enables display of altitude AGL

ALTITUDE_X (OSD3_ALTITUDE_X)

Horizontal position on screen

ALTITUDE_Y (OSD3_ALTITUDE_Y)

Vertical position on screen

BATVOLT_EN (OSD3_BAT_VOLT_EN)

Displays main battery voltage

BATVOLT_X (OSD3_BAT_VOLT_X)

Horizontal position on screen

BATVOLT_Y (OSD3_BAT_VOLT_Y)

Vertical position on screen

RSSI_EN (OSD3_RSSI_EN)

Displays RC signal strength

RSSI_X (OSD3_RSSI_X)

Horizontal position on screen

RSSI_Y (OSD3_RSSI_Y)

Vertical position on screen

CURRENT_EN (OSD3_CURRENT_EN)

Displays main battery current

CURRENT_X (OSD3_CURRENT_X)

Horizontal position on screen

CURRENT_Y (OSD3_CURRENT_Y)

Vertical position on screen

BATUSED_EN (OSD3_BATUSED_EN)

Displays primary battery mAh consumed

BATUSED_X (OSD3_BATUSED_X)

Horizontal position on screen

BATUSED_Y (OSD3_BATUSED_Y)

Vertical position on screen

SATS_EN (OSD3_SATS_EN)

Displays number of acquired satellites

SATS_X (OSD3_SATS_X)

Horizontal position on screen

SATS_Y (OSD3_SATS_Y)

Vertical position on screen

FLTMODE_EN (OSD3_FLTMODE_EN)

Displays flight mode

FLTMODE_X (OSD3_FLTMODE_X)

Horizontal position on screen

FLTMODE_Y (OSD3_FLTMODE_Y)

Vertical position on screen

MESSAGE_EN (OSD3_MESSAGE_EN)

Displays Mavlink messages

MESSAGE_X (OSD3_MESSAGE_X)

Horizontal position on screen

MESSAGE_Y (OSD3_MESSAGE_Y)

Vertical position on screen

GSPEED_EN (OSD3_GSPEED_EN)

Displays GPS ground speed

GSPEED_X (OSD3_GSPEED_X)

Horizontal position on screen

GSPEED_Y (OSD3_GSPEED_Y)

Vertical position on screen

HORIZON_EN (OSD3_HORIZON_EN)

Displays artificial horizon

HORIZON_X (OSD3_HORIZON_X)

Horizontal position on screen

HORIZON_Y (OSD3_HORIZON_Y)

Vertical position on screen

HOME_EN (OSD3_HOME_EN)

Displays distance and relative direction to HOME

HOME_X (OSD3_HOME_X)

Horizontal position on screen

HOME_Y (OSD3_HOME_Y)

Vertical position on screen

HEADING_EN (OSD3_HEADING_EN)

Displays heading

HEADING_X (OSD3_HEADING_X)

Horizontal position on screen

HEADING_Y (OSD3_HEADING_Y)

Vertical position on screen

THROTTLE_EN (OSD3_THROTTLE_EN)

Displays actual throttle percentage being sent to motor(s)

THROTTLE_X (OSD3_THROTTLE_X)

Horizontal position on screen

THROTTLE_Y (OSD3_THROTTLE_Y)

Vertical position on screen

COMPASS_EN (OSD3_COMPASS_EN)

Enables display of compass rose

COMPASS_X (OSD3_COMPASS_X)

Horizontal position on screen

COMPASS_Y (OSD3_COMPASS_Y)

Vertical position on screen

WIND_EN (OSD3_WIND_EN)

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

WIND_X (OSD3_WIND_X)

Horizontal position on screen

WIND_Y (OSD3_WIND_Y)

Vertical position on screen

ASPEED_EN (OSD3_ASPEED_EN)

Displays airspeed value being used by TECS (fused value)

ASPEED_X (OSD3_ASPEED_X)

Horizontal position on screen

ASPEED_Y (OSD3_ASPEED_Y)

Vertical position on screen

VSPEED_EN (OSD3_VSPEED_EN)

Displays climb rate

VSPEED_X (OSD3_VSPEED_X)

Horizontal position on screen

VSPEED_Y (OSD3_VSPEED_Y)

Vertical position on screen

ESCTEMP_EN (OSD3_ESCTEMP_EN)

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

ESCTEMP_X (OSD3_ESCTEMP_X)

Horizontal position on screen

ESCTEMP_Y (OSD3_ESCTEMP_Y)

Vertical position on screen

ESCRPM_EN (OSD3_ESCRPM_EN)

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

ESCRPM_X (OSD3_ESCRPM_X)

Horizontal position on screen

ESCRPM_Y (OSD3_ESCRPM_Y)

Vertical position on screen

ESCAMPS_EN (OSD3_ESCAMPS_EN)

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

ESCAMPS_X (OSD3_ESCAMPS_X)

Horizontal position on screen

ESCAMPS_Y (OSD3_ESCAMPS_Y)

Vertical position on screen

GPSLAT_EN (OSD3_GPSLAT_EN)

Displays GPS latitude

GPSLAT_X (OSD3_GPSLAT_X)

Horizontal position on screen

GPSLAT_Y (OSD3_GPSLAT_Y)

Vertical position on screen

GPSLONG_EN (OSD3_GPSLONG_EN)

Displays GPS longitude

GPSLONG_X (OSD3_GPSLONG_X)

Horizontal position on screen

GPSLONG_Y (OSD3_GPSLONG_Y)

Vertical position on screen

ROLL_EN (OSD3_ROLL_EN)

Displays degrees of roll from level

ROLL_X (OSD3_ROLL_X)

Horizontal position on screen

ROLL_Y (OSD3_ROLL_Y)

Vertical position on screen

PITCH_EN (OSD3_PITCH_EN)

Displays degrees of pitch from level

PITCH_X (OSD3_PITCH_X)

Horizontal position on screen

PITCH_Y (OSD3_PITCH_Y)

Vertical position on screen

TEMP_EN (OSD3_TEMP_EN)

Displays temperature reported by primary barometer

TEMP_X (OSD3_TEMP_X)

Horizontal position on screen

TEMP_Y (OSD3_TEMP_Y)

Vertical position on screen

HDOP_EN (OSD3_HDOP_EN)

Displays Horizontal Dilution Of Position

HDOP_X (OSD3_HDOP_X)

Horizontal position on screen

HDOP_Y (OSD3_HDOP_Y)

Vertical position on screen

WAYPOINT_EN (OSD3_WAYPOINT_EN)

Displays bearing and distance to next waypoint

WAYPOINT_X (OSD3_WAYPOINT_X)

Horizontal position on screen

WAYPOINT_Y (OSD3_WAYPOINT_Y)

Vertical position on screen

XTRACK_EN (OSD3_XTRACK_EN)

Displays crosstrack error

XTRACK_X (OSD3_XTRACK_X)

Horizontal position on screen

XTRACK_Y (OSD3_XTRACK_Y)

Vertical position on screen

DIST_EN (OSD3_DIST_EN)

Displays total distance flown

DIST_X (OSD3_DIST_X)

Horizontal position on screen

DIST_Y (OSD3_DIST_Y)

Vertical position on screen

STATS_EN (OSD3_STATS_EN)

Displays flight stats

STATS_X (OSD3_STATS_X)

Horizontal position on screen

STATS_Y (OSD3_STATS_Y)

Vertical position on screen

FLTIME_EN (OSD3_FLTIME_EN)

Displays total flight time

FLTIME_X (OSD3_FLTIME_X)

Horizontal position on screen

FLTIME_Y (OSD3_FLTIME_Y)

Vertical position on screen

CLIMBEFF_EN (OSD3_CLIMBEFF_EN)

Displays climb efficiency (climb rate/current)

CLIMBEFF_X (OSD3_CLIMBEFF_X)

Horizontal position on screen

CLIMBEFF_Y (OSD3_CLIMBEFF_Y)

Vertical position on screen

EFF_EN (OSD3_EFF_EN)

Displays flight efficiency (mAh/km or /mi)

EFF_X (OSD3_EFF_X)

Horizontal position on screen

EFF_Y (OSD3_EFF_Y)

Vertical position on screen

BTEMP_EN (OSD3_BTEMP_EN)

Displays temperature reported by secondary barometer

BTEMP_X (OSD3_BTEMP_X)

Horizontal position on screen

BTEMP_Y (OSD3_BTEMP_Y)

Vertical position on screen

ATEMP_EN (OSD3_ATEMP_EN)

Displays temperature reported by primary airspeed sensor

ATEMP_X (OSD3_ATEMP_X)

Horizontal position on screen

ATEMP_Y (OSD3_ATEMP_Y)

Vertical position on screen

BAT2VLT_EN (OSD3_BAT2_VLT_EN)

Displays battery2 voltage

BAT2VLT_X (OSD3_BAT2_VLT_X)

Horizontal position on screen

BAT2VLT_Y (OSD3_BAT2_VLT_Y)

Vertical position on screen

BAT2USED_EN (OSD3_BAT2USED_EN)

Displays secondary battery mAh consumed

BAT2USED_X (OSD3_BAT2USED_X)

Horizontal position on screen

BAT2USED_Y (OSD3_BAT2USED_Y)

Vertical position on screen

ASPD2_EN (OSD3_ASPD2_EN)

Displays airspeed reported directly from secondary airspeed sensor

ASPD2_X (OSD3_ASPD2_X)

Horizontal position on screen

ASPD2_Y (OSD3_ASPD2_Y)

Vertical position on screen

ASPD1_EN (OSD3_ASPD1_EN)

Displays airspeed reported directly from primary airspeed sensor

ASPD1_X (OSD3_ASPD1_X)

Horizontal position on screen

ASPD1_Y (OSD3_ASPD1_Y)

Vertical position on screen

CLK_EN (OSD3_CLK_EN)

Displays a clock panel based on AP_RTC local time

CLK_X (OSD3_CLK_X)

Horizontal position on screen

CLK_Y (OSD3_CLK_Y)

Vertical position on screen

SIDEBARS_EN (OSD3_SIDEBARS_EN)

Displays artificial horizon side bars

SIDEBARS_X (OSD3_SIDEBARS_X)

Horizontal position on screen

SIDEBARS_Y (OSD3_SIDEBARS_Y)

Vertical position on screen

CRSSHAIR_EN (OSD3_CRSSHAIR_EN)

Displays artificial horizon crosshair (MSP OSD only)

CRSSHAIR_X (OSD3_CRSSHAIR_X)

Horizontal position on screen (MSP OSD only)

CRSSHAIR_Y (OSD3_CRSSHAIR_Y)

Vertical position on screen (MSP OSD only)

HOMEDIST_EN (OSD3_HOMEDIST_EN)

Displays distance from HOME (MSP OSD only)

HOMEDIST_X (OSD3_HOMEDIST_X)

Horizontal position on screen (MSP OSD only)

HOMEDIST_Y (OSD3_HOMEDIST_Y)

Vertical position on screen (MSP OSD only)

HOMEDIR_EN (OSD3_HOMEDIR_EN)

Displays relative direction to HOME (MSP OSD only)

HOMEDIR_X (OSD3_HOMEDIR_X)

Horizontal position on screen

HOMEDIR_Y (OSD3_HOMEDIR_Y)

Vertical position on screen

POWER_EN (OSD3_POWER_EN)

Displays power (MSP OSD only)

POWER_X (OSD3_POWER_X)

Horizontal position on screen

POWER_Y (OSD3_POWER_Y)

Vertical position on screen

CELL_VOLT_EN (OSD3_CELLVOLT_EN)

Displays average cell voltage (MSP OSD only)

CELL_VOLT_X (OSD3_CELLVOLT_X)

Horizontal position on screen

CELL_VOLT_Y (OSD3_CELLVOLT_Y)

Vertical position on screen

BATT_BAR_EN (OSD3_BATTBAR_EN)

Displays battery usage bar (MSP OSD only)

BATT_BAR_X (OSD3_BATTBAR_X)

Horizontal position on screen

BATT_BAR_Y (OSD3_BATTBAR_Y)

Vertical position on screen

ARMING_EN (OSD3_ARMING_EN)

Displays arming status (MSP OSD only)

ARMING_X (OSD3_ARMING_X)

Horizontal position on screen

ARMING_Y (OSD3_ARMING_Y)

Vertical position on screen

PLUSCODE_EN (OSD3_PLUSCODE_EN)

Displays pluscode (OLC) element

PLUSCODE_X (OSD3_PLUSCODE_X)

Horizontal position on screen

PLUSCODE_Y (OSD3_PLUSCODE_Y)

Vertical position on screen

CALLSIGN_EN (OSD3_CALLSIGN_EN)

Displays callsign from callsign.txt on microSD card

CALLSIGN_X (OSD3_CALLSIGN_X)

Horizontal position on screen

CALLSIGN_Y (OSD3_CALLSIGN_Y)

Vertical position on screen

CURRENT2_EN (OSD3_CURRENT2_EN)

Displays 2nd battery current

CURRENT2_X (OSD3_CURRENT2_X)

Horizontal position on screen

CURRENT2_Y (OSD3_CURRENT2_Y)

Vertical position on screen

VTX_PWR_EN (OSD3_VTX_PWR_EN)

Displays VTX Power

VTX_PWR_X (OSD3_VTX_PWR_X)

Horizontal position on screen

VTX_PWR_Y (OSD3_VTX_PWR_Y)

Vertical position on screen

TER_HGT_EN (OSD3_TER_HGT_EN)

Displays Height above terrain

TER_HGT_X (OSD3_TER_HGT_X)

Horizontal position on screen

TER_HGT_Y (OSD3_TER_HGT_Y)

Vertical position on screen

AVGCELLV_EN (OSD3_AVGCELLV_EN)

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

AVGCELLV_X (OSD3_AVGCELLV_X)

Horizontal position on screen

AVGCELLV_Y (OSD3_AVGCELLV_Y)

Vertical position on screen

RESTVOLT_EN (OSD3_RESTVOLT_EN)

Displays main battery resting voltage

RESTVOLT_X (OSD3_RESTVOLT_X)

Horizontal position on screen

RESTVOLT_Y (OSD3_RESTVOLT_Y)

Vertical position on screen

FENCE_EN (OSD3_FENCE_EN)

Displays indication of fence enable and breach

FENCE_X (OSD3_FENCE_X)

Horizontal position on screen

FENCE_Y (OSD3_FENCE_Y)

Vertical position on screen

RNGF_EN (OSD3_RNGF_EN)

Displays a rangefinder's distance in cm

RNGF_X (OSD3_RNGF_X)

Horizontal position on screen

RNGF_Y (OSD3_RNGF_Y)

Vertical position on screen

ACRVOLT_EN (OSD3_ACRVOLT_EN)

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

ACRVOLT_X (OSD3_ACRVOLT_X)

Horizontal position on screen

ACRVOLT_Y (OSD3_ACRVOLT_Y)

Vertical position on screen

RPM_EN (OSD3_RPM_EN)

Displays main rotor revs/min

RPM_X (OSD3_RPM_X)

Horizontal position on screen

RPM_Y (OSD3_RPM_Y)

Vertical position on screen

LINK_Q_EN (OSD3_LINK_Q_EN)

Displays Receiver link quality

LINK_Q_X (OSD3_LINK_Q_X)

Horizontal position on screen

LINK_Q_Y (OSD3_LINK_Q_Y)

Vertical position on screen

Sets the overlay text resolution (MSP DisplayPort only) (OSD3_TXT_RES)

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only) (OSD3_FONT)

Sets the font index for this screen (MSP DisplayPort only)

RC_PWR_EN (OSD3_RC_PWR_EN)

Displays the RC link transmit (TX) power in mW or W, depending on level

RC_PWR_X (OSD3_RC_PWR_X)

Horizontal position on screen

RC_PWR_Y (OSD3_RC_PWR_Y)

Vertical position on screen

RSSIDBM_EN (OSD3_RSSIDBM_EN)

Displays RC link signal strength in dBm

RSSIDBM_X (OSD3_RSSIDBM_X)

Horizontal position on screen

RSSIDBM_Y (OSD3_RSSIDBM_Y)

Vertical position on screen

RC_SNR_EN (OSD3_RC_SNR_EN)

Displays RC link signal to noise ratio in dB

RC_SNR_X (OSD3_RC_SNR_X)

Horizontal position on screen

RC_SNR_Y (OSD3_RC_SNR_Y)

Vertical position on screen

RC_ANT_EN (OSD3_RC_ANT_EN)

Displays the current RC link active antenna

RC_ANT_X (OSD3_RC_ANT_X)

Horizontal position on screen

RC_ANT_Y (OSD3_RC_ANT_Y)

Vertical position on screen

RC_LQ_EN (OSD3_RC_LQ_EN)

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

RC_LQ_X (OSD3_RC_LQ_X)

Horizontal position on screen

RC_LQ_Y (OSD3_RC_LQ_Y)

Vertical position on screen

ESC_IDX (OSD3_ESC_IDX)

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

OSD4_ Parameters

Enable screen (OSD4_ENABLE)

Enable this screen

Transmitter switch screen minimum pwm (OSD4_CHAN_MIN)

This sets the PWM lower limit for this screen

Transmitter switch screen maximum pwm (OSD4_CHAN_MAX)

This sets the PWM upper limit for this screen

ALTITUDE_EN (OSD4_ALTITUDE_EN)

Enables display of altitude AGL

ALTITUDE_X (OSD4_ALTITUDE_X)

Horizontal position on screen

ALTITUDE_Y (OSD4_ALTITUDE_Y)

Vertical position on screen

BATVOLT_EN (OSD4_BAT_VOLT_EN)

Displays main battery voltage

BATVOLT_X (OSD4_BAT_VOLT_X)

Horizontal position on screen

BATVOLT_Y (OSD4_BAT_VOLT_Y)

Vertical position on screen

RSSI_EN (OSD4_RSSI_EN)

Displays RC signal strength

RSSI_X (OSD4_RSSI_X)

Horizontal position on screen

RSSI_Y (OSD4_RSSI_Y)

Vertical position on screen

CURRENT_EN (OSD4_CURRENT_EN)

Displays main battery current

CURRENT_X (OSD4_CURRENT_X)

Horizontal position on screen

CURRENT_Y (OSD4_CURRENT_Y)

Vertical position on screen

BATUSED_EN (OSD4_BATUSED_EN)

Displays primary battery mAh consumed

BATUSED_X (OSD4_BATUSED_X)

Horizontal position on screen

BATUSED_Y (OSD4_BATUSED_Y)

Vertical position on screen

SATS_EN (OSD4_SATS_EN)

Displays number of acquired satellites

SATS_X (OSD4_SATS_X)

Horizontal position on screen

SATS_Y (OSD4_SATS_Y)

Vertical position on screen

FLTMODE_EN (OSD4_FLTMODE_EN)

Displays flight mode

FLTMODE_X (OSD4_FLTMODE_X)

Horizontal position on screen

FLTMODE_Y (OSD4_FLTMODE_Y)

Vertical position on screen

MESSAGE_EN (OSD4_MESSAGE_EN)

Displays Mavlink messages

MESSAGE_X (OSD4_MESSAGE_X)

Horizontal position on screen

MESSAGE_Y (OSD4_MESSAGE_Y)

Vertical position on screen

GSPEED_EN (OSD4_GSPEED_EN)

Displays GPS ground speed

GSPEED_X (OSD4_GSPEED_X)

Horizontal position on screen

GSPEED_Y (OSD4_GSPEED_Y)

Vertical position on screen

HORIZON_EN (OSD4_HORIZON_EN)

Displays artificial horizon

HORIZON_X (OSD4_HORIZON_X)

Horizontal position on screen

HORIZON_Y (OSD4_HORIZON_Y)

Vertical position on screen

HOME_EN (OSD4_HOME_EN)

Displays distance and relative direction to HOME

HOME_X (OSD4_HOME_X)

Horizontal position on screen

HOME_Y (OSD4_HOME_Y)

Vertical position on screen

HEADING_EN (OSD4_HEADING_EN)

Displays heading

HEADING_X (OSD4_HEADING_X)

Horizontal position on screen

HEADING_Y (OSD4_HEADING_Y)

Vertical position on screen

THROTTLE_EN (OSD4_THROTTLE_EN)

Displays actual throttle percentage being sent to motor(s)

THROTTLE_X (OSD4_THROTTLE_X)

Horizontal position on screen

THROTTLE_Y (OSD4_THROTTLE_Y)

Vertical position on screen

COMPASS_EN (OSD4_COMPASS_EN)

Enables display of compass rose

COMPASS_X (OSD4_COMPASS_X)

Horizontal position on screen

COMPASS_Y (OSD4_COMPASS_Y)

Vertical position on screen

WIND_EN (OSD4_WIND_EN)

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

WIND_X (OSD4_WIND_X)

Horizontal position on screen

WIND_Y (OSD4_WIND_Y)

Vertical position on screen

ASPEED_EN (OSD4_ASPEED_EN)

Displays airspeed value being used by TECS (fused value)

ASPEED_X (OSD4_ASPEED_X)

Horizontal position on screen

ASPEED_Y (OSD4_ASPEED_Y)

Vertical position on screen

VSPEED_EN (OSD4_VSPEED_EN)

Displays climb rate

VSPEED_X (OSD4_VSPEED_X)

Horizontal position on screen

VSPEED_Y (OSD4_VSPEED_Y)

Vertical position on screen

ESCTEMP_EN (OSD4_ESCTEMP_EN)

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

ESCTEMP_X (OSD4_ESCTEMP_X)

Horizontal position on screen

ESCTEMP_Y (OSD4_ESCTEMP_Y)

Vertical position on screen

ESCRPM_EN (OSD4_ESCRPM_EN)

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

ESCRPM_X (OSD4_ESCRPM_X)

Horizontal position on screen

ESCRPM_Y (OSD4_ESCRPM_Y)

Vertical position on screen

ESCAMPS_EN (OSD4_ESCAMPS_EN)

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

ESCAMPS_X (OSD4_ESCAMPS_X)

Horizontal position on screen

ESCAMPS_Y (OSD4_ESCAMPS_Y)

Vertical position on screen

GPSLAT_EN (OSD4_GPSLAT_EN)

Displays GPS latitude

GPSLAT_X (OSD4_GPSLAT_X)

Horizontal position on screen

GPSLAT_Y (OSD4_GPSLAT_Y)

Vertical position on screen

GPSLONG_EN (OSD4_GPSLONG_EN)

Displays GPS longitude

GPSLONG_X (OSD4_GPSLONG_X)

Horizontal position on screen

GPSLONG_Y (OSD4_GPSLONG_Y)

Vertical position on screen

ROLL_EN (OSD4_ROLL_EN)

Displays degrees of roll from level

ROLL_X (OSD4_ROLL_X)

Horizontal position on screen

ROLL_Y (OSD4_ROLL_Y)

Vertical position on screen

PITCH_EN (OSD4_PITCH_EN)

Displays degrees of pitch from level

PITCH_X (OSD4_PITCH_X)

Horizontal position on screen

PITCH_Y (OSD4_PITCH_Y)

Vertical position on screen

TEMP_EN (OSD4_TEMP_EN)

Displays temperature reported by primary barometer

TEMP_X (OSD4_TEMP_X)

Horizontal position on screen

TEMP_Y (OSD4_TEMP_Y)

Vertical position on screen

HDOP_EN (OSD4_HDOP_EN)

Displays Horizontal Dilution Of Position

HDOP_X (OSD4_HDOP_X)

Horizontal position on screen

HDOP_Y (OSD4_HDOP_Y)

Vertical position on screen

WAYPOINT_EN (OSD4_WAYPOINT_EN)

Displays bearing and distance to next waypoint

WAYPOINT_X (OSD4_WAYPOINT_X)

Horizontal position on screen

WAYPOINT_Y (OSD4_WAYPOINT_Y)

Vertical position on screen

XTRACK_EN (OSD4_XTRACK_EN)

Displays crosstrack error

XTRACK_X (OSD4_XTRACK_X)

Horizontal position on screen

XTRACK_Y (OSD4_XTRACK_Y)

Vertical position on screen

DIST_EN (OSD4_DIST_EN)

Displays total distance flown

DIST_X (OSD4_DIST_X)

Horizontal position on screen

DIST_Y (OSD4_DIST_Y)

Vertical position on screen

STATS_EN (OSD4_STATS_EN)

Displays flight stats

STATS_X (OSD4_STATS_X)

Horizontal position on screen

STATS_Y (OSD4_STATS_Y)

Vertical position on screen

FLTIME_EN (OSD4_FLTIME_EN)

Displays total flight time

FLTIME_X (OSD4_FLTIME_X)

Horizontal position on screen

FLTIME_Y (OSD4_FLTIME_Y)

Vertical position on screen

CLIMBEFF_EN (OSD4_CLIMBEFF_EN)

Displays climb efficiency (climb rate/current)

CLIMBEFF_X (OSD4_CLIMBEFF_X)

Horizontal position on screen

CLIMBEFF_Y (OSD4_CLIMBEFF_Y)

Vertical position on screen

EFF_EN (OSD4_EFF_EN)

Displays flight efficiency (mAh/km or /mi)

EFF_X (OSD4_EFF_X)

Horizontal position on screen

EFF_Y (OSD4_EFF_Y)

Vertical position on screen

BTEMP_EN (OSD4_BTEMP_EN)

Displays temperature reported by secondary barometer

BTEMP_X (OSD4_BTEMP_X)

Horizontal position on screen

BTEMP_Y (OSD4_BTEMP_Y)

Vertical position on screen

ATEMP_EN (OSD4_ATEMP_EN)

Displays temperature reported by primary airspeed sensor

ATEMP_X (OSD4_ATEMP_X)

Horizontal position on screen

ATEMP_Y (OSD4_ATEMP_Y)

Vertical position on screen

BAT2VLT_EN (OSD4_BAT2_VLT_EN)

Displays battery2 voltage

BAT2VLT_X (OSD4_BAT2_VLT_X)

Horizontal position on screen

BAT2VLT_Y (OSD4_BAT2_VLT_Y)

Vertical position on screen

BAT2USED_EN (OSD4_BAT2USED_EN)

Displays secondary battery mAh consumed

BAT2USED_X (OSD4_BAT2USED_X)

Horizontal position on screen

BAT2USED_Y (OSD4_BAT2USED_Y)

Vertical position on screen

ASPD2_EN (OSD4_ASPD2_EN)

Displays airspeed reported directly from secondary airspeed sensor

ASPD2_X (OSD4_ASPD2_X)

Horizontal position on screen

ASPD2_Y (OSD4_ASPD2_Y)

Vertical position on screen

ASPD1_EN (OSD4_ASPD1_EN)

Displays airspeed reported directly from primary airspeed sensor

ASPD1_X (OSD4_ASPD1_X)

Horizontal position on screen

ASPD1_Y (OSD4_ASPD1_Y)

Vertical position on screen

CLK_EN (OSD4_CLK_EN)

Displays a clock panel based on AP_RTC local time

CLK_X (OSD4_CLK_X)

Horizontal position on screen

CLK_Y (OSD4_CLK_Y)

Vertical position on screen

SIDEBARS_EN (OSD4_SIDEBARS_EN)

Displays artificial horizon side bars

SIDEBARS_X (OSD4_SIDEBARS_X)

Horizontal position on screen

SIDEBARS_Y (OSD4_SIDEBARS_Y)

Vertical position on screen

CRSSHAIR_EN (OSD4_CRSSHAIR_EN)

Displays artificial horizon crosshair (MSP OSD only)

CRSSHAIR_X (OSD4_CRSSHAIR_X)

Horizontal position on screen (MSP OSD only)

CRSSHAIR_Y (OSD4_CRSSHAIR_Y)

Vertical position on screen (MSP OSD only)

HOMEDIST_EN (OSD4_HOMEDIST_EN)

Displays distance from HOME (MSP OSD only)

HOMEDIST_X (OSD4_HOMEDIST_X)

Horizontal position on screen (MSP OSD only)

HOMEDIST_Y (OSD4_HOMEDIST_Y)

Vertical position on screen (MSP OSD only)

HOMEDIR_EN (OSD4_HOMEDIR_EN)

Displays relative direction to HOME (MSP OSD only)

HOMEDIR_X (OSD4_HOMEDIR_X)

Horizontal position on screen

HOMEDIR_Y (OSD4_HOMEDIR_Y)

Vertical position on screen

POWER_EN (OSD4_POWER_EN)

Displays power (MSP OSD only)

POWER_X (OSD4_POWER_X)

Horizontal position on screen

POWER_Y (OSD4_POWER_Y)

Vertical position on screen

CELL_VOLT_EN (OSD4_CELLVOLT_EN)

Displays average cell voltage (MSP OSD only)

CELL_VOLT_X (OSD4_CELLVOLT_X)

Horizontal position on screen

CELL_VOLT_Y (OSD4_CELLVOLT_Y)

Vertical position on screen

BATT_BAR_EN (OSD4_BATTBAR_EN)

Displays battery usage bar (MSP OSD only)

BATT_BAR_X (OSD4_BATTBAR_X)

Horizontal position on screen

BATT_BAR_Y (OSD4_BATTBAR_Y)

Vertical position on screen

ARMING_EN (OSD4_ARMING_EN)

Displays arming status (MSP OSD only)

ARMING_X (OSD4_ARMING_X)

Horizontal position on screen

ARMING_Y (OSD4_ARMING_Y)

Vertical position on screen

PLUSCODE_EN (OSD4_PLUSCODE_EN)

Displays pluscode (OLC) element

PLUSCODE_X (OSD4_PLUSCODE_X)

Horizontal position on screen

PLUSCODE_Y (OSD4_PLUSCODE_Y)

Vertical position on screen

CALLSIGN_EN (OSD4_CALLSIGN_EN)

Displays callsign from callsign.txt on microSD card

CALLSIGN_X (OSD4_CALLSIGN_X)

Horizontal position on screen

CALLSIGN_Y (OSD4_CALLSIGN_Y)

Vertical position on screen

CURRENT2_EN (OSD4_CURRENT2_EN)

Displays 2nd battery current

CURRENT2_X (OSD4_CURRENT2_X)

Horizontal position on screen

CURRENT2_Y (OSD4_CURRENT2_Y)

Vertical position on screen

VTX_PWR_EN (OSD4_VTX_PWR_EN)

Displays VTX Power

VTX_PWR_X (OSD4_VTX_PWR_X)

Horizontal position on screen

VTX_PWR_Y (OSD4_VTX_PWR_Y)

Vertical position on screen

TER_HGT_EN (OSD4_TER_HGT_EN)

Displays Height above terrain

TER_HGT_X (OSD4_TER_HGT_X)

Horizontal position on screen

TER_HGT_Y (OSD4_TER_HGT_Y)

Vertical position on screen

AVGCELLV_EN (OSD4_AVGCELLV_EN)

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

AVGCELLV_X (OSD4_AVGCELLV_X)

Horizontal position on screen

AVGCELLV_Y (OSD4_AVGCELLV_Y)

Vertical position on screen

RESTVOLT_EN (OSD4_RESTVOLT_EN)

Displays main battery resting voltage

RESTVOLT_X (OSD4_RESTVOLT_X)

Horizontal position on screen

RESTVOLT_Y (OSD4_RESTVOLT_Y)

Vertical position on screen

FENCE_EN (OSD4_FENCE_EN)

Displays indication of fence enable and breach

FENCE_X (OSD4_FENCE_X)

Horizontal position on screen

FENCE_Y (OSD4_FENCE_Y)

Vertical position on screen

RNGF_EN (OSD4_RNGF_EN)

Displays a rangefinder's distance in cm

RNGF_X (OSD4_RNGF_X)

Horizontal position on screen

RNGF_Y (OSD4_RNGF_Y)

Vertical position on screen

ACRVOLT_EN (OSD4_ACRVOLT_EN)

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

ACRVOLT_X (OSD4_ACRVOLT_X)

Horizontal position on screen

ACRVOLT_Y (OSD4_ACRVOLT_Y)

Vertical position on screen

RPM_EN (OSD4_RPM_EN)

Displays main rotor revs/min

RPM_X (OSD4_RPM_X)

Horizontal position on screen

RPM_Y (OSD4_RPM_Y)

Vertical position on screen

LINK_Q_EN (OSD4_LINK_Q_EN)

Displays Receiver link quality

LINK_Q_X (OSD4_LINK_Q_X)

Horizontal position on screen

LINK_Q_Y (OSD4_LINK_Q_Y)

Vertical position on screen

Sets the overlay text resolution (MSP DisplayPort only) (OSD4_TXT_RES)

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only) (OSD4_FONT)

Sets the font index for this screen (MSP DisplayPort only)

RC_PWR_EN (OSD4_RC_PWR_EN)

Displays the RC link transmit (TX) power in mW or W, depending on level

RC_PWR_X (OSD4_RC_PWR_X)

Horizontal position on screen

RC_PWR_Y (OSD4_RC_PWR_Y)

Vertical position on screen

RSSIDBM_EN (OSD4_RSSIDBM_EN)

Displays RC link signal strength in dBm

RSSIDBM_X (OSD4_RSSIDBM_X)

Horizontal position on screen

RSSIDBM_Y (OSD4_RSSIDBM_Y)

Vertical position on screen

RC_SNR_EN (OSD4_RC_SNR_EN)

Displays RC link signal to noise ratio in dB

RC_SNR_X (OSD4_RC_SNR_X)

Horizontal position on screen

RC_SNR_Y (OSD4_RC_SNR_Y)

Vertical position on screen

RC_ANT_EN (OSD4_RC_ANT_EN)

Displays the current RC link active antenna

RC_ANT_X (OSD4_RC_ANT_X)

Horizontal position on screen

RC_ANT_Y (OSD4_RC_ANT_Y)

Vertical position on screen

RC_LQ_EN (OSD4_RC_LQ_EN)

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

RC_LQ_X (OSD4_RC_LQ_X)

Horizontal position on screen

RC_LQ_Y (OSD4_RC_LQ_Y)

Vertical position on screen

ESC_IDX (OSD4_ESC_IDX)

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

OSD5_ Parameters

Enable screen (OSD5_ENABLE)

Enable this screen

Transmitter switch screen minimum pwm (OSD5_CHAN_MIN)

This sets the PWM lower limit for this screen

Transmitter switch screen maximum pwm (OSD5_CHAN_MAX)

This sets the PWM upper limit for this screen

SAVE_X (OSD5_SAVE_X)

Note: This parameter is for advanced users

Horizontal position of Save button on screen

SAVE_Y (OSD5_SAVE_Y)

Note: This parameter is for advanced users

Vertical position of Save button on screen

OSD5_PARAM1 Parameters

Enable (OSD5_PARAM1_EN)

Enable setting

X position (OSD5_PARAM1_X)

Horizontal position on screen

Y position (OSD5_PARAM1_Y)

Vertical position on screen

Parameter key (OSD5_PARAM1_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD5_PARAM1_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD5_PARAM1_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD5_PARAM1_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD5_PARAM1_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD5_PARAM1_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD5_PARAM1_TYPE)

Type of the parameter to be displayed and modified

OSD5_PARAM2 Parameters

Enable (OSD5_PARAM2_EN)

Enable setting

X position (OSD5_PARAM2_X)

Horizontal position on screen

Y position (OSD5_PARAM2_Y)

Vertical position on screen

Parameter key (OSD5_PARAM2_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD5_PARAM2_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD5_PARAM2_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD5_PARAM2_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD5_PARAM2_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD5_PARAM2_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD5_PARAM2_TYPE)

Type of the parameter to be displayed and modified

OSD5_PARAM3 Parameters

Enable (OSD5_PARAM3_EN)

Enable setting

X position (OSD5_PARAM3_X)

Horizontal position on screen

Y position (OSD5_PARAM3_Y)

Vertical position on screen

Parameter key (OSD5_PARAM3_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD5_PARAM3_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD5_PARAM3_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD5_PARAM3_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD5_PARAM3_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD5_PARAM3_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD5_PARAM3_TYPE)

Type of the parameter to be displayed and modified

OSD5_PARAM4 Parameters

Enable (OSD5_PARAM4_EN)

Enable setting

X position (OSD5_PARAM4_X)

Horizontal position on screen

Y position (OSD5_PARAM4_Y)

Vertical position on screen

Parameter key (OSD5_PARAM4_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD5_PARAM4_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD5_PARAM4_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD5_PARAM4_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD5_PARAM4_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD5_PARAM4_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD5_PARAM4_TYPE)

Type of the parameter to be displayed and modified

OSD5_PARAM5 Parameters

Enable (OSD5_PARAM5_EN)

Enable setting

X position (OSD5_PARAM5_X)

Horizontal position on screen

Y position (OSD5_PARAM5_Y)

Vertical position on screen

Parameter key (OSD5_PARAM5_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD5_PARAM5_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD5_PARAM5_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD5_PARAM5_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD5_PARAM5_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD5_PARAM5_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD5_PARAM5_TYPE)

Type of the parameter to be displayed and modified

OSD5_PARAM6 Parameters

Enable (OSD5_PARAM6_EN)

Enable setting

X position (OSD5_PARAM6_X)

Horizontal position on screen

Y position (OSD5_PARAM6_Y)

Vertical position on screen

Parameter key (OSD5_PARAM6_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD5_PARAM6_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD5_PARAM6_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD5_PARAM6_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD5_PARAM6_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD5_PARAM6_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD5_PARAM6_TYPE)

Type of the parameter to be displayed and modified

OSD5_PARAM7 Parameters

Enable (OSD5_PARAM7_EN)

Enable setting

X position (OSD5_PARAM7_X)

Horizontal position on screen

Y position (OSD5_PARAM7_Y)

Vertical position on screen

Parameter key (OSD5_PARAM7_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD5_PARAM7_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD5_PARAM7_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD5_PARAM7_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD5_PARAM7_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD5_PARAM7_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD5_PARAM7_TYPE)

Type of the parameter to be displayed and modified

OSD5_PARAM8 Parameters

Enable (OSD5_PARAM8_EN)

Enable setting

X position (OSD5_PARAM8_X)

Horizontal position on screen

Y position (OSD5_PARAM8_Y)

Vertical position on screen

Parameter key (OSD5_PARAM8_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD5_PARAM8_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD5_PARAM8_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD5_PARAM8_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD5_PARAM8_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD5_PARAM8_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD5_PARAM8_TYPE)

Type of the parameter to be displayed and modified

OSD5_PARAM9 Parameters

Enable (OSD5_PARAM9_EN)

Enable setting

X position (OSD5_PARAM9_X)

Horizontal position on screen

Y position (OSD5_PARAM9_Y)

Vertical position on screen

Parameter key (OSD5_PARAM9_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD5_PARAM9_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD5_PARAM9_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD5_PARAM9_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD5_PARAM9_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD5_PARAM9_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD5_PARAM9_TYPE)

Type of the parameter to be displayed and modified

OSD6_ Parameters

Enable screen (OSD6_ENABLE)

Enable this screen

Transmitter switch screen minimum pwm (OSD6_CHAN_MIN)

This sets the PWM lower limit for this screen

Transmitter switch screen maximum pwm (OSD6_CHAN_MAX)

This sets the PWM upper limit for this screen

SAVE_X (OSD6_SAVE_X)

Note: This parameter is for advanced users

Horizontal position of Save button on screen

SAVE_Y (OSD6_SAVE_Y)

Note: This parameter is for advanced users

Vertical position of Save button on screen

OSD6_PARAM1 Parameters

Enable (OSD6_PARAM1_EN)

Enable setting

X position (OSD6_PARAM1_X)

Horizontal position on screen

Y position (OSD6_PARAM1_Y)

Vertical position on screen

Parameter key (OSD6_PARAM1_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD6_PARAM1_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD6_PARAM1_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD6_PARAM1_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD6_PARAM1_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD6_PARAM1_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD6_PARAM1_TYPE)

Type of the parameter to be displayed and modified

OSD6_PARAM2 Parameters

Enable (OSD6_PARAM2_EN)

Enable setting

X position (OSD6_PARAM2_X)

Horizontal position on screen

Y position (OSD6_PARAM2_Y)

Vertical position on screen

Parameter key (OSD6_PARAM2_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD6_PARAM2_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD6_PARAM2_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD6_PARAM2_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD6_PARAM2_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD6_PARAM2_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD6_PARAM2_TYPE)

Type of the parameter to be displayed and modified

OSD6_PARAM3 Parameters

Enable (OSD6_PARAM3_EN)

Enable setting

X position (OSD6_PARAM3_X)

Horizontal position on screen

Y position (OSD6_PARAM3_Y)

Vertical position on screen

Parameter key (OSD6_PARAM3_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD6_PARAM3_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD6_PARAM3_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD6_PARAM3_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD6_PARAM3_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD6_PARAM3_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD6_PARAM3_TYPE)

Type of the parameter to be displayed and modified

OSD6_PARAM4 Parameters

Enable (OSD6_PARAM4_EN)

Enable setting

X position (OSD6_PARAM4_X)

Horizontal position on screen

Y position (OSD6_PARAM4_Y)

Vertical position on screen

Parameter key (OSD6_PARAM4_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD6_PARAM4_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD6_PARAM4_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD6_PARAM4_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD6_PARAM4_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD6_PARAM4_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD6_PARAM4_TYPE)

Type of the parameter to be displayed and modified

OSD6_PARAM5 Parameters

Enable (OSD6_PARAM5_EN)

Enable setting

X position (OSD6_PARAM5_X)

Horizontal position on screen

Y position (OSD6_PARAM5_Y)

Vertical position on screen

Parameter key (OSD6_PARAM5_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD6_PARAM5_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD6_PARAM5_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD6_PARAM5_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD6_PARAM5_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD6_PARAM5_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD6_PARAM5_TYPE)

Type of the parameter to be displayed and modified

OSD6_PARAM6 Parameters

Enable (OSD6_PARAM6_EN)

Enable setting

X position (OSD6_PARAM6_X)

Horizontal position on screen

Y position (OSD6_PARAM6_Y)

Vertical position on screen

Parameter key (OSD6_PARAM6_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD6_PARAM6_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD6_PARAM6_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD6_PARAM6_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD6_PARAM6_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD6_PARAM6_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD6_PARAM6_TYPE)

Type of the parameter to be displayed and modified

OSD6_PARAM7 Parameters

Enable (OSD6_PARAM7_EN)

Enable setting

X position (OSD6_PARAM7_X)

Horizontal position on screen

Y position (OSD6_PARAM7_Y)

Vertical position on screen

Parameter key (OSD6_PARAM7_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD6_PARAM7_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD6_PARAM7_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD6_PARAM7_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD6_PARAM7_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD6_PARAM7_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD6_PARAM7_TYPE)

Type of the parameter to be displayed and modified

OSD6_PARAM8 Parameters

Enable (OSD6_PARAM8_EN)

Enable setting

X position (OSD6_PARAM8_X)

Horizontal position on screen

Y position (OSD6_PARAM8_Y)

Vertical position on screen

Parameter key (OSD6_PARAM8_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD6_PARAM8_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD6_PARAM8_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD6_PARAM8_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD6_PARAM8_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD6_PARAM8_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD6_PARAM8_TYPE)

Type of the parameter to be displayed and modified

OSD6_PARAM9 Parameters

Enable (OSD6_PARAM9_EN)

Enable setting

X position (OSD6_PARAM9_X)

Horizontal position on screen

Y position (OSD6_PARAM9_Y)

Vertical position on screen

Parameter key (OSD6_PARAM9_KEY)

Key of the parameter to be displayed and modified

Parameter index (OSD6_PARAM9_IDX)

Index of the parameter to be displayed and modified

Parameter group (OSD6_PARAM9_GRP)

Group of the parameter to be displayed and modified

Parameter minimum (OSD6_PARAM9_MIN)

Minimum value of the parameter to be displayed and modified

Parameter maximum (OSD6_PARAM9_MAX)

Maximum of the parameter to be displayed and modified

Parameter increment (OSD6_PARAM9_INCR)

Increment of the parameter to be displayed and modified

Parameter type (OSD6_PARAM9_TYPE)

Type of the parameter to be displayed and modified

PLND_ Parameters

Precision Land enabled/disabled (PLND_ENABLED)

Note: This parameter is for advanced users

Precision Land enabled/disabled

Precision Land Type (PLND_TYPE)

Note: This parameter is for advanced users

Precision Land Type

Sensor yaw alignment (PLND_YAW_ALIGN)

Note: This parameter is for advanced users

Yaw angle from body x-axis to sensor x-axis.

Land offset forward (PLND_LAND_OFS_X)

Note: This parameter is for advanced users

Desired landing position of the camera forward of the target in vehicle body frame

Land offset right (PLND_LAND_OFS_Y)

Note: This parameter is for advanced users

desired landing position of the camera right of the target in vehicle body frame

Precision Land Estimator Type (PLND_EST_TYPE)

Note: This parameter is for advanced users

Specifies the estimation method to be used

Kalman Filter Accelerometer Noise (PLND_ACC_P_NSE)

Note: This parameter is for advanced users

Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less

Camera X position offset (PLND_CAM_POS_X)

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Camera Y position offset (PLND_CAM_POS_Y)

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Camera Z position offset (PLND_CAM_POS_Z)

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Sensor Bus (PLND_BUS)

Note: This parameter is for advanced users

Precland sensor bus for I2C sensors.

Precision Landing sensor lag (PLND_LAG)

Note: This parameter is for advanced users

Precision Landing sensor lag, to cope with variable landing_target latency

Precision Landing maximum distance to target before descending (PLND_XY_DIST_MAX)

Note: This parameter is for advanced users

The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.

PrecLand strictness (PLND_STRICT)

How strictly should the vehicle land on the target if target is lost

PrecLand Maximum number of retires for a failed landing (PLND_RET_MAX)

PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.

PrecLand retry timeout (PLND_TIMEOUT)

Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.

PrecLand retry behaviour (PLND_RET_BEHAVE)

Prec Land will do the action selected by this parameter if a retry to a landing is needed

PrecLand minimum alt for retry (PLND_ALT_MIN)

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.

PrecLand maximum alt for retry (PLND_ALT_MAX)

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 (PLND_OPTIONS)

Note: This parameter is for advanced users

Precision Landing Extra Options

Camera Orientation (PLND_ORIENT)

Note: This parameter is for advanced users

Orientation of camera/sensor on body

PTCH Parameters

Pitch Time Constant (PTCH2SRV_TCONST)

Note: This parameter is for advanced users

Time constant in seconds from demanded to achieved pitch angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help.

Pitch up max rate (PTCH2SRV_RMAX_UP)

Note: This parameter is for advanced users

This sets the maximum nose up pitch rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables the limit.

Pitch down max rate (PTCH2SRV_RMAX_DN)

Note: This parameter is for advanced users

This sets the maximum nose down pitch rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables the limit.

Roll compensation (PTCH2SRV_RLL)

Gain added to pitch to keep aircraft from descending or ascending in turns. Increase in increments of 0.05 to reduce altitude loss. Decrease for altitude gain.

Pitch axis rate controller P gain (PTCH_RATE_P)

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 (PTCH_RATE_I)

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 (PTCH_RATE_IMAX)

Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output

Pitch axis rate controller D gain (PTCH_RATE_D)

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 (PTCH_RATE_FF)

Pitch axis rate controller feed forward

Pitch axis rate controller target frequency in Hz (PTCH_RATE_FLTT)

Pitch axis rate controller target frequency in Hz

Pitch axis rate controller error frequency in Hz (PTCH_RATE_FLTE)

Pitch axis rate controller error frequency in Hz

Pitch axis rate controller derivative frequency in Hz (PTCH_RATE_FLTD)

Pitch axis rate controller derivative frequency in Hz

Pitch slew rate limit (PTCH_RATE_SMAX)

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Pitch axis rate controller PD sum maximum (PTCH_RATE_PDMX)

Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Pitch Derivative FeedForward Gain (PTCH_RATE_D_FF)

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Pitch Target notch filter index (PTCH_RATE_NTF)

Note: This parameter is for advanced users

Pitch Target notch filter index

Pitch Error notch filter index (PTCH_RATE_NEF)

Note: This parameter is for advanced users

Pitch Error notch filter index

PUP_ Parameters

Enable pullup after altitude wait (PUP_ENABLE)

Note: This parameter is for advanced users

Enable pullup after altitude wait

Elevator deflection used before starting pullup (PUP_ELEV_OFS)

Note: This parameter is for advanced users

Elevator deflection offset from -1 to 1 while waiting for airspeed to rise before starting close loop control of the pullup.

Maximum normal load factor during pullup (PUP_NG_LIM)

Note: This parameter is for advanced users

This is the nominal maximum value of normal load factor used during the closed loop pitch rate control of the pullup.

Maximum normal load factor rate of change during pullup (PUP_NG_JERK_LIM)

Note: This parameter is for advanced users

The normal load factor used for closed loop pitch rate control of the pullup will be ramped up to the value set by PUP_NG_LIM at the rate of change set by this parameter. The parameter value specified will be scaled internally by 1/EAS2TAS.

Target pitch angle during pullup (PUP_PITCH)

Note: This parameter is for advanced users

The vehicle will attempt achieve this pitch angle during the pull-up maneouvre.

Pullup target airspeed (PUP_ARSPD_START)

Note: This parameter is for advanced users

Target airspeed for initial airspeed wait

Pullup target pitch (PUP_PITCH_START)

Note: This parameter is for advanced users

Target pitch for initial pullup

QWIK_ Parameters

Quicktune enable (QWIK_ENABLE)

Enable quicktune system

Quicktune axes (QWIK_AXES)

Axes to tune

Quicktune doubling time (QWIK_DOUBLE_TIME)

Time to double a tuning parameter. Raise this for a slower tune.

Quicktune gain margin (QWIK_GAIN_MARGIN)

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

Quicktune oscillation rate threshold (QWIK_OSC_SMAX)

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

Quicktune Yaw P max (QWIK_YAW_P_MAX)

Maximum value for yaw P gain

Quicktune Yaw D max (QWIK_YAW_D_MAX)

Maximum value for yaw D gain

Quicktune roll/pitch PI ratio (QWIK_RP_PI_RATIO)

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

Quicktune Yaw PI ratio (QWIK_Y_PI_RATIO)

Ratio between P and I gains for yaw. Raise this to get a lower I gain

Quicktune auto filter enable (QWIK_AUTO_FILTER)

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

Quicktune auto save (QWIK_AUTO_SAVE)

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune. Zero (the default value) disables automatic saving, and you will need to have a 3 position switch to save or use GCS auxilliary functions.

Quicktune maximum gain reduction (QWIK_REDUCE_MAX)

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.

Quicktune options (QWIK_OPTIONS)

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.

maximum angle error for tune abort (QWIK_ANGLE_MAX)

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 "Quicktune: attitude error ABORTING" and you think it is a false positive then you can either raise this parameter or you can try increasing the QWIK_DOUBLE_TIME to do the tune more slowly.

Q_ Parameters

Enable QuadPlane (Q_ENABLE)

This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode.

Angle Max (Q_ANGLE_MAX)

Note: This parameter is for advanced users

Maximum lean angle in all VTOL flight modes

Transition time (Q_TRANSITION_MS)

Note: This parameter is for advanced users

Transition time in milliseconds after minimum airspeed is reached

Pilot maximum vertical speed up (Q_PILOT_SPD_UP)

The maximum ascending vertical velocity the pilot may request in m/s

Pilot maximum vertical speed down (Q_PILOT_SPD_DN)

The maximum vertical velocity the pilot may request in m/s going down. If 0, uses Q_PILOT_SPD_UP value.

Pilot vertical acceleration (Q_PILOT_ACCEL_Z)

The vertical acceleration used when pilot is controlling the altitude

RC output speed in Hz (Q_RC_SPEED)

This is the PWM refresh rate in Hz for QuadPlane quad motors

Quadplane assistance speed (Q_ASSIST_SPEED)

This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. The default value of 0 disables assistance but will generate a pre-arm failure to encourage users to set this parameter to -1, or a positive, non-zero value. If this is set to -1 then all Q_ASSIST features are disabled except during transitions. A high non-zero,positive value will lead to more false positives which can waste battery. A lower value will result in less false positive, but will result in assistance taking longer to trigger. If unsure then set to 3 m/s below the minimum airspeed you will fly at. If you don't have an airspeed sensor then use 5 m/s below the minimum airspeed you fly at.

Maximum yaw rate (Q_YAW_RATE_MAX)

This is the maximum yaw rate for pilot input on rudder stick in degrees/second

Land final speed (Q_LAND_FINAL_SPD)

The descent speed for the final stage of landing in m/s

Land final altitude (Q_LAND_FINAL_ALT)

The altitude at which we should switch to Q_LAND_SPEED descent rate

Transition max pitch (Q_TRAN_PIT_MAX)

Maximum pitch during transition to auto fixed wing flight

Frame Class (Q_FRAME_CLASS)

Controls major frame class for multicopter component

Frame Type (+, X or V) (Q_FRAME_TYPE)

Controls motor mixing for multicopter component

Forward velocity hold gain (Q_VFWD_GAIN)

The use of this parameter is no longer recommended and has been superseded by a method that works in all VTOL modes with the exception of QAUTOTUNE which is controlled by the Q_FWD_THR_USE parameter. This Q_VFD_GAIN parameter controls use of the forward motor in VTOL modes that use the velocity controller. Set to 0 to disable this function. A value of 0.05 is a good place to start if you want to use the forward motor for position control. No forward motor will be used in QSTABILIZE or QHOVER modes. Use with QLOITER for position hold with the forward motor.

QRTL return altitude (Q_RTL_ALT)

The altitude which QRTL mode heads to initially

VTOL RTL mode (Q_RTL_MODE)

If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS meters of the RTL destination, VTOL approach: vehicle will RTL at RTL alt and circle with a radius of Q_FW_LND_APR_RAD down to Q_RTL_ALT and then transition into the wind and QRTL, see 'AUTO VTOL Landing', QRTL Always: do a QRTL instead of RTL

Enable VTOL in GUIDED mode (Q_GUIDED_MODE)

This enables use of VTOL in guided mode. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination.

ESC Calibration (Q_ESC_CAL)

This is used to calibrate the throttle range of the VTOL motors. Please read https://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using.

Forward velocity alt cutoff (Q_VFWD_ALT)

Controls altitude to disable forward velocity assist when below this relative altitude. This is useful to keep the forward velocity propeller from hitting the ground. Rangefinder height data is incorporated when available.

Cut IC engine on landing (Q_LAND_ICE_CUT)

This controls stopping an internal combustion engine in the final landing stage of a VTOL. This is important for aircraft where the forward thrust engine may experience prop-strike if left running during landing. This requires the engine controls are enabled using the ICE_* parameters.

Quadplane assistance angle (Q_ASSIST_ANGLE)

This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance. This will only be used if Q_ASSIST_SPEED is also positive and non-zero. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least Q_ASSIST_DELAY seconds. Set to zero to disable angle assistance.

Quadplane assistance options (Q_ASSIST_OPTIONS)

Options for special QAssist features

MAVLink type identifier (Q_MAV_TYPE)

This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation.

quadplane options (Q_OPTIONS)

See description for each bitmask bit description

Transition deceleration (Q_TRANS_DECEL)

This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight.

Quadplane AHRS trim pitch (Q_TRIM_PITCH)

Note: This parameter is for advanced users

This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes PTCH_TRIM_DEG. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.

Quadplane fixed wing landing approach radius (Q_FW_LND_APR_RAD)

Note: This parameter is for advanced users

This provides the radius used, when using a fixed wing landing approach. If set to 0 then the WP_LOITER_RAD will be selected.

Quadplane transition failure time (Q_TRANS_FAIL)

Note: This parameter is for advanced users

Maximum time allowed for forward transitions, exceeding this time will cancel the transition and the aircraft will immediately change to the mode set by Q_TRANS_FAIL_ACT or finish the transition depending on Q_OPTIONS bit 19. 0 for no limit.

Throttle expo strength (Q_THROTTLE_EXPO)

Note: This parameter is for advanced users

Amount of curvature in throttle curve: 0 is linear, 1 is cubic

QACRO mode roll rate (Q_ACRO_RLL_RATE)

The maximum roll rate at full stick deflection in QACRO mode

QACRO mode pitch rate (Q_ACRO_PIT_RATE)

The maximum pitch rate at full stick deflection in QACRO mode

QACRO mode yaw rate (Q_ACRO_YAW_RATE)

The maximum yaw rate at full stick deflection in QACRO mode

Takeoff time failure scalar (Q_TKOFF_FAIL_SCL)

Note: This parameter is for advanced users

Scalar for how long past the expected takeoff time a takeoff should be considered as failed and the vehicle will switch to QLAND. If set to 0 there is no limit on takeoff time.

Takeoff airspeed limit (Q_TKOFF_ARSP_LIM)

Note: This parameter is for advanced users

Airspeed limit during takeoff. If the airspeed exceeds this level the vehicle will switch to QLAND. This is useful for ensuring that you don't takeoff into excessively strong wind. If set to 0 there is no limit on airspeed during takeoff.

Quadplane assistance altitude (Q_ASSIST_ALT)

This is the altitude below which quadplane assistance will be triggered. This acts the same way as Q_ASSIST_ANGLE and Q_ASSIST_SPEED, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running. A value of zero disables this feature. The altitude is calculated as being above ground level. The height above ground is given from a Lidar used if available and RNGFND_LANDING=1. Otherwise it comes from terrain data if TERRAIN_FOLLOW=1 and comes from height above home otherwise.

Quadplane assistance delay (Q_ASSIST_DELAY)

This is delay between the assistance thresholds being met and the assistance starting.

VTOL manual forward throttle max percent (Q_FWD_MANTHR_MAX)

Maximum value for manual forward throttle; used with RC option FWD_THR (209)

SLT and Tiltrotor back transition pitch limit duration (Q_BACKTRANS_MS)

Pitch angle will increase from 0 to angle max over this duration when switching into VTOL flight in a position control mode. 0 Disables.

Quadplane transition failure action (Q_TRANS_FAIL_ACT)

This sets the mode that is changed to when Q_TRANS_FAIL time elapses, if set. See also Q_OPTIONS bit 19: CompleteTransition if Q_TRANS_FAIL

Land detection altitude change threshold (Q_LAND_ALTCHG)

The maximum altitude change allowed during land detection. You can raise this value if you find that landing detection takes a long time to complete. It is the maximum change in altitude over a period of 4 seconds for landing to be detected

Minimum navigation altitude (Q_NAVALT_MIN)

Note: This parameter is for advanced users

This is the altitude in meters above which navigation begins in auto takeoff. Below this altitude the target roll and pitch will be zero. A value of zero disables the feature

Pilot controlled yaw rate (Q_PLT_Y_RATE)

Pilot controlled yaw rate max. Used in all pilot controlled modes except QAcro

Pilot controlled yaw expo (Q_PLT_Y_EXPO)

Note: This parameter is for advanced users

Pilot controlled yaw expo to allow faster rotation when stick at edges

Pilot yaw rate control input time constant (Q_PLT_Y_RATE_TC)

Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response.

QRTL minimum altitude (Q_RTL_ALT_MIN)

If VTOL motors are active QRTL mode will VTOL climb to at least this altitude before returning home. If outside 150% the larger of WP_LOITER_RAD and RTL_RADIUS the vehicle will VTOL climb to Q_RTL_ALT. This parameter has no effect if the vehicle is in forward flight. Should be between Q_LAND_FINAL_ALT and Q_RTL_ALT

Q mode fwd throttle gain (Q_FWD_THR_GAIN)

This parameter sets the gain from forward accel/tilt to forward throttle in certain Q modes. The Q modes this feature operates in is controlled by the Q_FWD_THR_USE parameter. Vehicles using separate forward thrust motors, eg quadplanes, should set this parameter to (all up weight) / (maximum combined thrust of forward motors) with a value of 2 being typical. Vehicles that tilt lifting rotors to provide forward thrust should set this parameter to (all up weight) / (weight lifted by tilting rotors) which for most aircraft can be approximated as (total number of lifting rotors) / (number of lifting rotors that tilt). When using this method of forward throttle control, the forward tilt angle limit is controlled by the Q_FWD_PIT_LIM parameter.

Q mode forward pitch limit (Q_FWD_PIT_LIM)

When forward throttle is being controlled by the Q_FWD_THR_GAIN parameter in Q modes, the vehicle forward (nose down) pitch rotation will be limited to the value specified by this parameter and the any additional forward acceleration required will be produced by use of the forward thrust motor(s) or tilting of moveable rotors. Larger values allow the vehicle to pitch more nose down. Set initially to the amount of nose down pitch required to remove wing lift.

Q mode forward throttle use (Q_FWD_THR_USE)

This parameter determines when the feature that uses forward throttle instead of forward tilt is used. The amount of forward throttle is controlled by the Q_FWD_THR_GAIN parameter. The maximum amount of forward pitch allowed is controlled by the Q_FWD_PIT_LIM parameter. Q_FWD_THR_USE = 0 disables the feature. Q_FWD_THR_USE = 1 enables the feature in all position controlled modes such as QLOITER, QLAND, QRTL and VTOL TAKEOFF. Q_FWD_THR_USE = 2 enables the feature in all Q modes except QAUTOTUNE and QACRO. When enabling the feature, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q_VFWD_GAIN to 0. Do not use this feature with tailsitters.

Q mode rearward pitch limit (Q_BCK_PIT_LIM)

This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED_MIN, and is used to prevent excessive sutructural loads when pitching up decelerate. If airspeed is above or below AIRSPEED_MIN, the pitch up/back will be adjusted according to the formula pitch_limit = Q_BCK_PIT_LIM * (AIRSPEED_MIN / IAS)^2. The backwards/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH_LIM_MAX_DEG and Q_ANGLE_MAX. The BCK_PIT_LIM limit is only applied when Q_FWD_THR_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed. Set to a non positive value 0 to deactivate this limit.

Q mode approach distance (Q_APPROACH_DIST)

The minimum distance from the destination to use the fixed wing airbrake and approach code for landing approach. This is useful if you don't want the fixed wing approach logic to be used when you are close to the destination. Set to zero to always use fixed wing approach.

Q_AUTOTUNE_ Parameters

Autotune axis bitmask (Q_AUTOTUNE_AXES)

1-byte bitmap of axes to autotune

Autotune aggressiveness (Q_AUTOTUNE_AGGR)

Autotune aggressiveness. Defines the bounce back used to detect size of the D term.

AutoTune minimum D (Q_AUTOTUNE_MIN_D)

Defines the minimum D gain

AutoTune Gain Margin Backoff (Q_AUTOTUNE_GMBK)

Fraction by which tuned P and D gains are reduced after rate and angle AutoTune steps complete. This provides extra stability margin by reducing gains slightly from the optimal values found during tuning. A value of 0.0 applies no reduction. A value of 0.25 reduces tuned gains by 25%.

Q_A_ Parameters

Yaw target slew rate (Q_A_SLEW_YAW)

Note: This parameter is for advanced users

Maximum rate the yaw target can be updated in RTL and Auto flight modes

Acceleration Max for Yaw (Q_A_ACCEL_Y_MAX)

Note: This parameter is for advanced users

Maximum acceleration in yaw axis

Rate Feedforward Enable (Q_A_RATE_FF_ENAB)

Note: This parameter is for advanced users

Controls whether body-frame rate feedforward is enabled or disabled

Acceleration Max for Roll (Q_A_ACCEL_R_MAX)

Note: This parameter is for advanced users

Maximum acceleration in roll axis

Acceleration Max for Pitch (Q_A_ACCEL_P_MAX)

Note: This parameter is for advanced users

Maximum acceleration in pitch axis

Angle Boost (Q_A_ANGLE_BOOST)

Note: This parameter is for advanced users

Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude

Roll axis angle controller P gain (Q_A_ANG_RLL_P)

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 (Q_A_ANG_PIT_P)

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 (Q_A_ANG_YAW_P)

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 (Q_A_ANG_LIM_TC)

Note: This parameter is for advanced users

Angle Limit (to maintain altitude) Time Constant

Angular Velocity Max for Roll (Q_A_RATE_R_MAX)

Note: This parameter is for advanced users

Maximum angular velocity in roll axis

Angular Velocity Max for Pitch (Q_A_RATE_P_MAX)

Note: This parameter is for advanced users

Maximum angular velocity in pitch axis

Angular Velocity Max for Yaw (Q_A_RATE_Y_MAX)

Note: This parameter is for advanced users

Maximum angular velocity in yaw axis

Attitude control input time constant (Q_A_INPUT_TC)

Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response

Landed roll gain multiplier (Q_A_LAND_R_MULT)

Note: This parameter is for advanced users

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.

Landed pitch gain multiplier (Q_A_LAND_P_MULT)

Note: This parameter is for advanced users

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.

Landed yaw gain multiplier (Q_A_LAND_Y_MULT)

Note: This parameter is for advanced users

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 (Q_A_RAT_RLL_P)

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 (Q_A_RAT_RLL_I)

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 (Q_A_RAT_RLL_IMAX)

Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output

Roll axis rate controller D gain (Q_A_RAT_RLL_D)

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 (Q_A_RAT_RLL_FF)

Roll axis rate controller feed forward

Roll axis rate controller target frequency in Hz (Q_A_RAT_RLL_FLTT)

Roll axis rate controller target frequency in Hz

Roll axis rate controller error frequency in Hz (Q_A_RAT_RLL_FLTE)

Roll axis rate controller error frequency in Hz

Roll axis rate controller derivative frequency in Hz (Q_A_RAT_RLL_FLTD)

Roll axis rate controller derivative frequency in Hz

Roll slew rate limit (Q_A_RAT_RLL_SMAX)

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Roll axis rate controller PD sum maximum (Q_A_RAT_RLL_PDMX)

Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Roll Derivative FeedForward Gain (Q_A_RAT_RLL_D_FF)

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Roll Target notch filter index (Q_A_RAT_RLL_NTF)

Note: This parameter is for advanced users

Roll Target notch filter index

Roll Error notch filter index (Q_A_RAT_RLL_NEF)

Note: This parameter is for advanced users

Roll Error notch filter index

Pitch axis rate controller P gain (Q_A_RAT_PIT_P)

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 (Q_A_RAT_PIT_I)

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 (Q_A_RAT_PIT_IMAX)

Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output

Pitch axis rate controller D gain (Q_A_RAT_PIT_D)

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 (Q_A_RAT_PIT_FF)

Pitch axis rate controller feed forward

Pitch axis rate controller target frequency in Hz (Q_A_RAT_PIT_FLTT)

Pitch axis rate controller target frequency in Hz

Pitch axis rate controller error frequency in Hz (Q_A_RAT_PIT_FLTE)

Pitch axis rate controller error frequency in Hz

Pitch axis rate controller derivative frequency in Hz (Q_A_RAT_PIT_FLTD)

Pitch axis rate controller derivative frequency in Hz

Pitch slew rate limit (Q_A_RAT_PIT_SMAX)

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Pitch axis rate controller PD sum maximum (Q_A_RAT_PIT_PDMX)

Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Pitch Derivative FeedForward Gain (Q_A_RAT_PIT_D_FF)

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Pitch Target notch filter index (Q_A_RAT_PIT_NTF)

Note: This parameter is for advanced users

Pitch Target notch filter index

Pitch Error notch filter index (Q_A_RAT_PIT_NEF)

Note: This parameter is for advanced users

Pitch Error notch filter index

Yaw axis rate controller P gain (Q_A_RAT_YAW_P)

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 (Q_A_RAT_YAW_I)

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 (Q_A_RAT_YAW_IMAX)

Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output

Yaw axis rate controller D gain (Q_A_RAT_YAW_D)

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 (Q_A_RAT_YAW_FF)

Yaw axis rate controller feed forward

Yaw axis rate controller target frequency in Hz (Q_A_RAT_YAW_FLTT)

Yaw axis rate controller target frequency in Hz

Yaw axis rate controller error frequency in Hz (Q_A_RAT_YAW_FLTE)

Yaw axis rate controller error frequency in Hz

Yaw axis rate controller derivative frequency in Hz (Q_A_RAT_YAW_FLTD)

Yaw axis rate controller derivative frequency in Hz

Yaw slew rate limit (Q_A_RAT_YAW_SMAX)

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Yaw axis rate controller PD sum maximum (Q_A_RAT_YAW_PDMX)

Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Yaw Derivative FeedForward Gain (Q_A_RAT_YAW_D_FF)

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Yaw Target notch filter index (Q_A_RAT_YAW_NTF)

Note: This parameter is for advanced users

Yaw Target notch filter index

Yaw Error notch filter index (Q_A_RAT_YAW_NEF)

Note: This parameter is for advanced users

Yaw Error notch filter index

Throttle Mix Minimum (Q_A_THR_MIX_MIN)

Note: This parameter is for advanced users

Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)

Throttle Mix Maximum (Q_A_THR_MIX_MAX)

Note: This parameter is for advanced users

Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)

Throttle Mix Manual (Q_A_THR_MIX_MAN)

Note: This parameter is for advanced users

Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)

Throttle-gain boost (Q_A_THR_G_BOOST)

Note: This parameter is for advanced users

Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll.

Q_LOIT_ Parameters

Loiter pilot angle max (Q_LOIT_ANG_MAX)

Note: This parameter is for advanced users

Loiter maximum pilot requested lean angle. Set to zero for 2/3 of Q_P_ANGLE_MAX/Q_ANGLE_MAX. The maximum vehicle lean angle is still limited by Q_P_ANGLE_MAX/Q_ANGLE_MAX

Loiter Horizontal Maximum Speed (Q_LOIT_SPEED)

Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode

Loiter maximum correction acceleration (Q_LOIT_ACC_MAX)

Note: This parameter is for advanced users

Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.

Loiter braking acceleration (Q_LOIT_BRK_ACCEL)

Note: This parameter is for advanced users

Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.

Loiter braking jerk (Q_LOIT_BRK_JERK)

Note: This parameter is for advanced users

Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.

Loiter brake start delay (in seconds) (Q_LOIT_BRK_DELAY)

Note: This parameter is for advanced users

Loiter brake start delay (in seconds)

Loiter mode options (Q_LOIT_OPTIONS)

Enables optional Loiter mode behaviors

Q_M_ Parameters

Matrix Yaw Min (Q_M_YAW_HEADROOM)

Note: This parameter is for advanced users

Yaw control is given at least this pwm in microseconds range

Thrust Curve Expo (Q_M_THST_EXPO)

Note: This parameter is for advanced users

Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)

Motor Spin maximum (Q_M_SPIN_MAX)

Note: This parameter is for advanced users

Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range

Battery voltage compensation maximum voltage (Q_M_BAT_VOLT_MAX)

Note: This parameter is for advanced users

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled

Battery voltage compensation minimum voltage (Q_M_BAT_VOLT_MIN)

Note: This parameter is for advanced users

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled

Motor Current Max (Q_M_BAT_CURR_MAX)

Note: This parameter is for advanced users

Maximum current over which maximum throttle is limited (0 = Disabled)

Output PWM type (Q_M_PWM_TYPE)

Note: This parameter is for advanced users

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.

PWM output minimum (Q_M_PWM_MIN)

Note: This parameter is for advanced users

This sets the min PWM output value in microseconds that will ever be output to the motors

PWM output maximum (Q_M_PWM_MAX)

Note: This parameter is for advanced users

This sets the max PWM value in microseconds that will ever be output to the motors

Motor Spin minimum (Q_M_SPIN_MIN)

Note: This parameter is for advanced users

Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.

Motor Spin armed (Q_M_SPIN_ARM)

Note: This parameter is for advanced users

Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.

Motor Current Max Time Constant (Q_M_BAT_CURR_TC)

Note: This parameter is for advanced users

Time constant used to limit the maximum current

Thrust Hover Value (Q_M_THST_HOVER)

Note: This parameter is for advanced users

Motor thrust needed to hover expressed as a number from 0 to 1

Hover Value Learning (Q_M_HOVER_LEARN)

Note: This parameter is for advanced users

Enable/Disable automatic learning of hover throttle

Motor PWM output disabled when disarmed (Q_M_SAFE_DISARM)

Note: This parameter is for advanced users

Disables motor PWM output when disarmed

Yaw Servo Max Lean Angle (Q_M_YAW_SV_ANGLE)

Yaw servo's maximum lean angle (Tricopter only)

Spool up time (Q_M_SPOOL_TIME)

Note: This parameter is for advanced users

Time in seconds to spool up the motors from zero to min throttle.

Motor boost scale (Q_M_BOOST_SCALE)

Note: This parameter is for advanced users

Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.

Battery compensation index (Q_M_BAT_IDX)

Note: This parameter is for advanced users

Which battery monitor should be used for doing compensation

Output slew time for increasing throttle (Q_M_SLEW_UP_TIME)

Note: This parameter is for advanced users

Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

Output slew time for decreasing throttle (Q_M_SLEW_DN_TIME)

Note: This parameter is for advanced users

Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

Time taken to disable and enable the motor PWM output when disarmed and armed. (Q_M_SAFE_TIME)

Note: This parameter is for advanced users

Time taken to disable and enable the motor PWM output when disarmed and armed.

Motor options (Q_M_OPTIONS)

Note: This parameter is for advanced users

Motor options

Spool down time (Q_M_SPOOL_TIM_DN)

Note: This parameter is for advanced users

Time taken to spool down the motors from min to zero throttle. If set to 0 then SPOOL_TIME is used instead.

Q_P Parameters

XY Acceleration filter cutoff frequency (Q_P_ACC_XY_FILT)

Note: This parameter is for advanced users

Lower values will slow the response of the navigation controller and reduce twitchiness

Position (vertical) controller P gain (Q_P_POSZ_P)

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 (Q_P_VELZ_P)

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 (Q_P_VELZ_I)

Note: This parameter is for advanced users

Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration

Velocity (vertical) controller I gain maximum (Q_P_VELZ_IMAX)

Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output

Velocity (vertical) controller D gain (Q_P_VELZ_D)

Note: This parameter is for advanced users

Velocity (vertical) controller D gain. Corrects short-term changes in velocity

Velocity (vertical) controller Feed Forward gain (Q_P_VELZ_FF)

Note: This parameter is for advanced users

Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target

Velocity (vertical) error filter (Q_P_VELZ_FLTE)

Note: This parameter is for advanced users

Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms

Velocity (vertical) input filter for D term (Q_P_VELZ_FLTD)

Note: This parameter is for advanced users

Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms

Acceleration (vertical) controller P gain (Q_P_ACCZ_P)

Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output

Acceleration (vertical) controller I gain (Q_P_ACCZ_I)

Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration

Acceleration (vertical) controller I gain maximum (Q_P_ACCZ_IMAX)

Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate

Acceleration (vertical) controller D gain (Q_P_ACCZ_D)

Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration

Acceleration (vertical) controller feed forward (Q_P_ACCZ_FF)

Acceleration (vertical) controller feed forward

Acceleration (vertical) controller target frequency in Hz (Q_P_ACCZ_FLTT)

Acceleration (vertical) controller target frequency in Hz

Acceleration (vertical) controller error frequency in Hz (Q_P_ACCZ_FLTE)

Acceleration (vertical) controller error frequency in Hz

Acceleration (vertical) controller derivative frequency in Hz (Q_P_ACCZ_FLTD)

Acceleration (vertical) controller derivative frequency in Hz

Accel (vertical) slew rate limit (Q_P_ACCZ_SMAX)

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Acceleration (vertical) controller PD sum maximum (Q_P_ACCZ_PDMX)

Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Accel (vertical) Derivative FeedForward Gain (Q_P_ACCZ_D_FF)

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Accel (vertical) Target notch filter index (Q_P_ACCZ_NTF)

Note: This parameter is for advanced users

Accel (vertical) Target notch filter index

Accel (vertical) Error notch filter index (Q_P_ACCZ_NEF)

Note: This parameter is for advanced users

Accel (vertical) Error notch filter index

Position (horizontal) controller P gain (Q_P_POSXY_P)

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 (Q_P_VELXY_P)

Note: This parameter is for advanced users

Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration

Velocity (horizontal) I gain (Q_P_VELXY_I)

Note: This parameter is for advanced users

Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration

Velocity (horizontal) D gain (Q_P_VELXY_D)

Note: This parameter is for advanced users

Velocity (horizontal) D gain. Corrects short-term changes in velocity

Velocity (horizontal) integrator maximum (Q_P_VELXY_IMAX)

Note: This parameter is for advanced users

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

Velocity (horizontal) input filter (Q_P_VELXY_FLTE)

Note: This parameter is for advanced users

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms

Velocity (horizontal) input filter (Q_P_VELXY_FLTD)

Note: This parameter is for advanced users

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term

Velocity (horizontal) feed forward gain (Q_P_VELXY_FF)

Note: This parameter is for advanced users

Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration

Position Control Angle Max (Q_P_ANGLE_MAX)

Note: This parameter is for advanced users

Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value

Jerk limit for the horizontal kinematic input shaping (Q_P_JERK_XY)

Note: This parameter is for advanced users

Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target

Jerk limit for the vertical kinematic input shaping (Q_P_JERK_Z)

Note: This parameter is for advanced users

Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target

Q_TAILSIT_ Parameters

Enable Tailsitter (Q_TAILSIT_ENABLE)

This enables Tailsitter functionality. A value of 2 forces Qassist active and always stabilize in forward flight with airmode for stabilisation at 0 throttle, for use on vehicles with no control surfaces, vehicle will not arm in forward flight modes, see also Q_OPTIONS "Mtrs_Only_Qassist"

Tailsitter fixed wing transition angle (Q_TAILSIT_ANGLE)

This is the pitch angle at which tailsitter aircraft will change from VTOL control to fixed wing control.

Tailsitter VTOL transition angle (Q_TAILSIT_ANG_VT)

This is the pitch angle at which tailsitter aircraft will change from fixed wing control to VTOL control, if zero Q_TAILSIT_ANGLE will be used

Tailsitter input type bitmask (Q_TAILSIT_INPUT)

This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When PlaneMode is not enabled (bit0 = 0) the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When PlaneMode input is enabled, the roll and yaw sticks are swapped so that the roll stick controls earth-frame yaw and rudder controls earth-frame roll. When body-frame roll is enabled (bit1 = 1), the yaw stick controls earth-frame yaw rate and the roll stick controls roll in the tailsitter's body frame when flying level.

Tailsitter vector thrust gain in forward flight (Q_TAILSIT_VFGAIN)

This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter

Tailsitter vector thrust gain in hover (Q_TAILSIT_VHGAIN)

This controls the amount of vectored thrust control used in hover for a vectored tailsitter

Tailsitter vector thrust gain power (Q_TAILSIT_VHPOW)

This controls the amount of extra pitch given to the vectored control when at high pitch errors

Maximum tailsitter gain scaling (Q_TAILSIT_GSCMAX)

Maximum gain scaling for tailsitter Q_TAILSIT_GSCMSK options

Maximum Roll angle (Q_TAILSIT_RLL_MX)

Maximum Allowed roll angle for tailsitters. If this is zero then Q_ANGLE_MAX is used.

Tailsitter motor mask (Q_TAILSIT_MOTMX)

Bitmask of motors to remain active in forward flight for a 'Copter' tailsitter. Non-zero indicates airframe is a Copter tailsitter and uses copter style motor layouts determined by Q_FRAME_CLASS and Q_FRAME_TYPE. This should be zero for non-Copter tailsitters.

Tailsitter gain scaling mask (Q_TAILSIT_GSCMSK)

Bitmask of gain scaling methods to be applied: Throttle: scale gains with throttle, ATT_THR: reduce gain at high throttle/tilt, 2:Disk theory velocity calculation, requires Q_TAILSIT_DSKLD to be set, ATT_THR must not be set, 3:Altitude correction, scale with air density

Minimum tailsitter gain scaling (Q_TAILSIT_GSCMIN)

Minimum gain scaling for tailsitter Q_TAILSIT_GSCMSK options

Tailsitter disk loading (Q_TAILSIT_DSKLD)

This is the vehicle weight in kg divided by the total disk area of all propellers in m^2. Only used with Q_TAILSIT_GSCMSK = 4

Tailsitter VTOL to forward flight transition rate (Q_TAILSIT_RAT_FW)

The pitch rate at which tailsitter aircraft will pitch down in the transition from VTOL to forward flight

Tailsitter forward flight to VTOL transition rate (Q_TAILSIT_RAT_VT)

The pitch rate at which tailsitter aircraft will pitch up in the transition from forward flight to VTOL

Tailsitter forward flight to VTOL transition throttle (Q_TAILSIT_THR_VT)

Throttle used during FW->VTOL transition, -1 uses hover throttle

Tailsitter VTOL control surface roll gain (Q_TAILSIT_VT_R_P)

Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains

Tailsitter VTOL control surface pitch gain (Q_TAILSIT_VT_P_P)

Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains

Tailsitter VTOL control surface yaw gain (Q_TAILSIT_VT_Y_P)

Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains

Tailsitter Disk loading minimum outflow speed (Q_TAILSIT_MIN_VO)

Use in conjunction with disk theory gain scaling and Q_TAILSIT_DSKLD to specify minimum airspeed over control surfaces, this will be used to boost throttle, when descending for example, 0 disables

Q_TILT_ Parameters

Enable Tiltrotor functionality (Q_TILT_ENABLE)

This enables Tiltrotor functionality

Tiltrotor mask (Q_TILT_MASK)

This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type.

Tiltrotor upwards tilt rate (Q_TILT_RATE_UP)

This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover

Tiltrotor maximum VTOL angle (Q_TILT_MAX)

This is the maximum angle of the tiltable motors at which multicopter control will be enabled. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT_RATE

Tiltrotor type (Q_TILT_TYPE)

This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover, Bicopter tiltrotor must use the tailsitter frame class (10)

Tiltrotor downwards tilt rate (Q_TILT_RATE_DN)

This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP value is used.

Tilt minimum angle for vectored yaw (Q_TILT_YAW_ANGLE)

This is the angle of the tilt servos when in VTOL mode and at minimum output (fully back). This needs to be set in addition to Q_TILT_TYPE=2, to enable vectored control for yaw in tilt quadplanes. This is also used to limit the forward travel of bicopter tilts(Q_TILT_TYPE=3) when in VTOL modes.

Fixed wing tiltrotor angle (Q_TILT_FIX_ANGLE)

This is the angle the motors tilt down when at maximum output for forward flight. Set this to a non-zero value to enable vectoring for roll/pitch in forward flight on tilt-vectored aircraft

Fixed wing tiltrotor gain (Q_TILT_FIX_GAIN)

This is the gain for use of tilting motors in fixed wing flight for tilt vectored quadplanes

Tiltrotor tilt angle that will be used as flap (Q_TILT_WING_FLAP)

For use on tilt wings, the wing will tilt up to this angle for flap, transition will be complete when the wing reaches this angle from the forward fight position, 0 disables

Q_WP_ Parameters

Waypoint Horizontal Speed Target (Q_WP_SPEED)

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission

Waypoint Radius (Q_WP_RADIUS)

Defines the distance from a waypoint, that when crossed indicates the wp has been hit.

Waypoint Climb Speed Target (Q_WP_SPEED_UP)

Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission

Waypoint Descent Speed Target (Q_WP_SPEED_DN)

Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission

Waypoint Acceleration (Q_WP_ACCEL)

Defines the horizontal acceleration in cm/s/s used during missions

Waypoint Vertical Acceleration (Q_WP_ACCEL_Z)

Defines the vertical acceleration in cm/s/s used during missions

Waypoint missions use rangefinder for terrain following (Q_WP_RFND_USE)

Note: This parameter is for advanced users

This controls if waypoint missions use rangefinder for terrain following

Waypoint Jerk (Q_WP_JERK)

Defines the horizontal jerk in m/s/s used during missions

Waypoint Terrain following altitude margin (Q_WP_TER_MARGIN)

Note: This parameter is for advanced users

Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)

Waypoint Cornering Acceleration (Q_WP_ACCEL_C)

Defines the maximum cornering acceleration in cm/s/s used during missions. If zero uses 2x accel value.

Q_WVANE_ Parameters

Enable (Q_WVANE_ENABLE)

Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action.

Weathervaning gain (Q_WVANE_GAIN)

This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s.

Weathervaning min angle (Q_WVANE_ANG_MIN)

The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes.

Weathervaning min height (Q_WVANE_HGT_MIN)

Above this height weathervaning is permitted. If RNGFND_LANDING is enabled or terrain is enabled then this parameter sets height AGL. Otherwise this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning

Weathervaning max ground speed (Q_WVANE_SPD_MAX)

Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane.

Weathervaning max vertical speed (Q_WVANE_VELZ_MAX)

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.

Takeoff override (Q_WVANE_TAKEOFF)

Override the weather vaning behaviour when in takeoffs

Landing override (Q_WVANE_LAND)

Override the weather vaning behaviour when in landing

Weathervaning options (Q_WVANE_OPTIONS)

Options impacting weathervaning behaviour

RALLY_ Parameters

Rally Total (RALLY_TOTAL)

Note: This parameter is for advanced users

Number of rally points currently loaded

Rally Limit (RALLY_LIMIT_KM)

Note: This parameter is for advanced users

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

Rally Include Home (RALLY_INCL_HOME)

Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL

RC Parameters

RC override timeout (RC_OVERRIDE_TIME)

Note: This parameter is for advanced users

Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled

RC options (RC_OPTIONS)

Note: This parameter is for advanced users

RC input options

RC protocols enabled (RC_PROTOCOLS)

Note: This parameter is for advanced users

Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.

RC Failsafe timeout (RC_FS_TIMEOUT)

RC failsafe will trigger this many seconds after loss of RC

RC10_ Parameters

RC min PWM (RC10_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC10_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC10_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC10_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC10_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC10_OPTION)

Function assigned to this RC channel

RC11_ Parameters

RC min PWM (RC11_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC11_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC11_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC11_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC11_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC11_OPTION)

Function assigned to this RC channel

RC12_ Parameters

RC min PWM (RC12_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC12_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC12_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC12_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC12_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC12_OPTION)

Function assigned to this RC channel

RC13_ Parameters

RC min PWM (RC13_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC13_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC13_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC13_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC13_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC13_OPTION)

Function assigned to this RC channel

RC14_ Parameters

RC min PWM (RC14_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC14_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC14_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC14_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC14_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC14_OPTION)

Function assigned to this RC channel

RC15_ Parameters

RC min PWM (RC15_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC15_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC15_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC15_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC15_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC15_OPTION)

Function assigned to this RC channel

RC16_ Parameters

RC min PWM (RC16_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC16_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC16_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC16_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC16_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC16_OPTION)

Function assigned to this RC channel

RC1_ Parameters

RC min PWM (RC1_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC1_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC1_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC1_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC1_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC1_OPTION)

Function assigned to this RC channel

RC2_ Parameters

RC min PWM (RC2_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC2_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC2_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC2_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC2_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC2_OPTION)

Function assigned to this RC channel

RC3_ Parameters

RC min PWM (RC3_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC3_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC3_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC3_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC3_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC3_OPTION)

Function assigned to this RC channel

RC4_ Parameters

RC min PWM (RC4_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC4_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC4_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC4_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC4_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC4_OPTION)

Function assigned to this RC channel

RC5_ Parameters

RC min PWM (RC5_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC5_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC5_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC5_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC5_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC5_OPTION)

Function assigned to this RC channel

RC6_ Parameters

RC min PWM (RC6_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC6_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC6_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC6_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC6_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC6_OPTION)

Function assigned to this RC channel

RC7_ Parameters

RC min PWM (RC7_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC7_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC7_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC7_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC7_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC7_OPTION)

Function assigned to this RC channel

RC8_ Parameters

RC min PWM (RC8_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC8_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC8_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC8_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC8_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC8_OPTION)

Function assigned to this RC channel

RC9_ Parameters

RC min PWM (RC9_MIN)

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC trim PWM (RC9_TRIM)

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC max PWM (RC9_MAX)

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

RC reversed (RC9_REVERSED)

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

RC dead-zone (RC9_DZ)

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

RC input option (RC9_OPTION)

Function assigned to this RC channel

RCMAP_ Parameters

Roll channel (RCMAP_ROLL)

Note: This parameter is for advanced users

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 (RCMAP_PITCH)

Note: This parameter is for advanced users

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 (RCMAP_THROTTLE)

Note: This parameter is for advanced users

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 (RCMAP_YAW)

Note: This parameter is for advanced users

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.

RELAY10_ Parameters

Relay function (RELAY10_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY10_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY10_DEFAULT)

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.

Relay invert output signal (RELAY10_INVERTED)

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.

RELAY11_ Parameters

Relay function (RELAY11_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY11_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY11_DEFAULT)

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.

Relay invert output signal (RELAY11_INVERTED)

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.

RELAY12_ Parameters

Relay function (RELAY12_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY12_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY12_DEFAULT)

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.

Relay invert output signal (RELAY12_INVERTED)

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.

RELAY13_ Parameters

Relay function (RELAY13_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY13_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY13_DEFAULT)

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.

Relay invert output signal (RELAY13_INVERTED)

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.

RELAY14_ Parameters

Relay function (RELAY14_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY14_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY14_DEFAULT)

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.

Relay invert output signal (RELAY14_INVERTED)

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.

RELAY15_ Parameters

Relay function (RELAY15_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY15_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY15_DEFAULT)

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.

Relay invert output signal (RELAY15_INVERTED)

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.

RELAY16_ Parameters

Relay function (RELAY16_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY16_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY16_DEFAULT)

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.

Relay invert output signal (RELAY16_INVERTED)

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.

RELAY1_ Parameters

Relay function (RELAY1_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY1_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY1_DEFAULT)

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.

Relay invert output signal (RELAY1_INVERTED)

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.

RELAY2_ Parameters

Relay function (RELAY2_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY2_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY2_DEFAULT)

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.

Relay invert output signal (RELAY2_INVERTED)

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.

RELAY3_ Parameters

Relay function (RELAY3_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY3_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY3_DEFAULT)

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.

Relay invert output signal (RELAY3_INVERTED)

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.

RELAY4_ Parameters

Relay function (RELAY4_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY4_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY4_DEFAULT)

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.

Relay invert output signal (RELAY4_INVERTED)

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.

RELAY5_ Parameters

Relay function (RELAY5_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY5_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY5_DEFAULT)

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.

Relay invert output signal (RELAY5_INVERTED)

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.

RELAY6_ Parameters

Relay function (RELAY6_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY6_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY6_DEFAULT)

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.

Relay invert output signal (RELAY6_INVERTED)

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.

RELAY7_ Parameters

Relay function (RELAY7_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY7_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY7_DEFAULT)

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.

Relay invert output signal (RELAY7_INVERTED)

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.

RELAY8_ Parameters

Relay function (RELAY8_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY8_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY8_DEFAULT)

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.

Relay invert output signal (RELAY8_INVERTED)

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.

RELAY9_ Parameters

Relay function (RELAY9_FUNCTION)

The function the relay channel is mapped to.

Relay pin (RELAY9_PIN)

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Relay default state (RELAY9_DEFAULT)

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.

Relay invert output signal (RELAY9_INVERTED)

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.

RLL Parameters

Roll Time Constant (RLL2SRV_TCONST)

Note: This parameter is for advanced users

Time constant in seconds from demanded to achieved roll angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help.

Maximum Roll Rate (RLL2SRV_RMAX)

Note: This parameter is for advanced users

This sets the maximum roll rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables this limit.

Roll axis rate controller P gain (RLL_RATE_P)

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 (RLL_RATE_I)

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 (RLL_RATE_IMAX)

Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output

Roll axis rate controller D gain (RLL_RATE_D)

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 (RLL_RATE_FF)

Roll axis rate controller feed forward

Roll axis rate controller target frequency in Hz (RLL_RATE_FLTT)

Roll axis rate controller target frequency in Hz

Roll axis rate controller error frequency in Hz (RLL_RATE_FLTE)

Roll axis rate controller error frequency in Hz

Roll axis rate controller derivative frequency in Hz (RLL_RATE_FLTD)

Roll axis rate controller derivative frequency in Hz

Roll slew rate limit (RLL_RATE_SMAX)

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Roll axis rate controller PD sum maximum (RLL_RATE_PDMX)

Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Roll Derivative FeedForward Gain (RLL_RATE_D_FF)

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Roll Target notch filter index (RLL_RATE_NTF)

Note: This parameter is for advanced users

Roll Target notch filter index

Roll Error notch filter index (RLL_RATE_NEF)

Note: This parameter is for advanced users

Roll Error notch filter index

RNGFND1_ Parameters

Rangefinder type (RNGFND1_TYPE)

Type of connected rangefinder

Rangefinder pin (RNGFND1_PIN)

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.

Rangefinder scaling (RNGFND1_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

rangefinder offset (RNGFND1_OFFSET)

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Rangefinder function (RNGFND1_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Rangefinder minimum distance (RNGFND1_MIN)

Minimum distance in metres that rangefinder can reliably read

Rangefinder maximum distance (RNGFND1_MAX)

Maximum distance in metres that rangefinder can reliably read

Rangefinder stop pin (RNGFND1_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Ratiometric (RNGFND1_RMETRIC)

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.

Powersave range (RNGFND1_PWRRNG)

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

Distance from the range finder to the ground (RNGFND1_GNDCLR)

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Bus address of sensor (RNGFND1_ADDR)

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 offset (RNGFND1_POS_X)

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Y position offset (RNGFND1_POS_Y)

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Z position offset (RNGFND1_POS_Z)

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Rangefinder orientation (RNGFND1_ORIENT)

Note: This parameter is for advanced users

Orientation of rangefinder

Moving Average Range (RNGFND1_WSP_MAVG)

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Moving Median Filter (RNGFND1_WSP_MEDF)

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Frequency (RNGFND1_WSP_FRQ)

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Multi-pulse averages (RNGFND1_WSP_AVG)

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Sensitivity threshold (RNGFND1_WSP_THR)

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Baud rate (RNGFND1_WSP_BAUD)

Note: This parameter is for advanced users

Desired baud rate

RangeFinder CAN receive ID (RNGFND1_RECV_ID)

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

RangeFinder Minimum signal strength (RNGFND1_SNR_MIN)

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

RNGFND2_ Parameters

Rangefinder type (RNGFND2_TYPE)

Type of connected rangefinder

Rangefinder pin (RNGFND2_PIN)

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.

Rangefinder scaling (RNGFND2_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

rangefinder offset (RNGFND2_OFFSET)

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Rangefinder function (RNGFND2_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Rangefinder minimum distance (RNGFND2_MIN)

Minimum distance in metres that rangefinder can reliably read

Rangefinder maximum distance (RNGFND2_MAX)

Maximum distance in metres that rangefinder can reliably read

Rangefinder stop pin (RNGFND2_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Ratiometric (RNGFND2_RMETRIC)

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.

Powersave range (RNGFND2_PWRRNG)

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

Distance from the range finder to the ground (RNGFND2_GNDCLR)

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Bus address of sensor (RNGFND2_ADDR)

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 offset (RNGFND2_POS_X)

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Y position offset (RNGFND2_POS_Y)

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Z position offset (RNGFND2_POS_Z)

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Rangefinder orientation (RNGFND2_ORIENT)

Note: This parameter is for advanced users

Orientation of rangefinder

Moving Average Range (RNGFND2_WSP_MAVG)

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Moving Median Filter (RNGFND2_WSP_MEDF)

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Frequency (RNGFND2_WSP_FRQ)

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Multi-pulse averages (RNGFND2_WSP_AVG)

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Sensitivity threshold (RNGFND2_WSP_THR)

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Baud rate (RNGFND2_WSP_BAUD)

Note: This parameter is for advanced users

Desired baud rate

RangeFinder CAN receive ID (RNGFND2_RECV_ID)

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

RangeFinder Minimum signal strength (RNGFND2_SNR_MIN)

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

RNGFND3_ Parameters

Rangefinder type (RNGFND3_TYPE)

Type of connected rangefinder

Rangefinder pin (RNGFND3_PIN)

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.

Rangefinder scaling (RNGFND3_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

rangefinder offset (RNGFND3_OFFSET)

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Rangefinder function (RNGFND3_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Rangefinder minimum distance (RNGFND3_MIN)

Minimum distance in metres that rangefinder can reliably read

Rangefinder maximum distance (RNGFND3_MAX)

Maximum distance in metres that rangefinder can reliably read

Rangefinder stop pin (RNGFND3_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Ratiometric (RNGFND3_RMETRIC)

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.

Powersave range (RNGFND3_PWRRNG)

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

Distance from the range finder to the ground (RNGFND3_GNDCLR)

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Bus address of sensor (RNGFND3_ADDR)

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 offset (RNGFND3_POS_X)

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Y position offset (RNGFND3_POS_Y)

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Z position offset (RNGFND3_POS_Z)

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Rangefinder orientation (RNGFND3_ORIENT)

Note: This parameter is for advanced users

Orientation of rangefinder

Moving Average Range (RNGFND3_WSP_MAVG)

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Moving Median Filter (RNGFND3_WSP_MEDF)

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Frequency (RNGFND3_WSP_FRQ)

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Multi-pulse averages (RNGFND3_WSP_AVG)

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Sensitivity threshold (RNGFND3_WSP_THR)

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Baud rate (RNGFND3_WSP_BAUD)

Note: This parameter is for advanced users

Desired baud rate

RangeFinder CAN receive ID (RNGFND3_RECV_ID)

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

RangeFinder Minimum signal strength (RNGFND3_SNR_MIN)

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

RNGFND4_ Parameters

Rangefinder type (RNGFND4_TYPE)

Type of connected rangefinder

Rangefinder pin (RNGFND4_PIN)

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.

Rangefinder scaling (RNGFND4_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

rangefinder offset (RNGFND4_OFFSET)

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Rangefinder function (RNGFND4_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Rangefinder minimum distance (RNGFND4_MIN)

Minimum distance in metres that rangefinder can reliably read

Rangefinder maximum distance (RNGFND4_MAX)

Maximum distance in metres that rangefinder can reliably read

Rangefinder stop pin (RNGFND4_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Ratiometric (RNGFND4_RMETRIC)

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.

Powersave range (RNGFND4_PWRRNG)

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

Distance from the range finder to the ground (RNGFND4_GNDCLR)

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Bus address of sensor (RNGFND4_ADDR)

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 offset (RNGFND4_POS_X)

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Y position offset (RNGFND4_POS_Y)

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Z position offset (RNGFND4_POS_Z)

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Rangefinder orientation (RNGFND4_ORIENT)

Note: This parameter is for advanced users

Orientation of rangefinder

Moving Average Range (RNGFND4_WSP_MAVG)

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Moving Median Filter (RNGFND4_WSP_MEDF)

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Frequency (RNGFND4_WSP_FRQ)

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Multi-pulse averages (RNGFND4_WSP_AVG)

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Sensitivity threshold (RNGFND4_WSP_THR)

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Baud rate (RNGFND4_WSP_BAUD)

Note: This parameter is for advanced users

Desired baud rate

RangeFinder CAN receive ID (RNGFND4_RECV_ID)

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

RangeFinder Minimum signal strength (RNGFND4_SNR_MIN)

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

RNGFND5_ Parameters

Rangefinder type (RNGFND5_TYPE)

Type of connected rangefinder

Rangefinder pin (RNGFND5_PIN)

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.

Rangefinder scaling (RNGFND5_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

rangefinder offset (RNGFND5_OFFSET)

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Rangefinder function (RNGFND5_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Rangefinder minimum distance (RNGFND5_MIN)

Minimum distance in metres that rangefinder can reliably read

Rangefinder maximum distance (RNGFND5_MAX)

Maximum distance in metres that rangefinder can reliably read

Rangefinder stop pin (RNGFND5_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Ratiometric (RNGFND5_RMETRIC)

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.

Powersave range (RNGFND5_PWRRNG)

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

Distance from the range finder to the ground (RNGFND5_GNDCLR)

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Bus address of sensor (RNGFND5_ADDR)

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 offset (RNGFND5_POS_X)

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Y position offset (RNGFND5_POS_Y)

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Z position offset (RNGFND5_POS_Z)

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Rangefinder orientation (RNGFND5_ORIENT)

Note: This parameter is for advanced users

Orientation of rangefinder

Moving Average Range (RNGFND5_WSP_MAVG)

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Moving Median Filter (RNGFND5_WSP_MEDF)

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Frequency (RNGFND5_WSP_FRQ)

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Multi-pulse averages (RNGFND5_WSP_AVG)

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Sensitivity threshold (RNGFND5_WSP_THR)

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Baud rate (RNGFND5_WSP_BAUD)

Note: This parameter is for advanced users

Desired baud rate

RangeFinder CAN receive ID (RNGFND5_RECV_ID)

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

RangeFinder Minimum signal strength (RNGFND5_SNR_MIN)

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

RNGFND6_ Parameters

Rangefinder type (RNGFND6_TYPE)

Type of connected rangefinder

Rangefinder pin (RNGFND6_PIN)

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.

Rangefinder scaling (RNGFND6_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

rangefinder offset (RNGFND6_OFFSET)

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Rangefinder function (RNGFND6_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Rangefinder minimum distance (RNGFND6_MIN)

Minimum distance in metres that rangefinder can reliably read

Rangefinder maximum distance (RNGFND6_MAX)

Maximum distance in metres that rangefinder can reliably read

Rangefinder stop pin (RNGFND6_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Ratiometric (RNGFND6_RMETRIC)

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.

Powersave range (RNGFND6_PWRRNG)

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

Distance from the range finder to the ground (RNGFND6_GNDCLR)

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Bus address of sensor (RNGFND6_ADDR)

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 offset (RNGFND6_POS_X)

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Y position offset (RNGFND6_POS_Y)

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Z position offset (RNGFND6_POS_Z)

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Rangefinder orientation (RNGFND6_ORIENT)

Note: This parameter is for advanced users

Orientation of rangefinder

Moving Average Range (RNGFND6_WSP_MAVG)

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Moving Median Filter (RNGFND6_WSP_MEDF)

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Frequency (RNGFND6_WSP_FRQ)

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Multi-pulse averages (RNGFND6_WSP_AVG)

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Sensitivity threshold (RNGFND6_WSP_THR)

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Baud rate (RNGFND6_WSP_BAUD)

Note: This parameter is for advanced users

Desired baud rate

RangeFinder CAN receive ID (RNGFND6_RECV_ID)

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

RangeFinder Minimum signal strength (RNGFND6_SNR_MIN)

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

RNGFND7_ Parameters

Rangefinder type (RNGFND7_TYPE)

Type of connected rangefinder

Rangefinder pin (RNGFND7_PIN)

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.

Rangefinder scaling (RNGFND7_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

rangefinder offset (RNGFND7_OFFSET)

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Rangefinder function (RNGFND7_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Rangefinder minimum distance (RNGFND7_MIN)

Minimum distance in metres that rangefinder can reliably read

Rangefinder maximum distance (RNGFND7_MAX)

Maximum distance in metres that rangefinder can reliably read

Rangefinder stop pin (RNGFND7_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Ratiometric (RNGFND7_RMETRIC)

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.

Powersave range (RNGFND7_PWRRNG)

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

Distance from the range finder to the ground (RNGFND7_GNDCLR)

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Bus address of sensor (RNGFND7_ADDR)

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 offset (RNGFND7_POS_X)

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Y position offset (RNGFND7_POS_Y)

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Z position offset (RNGFND7_POS_Z)

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Rangefinder orientation (RNGFND7_ORIENT)

Note: This parameter is for advanced users

Orientation of rangefinder

Moving Average Range (RNGFND7_WSP_MAVG)

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Moving Median Filter (RNGFND7_WSP_MEDF)

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Frequency (RNGFND7_WSP_FRQ)

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Multi-pulse averages (RNGFND7_WSP_AVG)

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Sensitivity threshold (RNGFND7_WSP_THR)

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Baud rate (RNGFND7_WSP_BAUD)

Note: This parameter is for advanced users

Desired baud rate

RangeFinder CAN receive ID (RNGFND7_RECV_ID)

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

RangeFinder Minimum signal strength (RNGFND7_SNR_MIN)

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

RNGFND8_ Parameters

Rangefinder type (RNGFND8_TYPE)

Type of connected rangefinder

Rangefinder pin (RNGFND8_PIN)

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.

Rangefinder scaling (RNGFND8_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

rangefinder offset (RNGFND8_OFFSET)

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Rangefinder function (RNGFND8_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Rangefinder minimum distance (RNGFND8_MIN)

Minimum distance in metres that rangefinder can reliably read

Rangefinder maximum distance (RNGFND8_MAX)

Maximum distance in metres that rangefinder can reliably read

Rangefinder stop pin (RNGFND8_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Ratiometric (RNGFND8_RMETRIC)

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.

Powersave range (RNGFND8_PWRRNG)

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

Distance from the range finder to the ground (RNGFND8_GNDCLR)

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Bus address of sensor (RNGFND8_ADDR)

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 offset (RNGFND8_POS_X)

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Y position offset (RNGFND8_POS_Y)

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Z position offset (RNGFND8_POS_Z)

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Rangefinder orientation (RNGFND8_ORIENT)

Note: This parameter is for advanced users

Orientation of rangefinder

Moving Average Range (RNGFND8_WSP_MAVG)

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Moving Median Filter (RNGFND8_WSP_MEDF)

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Frequency (RNGFND8_WSP_FRQ)

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Multi-pulse averages (RNGFND8_WSP_AVG)

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Sensitivity threshold (RNGFND8_WSP_THR)

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Baud rate (RNGFND8_WSP_BAUD)

Note: This parameter is for advanced users

Desired baud rate

RangeFinder CAN receive ID (RNGFND8_RECV_ID)

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

RangeFinder Minimum signal strength (RNGFND8_SNR_MIN)

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

RNGFND9_ Parameters

Rangefinder type (RNGFND9_TYPE)

Type of connected rangefinder

Rangefinder pin (RNGFND9_PIN)

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.

Rangefinder scaling (RNGFND9_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

rangefinder offset (RNGFND9_OFFSET)

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Rangefinder function (RNGFND9_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Rangefinder minimum distance (RNGFND9_MIN)

Minimum distance in metres that rangefinder can reliably read

Rangefinder maximum distance (RNGFND9_MAX)

Maximum distance in metres that rangefinder can reliably read

Rangefinder stop pin (RNGFND9_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Ratiometric (RNGFND9_RMETRIC)

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.

Powersave range (RNGFND9_PWRRNG)

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

Distance from the range finder to the ground (RNGFND9_GNDCLR)

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Bus address of sensor (RNGFND9_ADDR)

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 offset (RNGFND9_POS_X)

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Y position offset (RNGFND9_POS_Y)

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Z position offset (RNGFND9_POS_Z)

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Rangefinder orientation (RNGFND9_ORIENT)

Note: This parameter is for advanced users

Orientation of rangefinder

Moving Average Range (RNGFND9_WSP_MAVG)

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Moving Median Filter (RNGFND9_WSP_MEDF)

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Frequency (RNGFND9_WSP_FRQ)

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Multi-pulse averages (RNGFND9_WSP_AVG)

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Sensitivity threshold (RNGFND9_WSP_THR)

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Baud rate (RNGFND9_WSP_BAUD)

Note: This parameter is for advanced users

Desired baud rate

RangeFinder CAN receive ID (RNGFND9_RECV_ID)

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

RangeFinder Minimum signal strength (RNGFND9_SNR_MIN)

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

RNGFNDA_ Parameters

Rangefinder type (RNGFNDA_TYPE)

Type of connected rangefinder

Rangefinder pin (RNGFNDA_PIN)

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.

Rangefinder scaling (RNGFNDA_SCALING)

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

rangefinder offset (RNGFNDA_OFFSET)

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Rangefinder function (RNGFNDA_FUNCTION)

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Rangefinder minimum distance (RNGFNDA_MIN)

Minimum distance in metres that rangefinder can reliably read

Rangefinder maximum distance (RNGFNDA_MAX)

Maximum distance in metres that rangefinder can reliably read

Rangefinder stop pin (RNGFNDA_STOP_PIN)

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Ratiometric (RNGFNDA_RMETRIC)

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.

Powersave range (RNGFNDA_PWRRNG)

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

Distance from the range finder to the ground (RNGFNDA_GNDCLR)

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Bus address of sensor (RNGFNDA_ADDR)

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 offset (RNGFNDA_POS_X)

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Y position offset (RNGFNDA_POS_Y)

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Z position offset (RNGFNDA_POS_Z)

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Rangefinder orientation (RNGFNDA_ORIENT)

Note: This parameter is for advanced users

Orientation of rangefinder

Moving Average Range (RNGFNDA_WSP_MAVG)

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Moving Median Filter (RNGFNDA_WSP_MEDF)

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Frequency (RNGFNDA_WSP_FRQ)

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Multi-pulse averages (RNGFNDA_WSP_AVG)

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Sensitivity threshold (RNGFNDA_WSP_THR)

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Baud rate (RNGFNDA_WSP_BAUD)

Note: This parameter is for advanced users

Desired baud rate

RangeFinder CAN receive ID (RNGFNDA_RECV_ID)

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

RangeFinder Minimum signal strength (RNGFNDA_SNR_MIN)

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

RPM1_ Parameters

RPM type (RPM1_TYPE)

What type of RPM sensor is connected

RPM scaling (RPM1_SCALING)

Scaling factor between sensor reading and RPM.

Maximum RPM (RPM1_MAX)

Maximum RPM to report. Only used on type = GPIO.

Minimum RPM (RPM1_MIN)

Minimum RPM to report. Only used on type = GPIO.

Minimum Quality (RPM1_MIN_QUAL)

Note: This parameter is for advanced users

Minimum data quality to be used

Input pin number (RPM1_PIN)

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.

Bitmask of ESC telemetry channels to average (RPM1_ESC_MASK)

Note: This parameter is for advanced users

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

ESC Telemetry Index to write RPM to (RPM1_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

DroneCAN Sensor ID (RPM1_DC_ID)

Note: This parameter is for advanced users

DroneCAN sensor ID to assign to this backend

RPM2_ Parameters

RPM type (RPM2_TYPE)

What type of RPM sensor is connected

RPM scaling (RPM2_SCALING)

Scaling factor between sensor reading and RPM.

Maximum RPM (RPM2_MAX)

Maximum RPM to report. Only used on type = GPIO.

Minimum RPM (RPM2_MIN)

Minimum RPM to report. Only used on type = GPIO.

Minimum Quality (RPM2_MIN_QUAL)

Note: This parameter is for advanced users

Minimum data quality to be used

Input pin number (RPM2_PIN)

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.

Bitmask of ESC telemetry channels to average (RPM2_ESC_MASK)

Note: This parameter is for advanced users

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

ESC Telemetry Index to write RPM to (RPM2_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

DroneCAN Sensor ID (RPM2_DC_ID)

Note: This parameter is for advanced users

DroneCAN sensor ID to assign to this backend

RPM3_ Parameters

RPM type (RPM3_TYPE)

What type of RPM sensor is connected

RPM scaling (RPM3_SCALING)

Scaling factor between sensor reading and RPM.

Maximum RPM (RPM3_MAX)

Maximum RPM to report. Only used on type = GPIO.

Minimum RPM (RPM3_MIN)

Minimum RPM to report. Only used on type = GPIO.

Minimum Quality (RPM3_MIN_QUAL)

Note: This parameter is for advanced users

Minimum data quality to be used

Input pin number (RPM3_PIN)

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.

Bitmask of ESC telemetry channels to average (RPM3_ESC_MASK)

Note: This parameter is for advanced users

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

ESC Telemetry Index to write RPM to (RPM3_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

DroneCAN Sensor ID (RPM3_DC_ID)

Note: This parameter is for advanced users

DroneCAN sensor ID to assign to this backend

RPM4_ Parameters

RPM type (RPM4_TYPE)

What type of RPM sensor is connected

RPM scaling (RPM4_SCALING)

Scaling factor between sensor reading and RPM.

Maximum RPM (RPM4_MAX)

Maximum RPM to report. Only used on type = GPIO.

Minimum RPM (RPM4_MIN)

Minimum RPM to report. Only used on type = GPIO.

Minimum Quality (RPM4_MIN_QUAL)

Note: This parameter is for advanced users

Minimum data quality to be used

Input pin number (RPM4_PIN)

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.

Bitmask of ESC telemetry channels to average (RPM4_ESC_MASK)

Note: This parameter is for advanced users

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

ESC Telemetry Index to write RPM to (RPM4_ESC_INDEX)

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

DroneCAN Sensor ID (RPM4_DC_ID)

Note: This parameter is for advanced users

DroneCAN sensor ID to assign to this backend

RSSI_ Parameters

RSSI Type (RSSI_TYPE)

Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.

Receiver RSSI sensing pin (RSSI_ANA_PIN)

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.

RSSI pin's lowest voltage (RSSI_PIN_LOW)

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 highest voltage (RSSI_PIN_HIGH)

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.

Receiver RSSI channel number (RSSI_CHANNEL)

The channel number where RSSI will be output by the radio receiver (5 and above).

RSSI PWM low value (RSSI_CHAN_LOW)

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

Receiver RSSI PWM high value (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

SCHED_ Parameters

Scheduler debug level (SCHED_DEBUG)

Note: This parameter is for advanced users

Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

Scheduling main loop rate (SCHED_LOOP_RATE)

Note: This parameter is for advanced users

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.

Scheduling options (SCHED_OPTIONS)

Note: This parameter is for advanced users

This controls optional aspects of the scheduler.

SCR_ Parameters

Enable Scripting (SCR_ENABLE)

Note: This parameter is for advanced users

Controls if scripting is enabled

Scripting Virtual Machine Instruction Count (SCR_VM_I_COUNT)

Note: This parameter is for advanced users

The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time

Scripting Heap Size (SCR_HEAP_SIZE)

Note: This parameter is for advanced users

Amount of memory available for scripting

Scripting Debug Level (SCR_DEBUG_OPTS)

Note: This parameter is for advanced users

Debugging options

Scripting User Parameter1 (SCR_USER1)

General purpose user variable input for scripts

Scripting User Parameter2 (SCR_USER2)

General purpose user variable input for scripts

Scripting User Parameter3 (SCR_USER3)

General purpose user variable input for scripts

Scripting User Parameter4 (SCR_USER4)

General purpose user variable input for scripts

Scripting User Parameter5 (SCR_USER5)

General purpose user variable input for scripts

Scripting User Parameter6 (SCR_USER6)

General purpose user variable input for scripts

Directory disable (SCR_DIR_DISABLE)

Note: This parameter is for advanced users

This will stop scripts being loaded from the given locations

Loaded script checksum (SCR_LD_CHECKSUM)

Note: This parameter is for advanced users

Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables

Running script checksum (SCR_RUN_CHECKSUM)

Note: This parameter is for advanced users

Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables

Scripting thread priority (SCR_THD_PRIORITY)

Note: This parameter is for advanced users

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.

Scripting serial device enable (SCR_SDEV_EN)

Note: This parameter is for advanced users

Enable scripting serial devices

Serial protocol of scripting serial device (SCR_SDEV1_PROTO)

Note: This parameter is for advanced users

Serial protocol of scripting serial device

Serial protocol of scripting serial device (SCR_SDEV2_PROTO)

Note: This parameter is for advanced users

Serial protocol of scripting serial device

Serial protocol of scripting serial device (SCR_SDEV3_PROTO)

Note: This parameter is for advanced users

Serial protocol of scripting serial device

SERIAL Parameters

Serial0 baud rate (SERIAL0_BAUD)

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.

Console protocol selection (SERIAL0_PROTOCOL)

Control what protocol to use on the console.

Telem1 protocol selection (SERIAL1_PROTOCOL)

Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.

Telem1 Baud Rate (SERIAL1_BAUD)

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.

Telemetry 2 protocol selection (SERIAL2_PROTOCOL)

Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.

Telemetry 2 Baud Rate (SERIAL2_BAUD)

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.

Serial 3 (GPS) protocol selection (SERIAL3_PROTOCOL)

Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Serial 3 (GPS) Baud Rate (SERIAL3_BAUD)

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.

Serial4 protocol selection (SERIAL4_PROTOCOL)

Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Serial 4 Baud Rate (SERIAL4_BAUD)

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.

Serial5 protocol selection (SERIAL5_PROTOCOL)

Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Serial 5 Baud Rate (SERIAL5_BAUD)

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.

Serial6 protocol selection (SERIAL6_PROTOCOL)

Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Serial 6 Baud Rate (SERIAL6_BAUD)

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.

Telem1 options (SERIAL1_OPTIONS)

Note: This parameter is for advanced users

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!

Telem2 options (SERIAL2_OPTIONS)

Note: This parameter is for advanced users

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!

Serial3 options (SERIAL3_OPTIONS)

Note: This parameter is for advanced users

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!

Serial4 options (SERIAL4_OPTIONS)

Note: This parameter is for advanced users

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!

Serial5 options (SERIAL5_OPTIONS)

Note: This parameter is for advanced users

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!

Serial6 options (SERIAL6_OPTIONS)

Note: This parameter is for advanced users

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!

Serial passthru first port (SERIAL_PASS1)

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

Serial passthru second port (SERIAL_PASS2)

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port. 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.

Serial passthru timeout (SERIAL_PASSTIMO)

Note: This parameter is for advanced users

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout. A value of -1 means no timeout and the SERIAL_PASS2 parameter is not reset on reboot.

Serial7 protocol selection (SERIAL7_PROTOCOL)

Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Serial 7 Baud Rate (SERIAL7_BAUD)

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.

Serial7 options (SERIAL7_OPTIONS)

Note: This parameter is for advanced users

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!

Serial8 protocol selection (SERIAL8_PROTOCOL)

Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Serial 8 Baud Rate (SERIAL8_BAUD)

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.

Serial8 options (SERIAL8_OPTIONS)

Note: This parameter is for advanced users

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!

Serial9 protocol selection (SERIAL9_PROTOCOL)

Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Serial 9 Baud Rate (SERIAL9_BAUD)

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.

Serial9 options (SERIAL9_OPTIONS)

Note: This parameter is for advanced users

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!

SERVO Parameters

Automatic servo trim (SERVO_AUTO_TRIM)

Note: This parameter is for advanced users

This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights. The automatic trim won't go more than 20% away from a centered trim.

Servo default output rate (SERVO_RATE)

Note: This parameter is for advanced users

Default output rate in Hz for all PWM outputs.

Servo DShot output rate (SERVO_DSHOT_RATE)

Note: This parameter is for advanced users

DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.

Servo DShot ESC type (SERVO_DSHOT_ESC)

Note: This parameter is for advanced users

DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.

Servo GPIO mask (SERVO_GPIO_MASK)

Note: This parameter is for advanced users

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

Servo RC Failsafe Mask (SERVO_RC_FS_MSK)

Note: This parameter is for advanced users

Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.

Enable outputs 17 to 31 (SERVO_32_ENABLE)

Note: This parameter is for advanced users

This allows for up to 32 outputs, enabling parameters for outputs above 16

SERVO10_ Parameters

Minimum PWM (SERVO10_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO10_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO10_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO10_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO10_FUNCTION)

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

SERVO11_ Parameters

Minimum PWM (SERVO11_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO11_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO11_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO11_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO11_FUNCTION)

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

SERVO12_ Parameters

Minimum PWM (SERVO12_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO12_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO12_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO12_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO12_FUNCTION)

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

SERVO13_ Parameters

Minimum PWM (SERVO13_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO13_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO13_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO13_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO13_FUNCTION)

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

SERVO14_ Parameters

Minimum PWM (SERVO14_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO14_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO14_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO14_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO14_FUNCTION)

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

SERVO15_ Parameters

Minimum PWM (SERVO15_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO15_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO15_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO15_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO15_FUNCTION)

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

SERVO16_ Parameters

Minimum PWM (SERVO16_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO16_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO16_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO16_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO16_FUNCTION)

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

SERVO17_ Parameters

Minimum PWM (SERVO17_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO17_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO17_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO17_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO17_FUNCTION)

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

SERVO18_ Parameters

Minimum PWM (SERVO18_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO18_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO18_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO18_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO18_FUNCTION)

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

SERVO19_ Parameters

Minimum PWM (SERVO19_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO19_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO19_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO19_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO19_FUNCTION)

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

SERVO1_ Parameters

Minimum PWM (SERVO1_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO1_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO1_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO1_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO1_FUNCTION)

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

SERVO20_ Parameters

Minimum PWM (SERVO20_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO20_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO20_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO20_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO20_FUNCTION)

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

SERVO21_ Parameters

Minimum PWM (SERVO21_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO21_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO21_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO21_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO21_FUNCTION)

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

SERVO22_ Parameters

Minimum PWM (SERVO22_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO22_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO22_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO22_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO22_FUNCTION)

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

SERVO23_ Parameters

Minimum PWM (SERVO23_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO23_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO23_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO23_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO23_FUNCTION)

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

SERVO24_ Parameters

Minimum PWM (SERVO24_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO24_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO24_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO24_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO24_FUNCTION)

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

SERVO25_ Parameters

Minimum PWM (SERVO25_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO25_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO25_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO25_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO25_FUNCTION)

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

SERVO26_ Parameters

Minimum PWM (SERVO26_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO26_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO26_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO26_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO26_FUNCTION)

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

SERVO27_ Parameters

Minimum PWM (SERVO27_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO27_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO27_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO27_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO27_FUNCTION)

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

SERVO28_ Parameters

Minimum PWM (SERVO28_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO28_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO28_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO28_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO28_FUNCTION)

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

SERVO29_ Parameters

Minimum PWM (SERVO29_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO29_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO29_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO29_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO29_FUNCTION)

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

SERVO2_ Parameters

Minimum PWM (SERVO2_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO2_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO2_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO2_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO2_FUNCTION)

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

SERVO30_ Parameters

Minimum PWM (SERVO30_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO30_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO30_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO30_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO30_FUNCTION)

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

SERVO31_ Parameters

Minimum PWM (SERVO31_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO31_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO31_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO31_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO31_FUNCTION)

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

SERVO32_ Parameters

Minimum PWM (SERVO32_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO32_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO32_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO32_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO32_FUNCTION)

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

SERVO3_ Parameters

Minimum PWM (SERVO3_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO3_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO3_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO3_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO3_FUNCTION)

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

SERVO4_ Parameters

Minimum PWM (SERVO4_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO4_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO4_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO4_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO4_FUNCTION)

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

SERVO5_ Parameters

Minimum PWM (SERVO5_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO5_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO5_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO5_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO5_FUNCTION)

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

SERVO6_ Parameters

Minimum PWM (SERVO6_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO6_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO6_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO6_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO6_FUNCTION)

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

SERVO7_ Parameters

Minimum PWM (SERVO7_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO7_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO7_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO7_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO7_FUNCTION)

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

SERVO8_ Parameters

Minimum PWM (SERVO8_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO8_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO8_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO8_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO8_FUNCTION)

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

SERVO9_ Parameters

Minimum PWM (SERVO9_MIN)

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Maximum PWM (SERVO9_MAX)

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Trim PWM (SERVO9_TRIM)

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Servo reverse (SERVO9_REVERSED)

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Servo output function (SERVO9_FUNCTION)

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

SERVO_BLH_ Parameters

BLHeli Channel Bitmask (SERVO_BLH_MASK)

Note: This parameter is for advanced users

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)

BLHeli pass-thru auto-enable for multicopter motors (SERVO_BLH_AUTO)

If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors

BLHeli internal interface test (SERVO_BLH_TEST)

Note: This parameter is for advanced users

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

BLHeli protocol timeout (SERVO_BLH_TMOUT)

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

BLHeli telemetry rate (SERVO_BLH_TRATE)

This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests

BLHeli debug level (SERVO_BLH_DEBUG)

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

BLHeli output type override (SERVO_BLH_OTYPE)

Note: This parameter is for advanced users

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.

Control port (SERVO_BLH_PORT)

Note: This parameter is for advanced users

This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.

BLHeli Motor Poles (SERVO_BLH_POLES)

Note: This parameter is for advanced users

This allows calculation of true RPM from ESC's eRPM. The default is 14.

BLHeli bitmask of 3D channels (SERVO_BLH_3DMASK)

Note: This parameter is for advanced users

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.

BLHeli bitmask of bi-directional dshot channels (SERVO_BLH_BDMASK)

Note: This parameter is for advanced users

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.

BLHeli bitmask of reversed channels (SERVO_BLH_RVMASK)

Note: This parameter is for advanced users

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_FTW_ Parameters

Servo channel output bitmask (SERVO_FTW_MASK)

Servo channel mask specifying FETtec ESC output.

Servo channel reverse rotation bitmask (SERVO_FTW_RVMASK)

Servo channel mask to reverse rotation of FETtec ESC outputs.

Nr. electrical poles (SERVO_FTW_POLES)

Number of motor electrical poles

SERVO_ROB_ Parameters

Robotis servo position min (SERVO_ROB_POSMIN)

Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095

Robotis servo position max (SERVO_ROB_POSMAX)

Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095

SERVO_SBUS_ Parameters

SBUS default output rate (SERVO_SBUS_RATE)

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz.

SERVO_VOLZ_ Parameters

Channel Bitmask (SERVO_VOLZ_MASK)

Enable of volz servo protocol to specific channels

Range of travel (SERVO_VOLZ_RANGE)

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.

SID Parameters

System identification axis (SID_AXIS)

Controls which axis are being excited. Set to non-zero to see more parameters

System identification Chirp Magnitude (SID_MAGNITUDE)

Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs.

System identification Start Frequency (SID_F_START_HZ)

Frequency at the start of the sweep

System identification Stop Frequency (SID_F_STOP_HZ)

Frequency at the end of the sweep

System identification Fade in time (SID_T_FADE_IN)

Time to reach maximum amplitude of sweep

System identification Total Sweep length (SID_T_REC)

Time taken to complete the sweep

System identification Fade out time (SID_T_FADE_OUT)

Time to reach zero amplitude at the end of the sweep

System identification XY control multiplier (SID_XY_CTRL_MUL)

A multiplier for the XY velocity and position controller when using systemID in VTOL modes that do horizontal position and velocity control

SIM_ Parameters

Gyro drift speed (SIM_DRIFT_SPEED)

Gyro drift rate of change in degrees/second/minute

Gyro drift time (SIM_DRIFT_TIME)

Gyro drift duration of one full drift cycle (period in minutes)

Engine failure thrust scaler (SIM_ENGINE_MUL)

Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor

Simulated Wind speed (SIM_WIND_SPD)

Note: This parameter is for advanced users

Allows you to emulate wind in sim

Direction simulated wind is coming from (SIM_WIND_DIR)

Note: This parameter is for advanced users

Allows you to set wind direction (true deg) in sim

Simulated Wind variation (SIM_WIND_TURB)

Note: This parameter is for advanced users

Allows you to emulate random wind variations in sim

Wind variation time constant (SIM_WIND_TC)

Note: This parameter is for advanced users

this controls the time over which wind changes take effect

Sonar rotation (SIM_SONAR_ROT)

Sonar rotation from rotations enumeration

Simulated battery voltage (SIM_BATT_VOLTAGE)

Note: This parameter is for advanced users

Simulated battery (constant) voltage

Simulated battery capacity (SIM_BATT_CAP_AH)

Note: This parameter is for advanced users

Simulated battery capacity

Sonar glitch probablility (SIM_SONAR_GLITCH)

Note: This parameter is for advanced users

Probablility a sonar glitch would happen

Sonar noise factor (SIM_SONAR_RND)

Note: This parameter is for advanced users

Scaling factor for simulated sonar noise

Simulated RC signal failure (SIM_RC_FAIL)

Note: This parameter is for advanced users

Allows you to emulate rc failures in sim

Generate floating point exceptions (SIM_FLOAT_EXCEPT)

Note: This parameter is for advanced users

If set, if a numerical error occurs SITL will die with a floating point exception.

Mask of CAN servos/ESCs (SIM_CAN_SRV_MSK)

Note: This parameter is for advanced users

The set of actuators controlled externally by CAN SITL AP_Periph

transport type for first CAN interface (SIM_CAN_TYPE1)

Note: This parameter is for advanced users

transport type for first CAN interface

transport type for second CAN interface (SIM_CAN_TYPE2)

Note: This parameter is for advanced users

transport type for second CAN interface

Sonar conversion scale (SIM_SONAR_SCALE)

Sonar conversion scale from distance to voltage

Opflow Enable (SIM_FLOW_ENABLE)

Enable simulated Optical Flow sensor

Terrain Enable (SIM_TERRAIN)

Enable using terrain for height

Opflow Rate (SIM_FLOW_RATE)

Opflow Data Rate

Opflow Delay (SIM_FLOW_DELAY)

Opflow data delay

Number of ADSB aircrafts (SIM_ADSB_COUNT)

Total number of ADSB simulated aircraft

ADSB radius stddev of another aircraft (SIM_ADSB_RADIUS)

Simulated standard deviation of radius in ADSB of another aircraft

ADSB altitude of another aircraft (SIM_ADSB_ALT)

Simulated ADSB altitude of another aircraft

GPIO emulation (SIM_PIN_MASK)

SITL GPIO emulation

ADSB transmit enable (SIM_ADSB_TX)

ADSB transceiever enable and disable

Sim Speedup (SIM_SPEEDUP)

Note: This parameter is for advanced users

Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used

IMU Offsets (SIM_IMU_POS_X)

XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)

IMU Offsets (SIM_IMU_POS_Y)

XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)

IMU Offsets (SIM_IMU_POS_Z)

XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)

Sonar Offsets (SIM_SONAR_POS_X)

XYZ position of the sonar relative to the body frame origin (X-axis)

Sonar Offsets (SIM_SONAR_POS_Y)

XYZ position of the sonar relative to the body frame origin (Y-axis)

Sonar Offsets (SIM_SONAR_POS_Z)

XYZ position of the sonar relative to the body frame origin (Z-axis)

Opflow Pos (SIM_FLOW_POS_X)

XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)

Opflow Pos (SIM_FLOW_POS_Y)

XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)

Opflow Pos (SIM_FLOW_POS_Z)

XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)

Engine Fail Mask (SIM_ENGINE_FAIL)

mask of motors which SIM_ENGINE_MUL will be applied to

Start temperature (SIM_TEMP_START)

Note: This parameter is for advanced users

Baro start temperature

Baro temperature offset (SIM_TEMP_BRD_OFF)

Note: This parameter is for advanced users

Barometer board temperature offset from atmospheric temperature

Warmup time constant (SIM_TEMP_TCONST)

Note: This parameter is for advanced users

Barometer warmup temperature time constant

Baro temperature factor (SIM_TEMP_BFACTOR)

Note: This parameter is for advanced users

A pressure change with temperature that closely matches what has been observed with a ICM-20789

Simulated wind vertical direction (SIM_WIND_DIR_Z)

Note: This parameter is for advanced users

Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.

Wind Profile Type (SIM_WIND_T)

Note: This parameter is for advanced users

Selects how wind varies from surface to WIND_T_ALT

Full Wind Altitude (SIM_WIND_T_ALT)

Note: This parameter is for advanced users

Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level

Linear Wind Curve Coeff (SIM_WIND_T_COEF)

Note: This parameter is for advanced users

For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value

RC channel count (SIM_RC_CHANCOUNT)

SITL RC channel count

Weight on Wheels Pin (SIM_WOW_PIN)

Note: This parameter is for advanced users

SITL set this simulated pin to true if vehicle is on ground

Telemetry bandwidth limitting (SIM_BAUDLIMIT_EN)

SITL enable bandwidth limitting on telemetry ports with non-zero values

Acceleration of shove x (SIM_SHOVE_X)

Acceleration of shove to vehicle in x axis

Acceleration of shove y (SIM_SHOVE_Y)

Acceleration of shove to vehicle in y axis

Acceleration of shove z (SIM_SHOVE_Z)

Acceleration of shove to vehicle in z axis

Time length for shove (SIM_SHOVE_TIME)

Force to the vehicle over a period of time

Opflow noise (SIM_FLOW_RND)

Optical Flow sensor measurement noise

Twist x (SIM_TWIST_X)

Rotational acceleration of twist x axis

Twist y (SIM_TWIST_Y)

Rotational acceleration of twist y axis

Twist z (SIM_TWIST_Z)

Rotational acceleration of twist z axis

Twist time (SIM_TWIST_TIME)

Time that twist is applied on the vehicle

Ground behavior (SIM_GND_BEHAV)

Ground behavior of aircraft (tailsitter, no movement, forward only)

IMU orientation (SIM_IMU_ORIENT)

Note: This parameter is for advanced users

Simulated orientation of the IMUs

Wave enable (SIM_WAVE_ENABLE)

Wave enable and modes

Wave length (SIM_WAVE_LENGTH)

Wave length in SITL

Wave amplitude (SIM_WAVE_AMP)

Wave amplitude in SITL

Wave direction (SIM_WAVE_DIR)

Direction wave is coming from

Wave speed (SIM_WAVE_SPEED)

Wave speed in SITL

Tide direction (SIM_TIDE_DIR)

Tide direction wave is coming from

Tide speed (SIM_TIDE_SPEED)

Tide speed in simulation

Original Position (Latitude) (SIM_OPOS_LAT)

Note: This parameter is for advanced users

Specifies vehicle's startup latitude

Original Position (Longitude) (SIM_OPOS_LNG)

Note: This parameter is for advanced users

Specifies vehicle's startup longitude

Original Position (Altitude) (SIM_OPOS_ALT)

Note: This parameter is for advanced users

Specifies vehicle's startup altitude (AMSL)

Original Position (Heading) (SIM_OPOS_HDG)

Note: This parameter is for advanced users

Specifies vehicle's startup heading (0-360)

Extra delay per main loop (SIM_LOOP_DELAY)

Extra time delay per main loop

Type of Electronic Fuel Injection (SIM_EFI_TYPE)

Different types of Electronic Fuel Injection (EFI) systems

Motor harmonics (SIM_VIB_MOT_HMNC)

Motor harmonics generated in SITL

Motor mask (SIM_VIB_MOT_MASK)

Motor mask, allowing external simulators to mark motors

Max motor vibration frequency (SIM_VIB_MOT_MAX)

Max frequency to use as baseline for adding motor noise for the gyros and accels

Minimum throttle INS noise (SIM_INS_THR_MIN)

Minimum throttle for simulated ins noise

Vibration motor scale (SIM_VIB_MOT_MULT)

Amplitude scaling of motor noise relative to gyro/accel noise

Odometry enable (SIM_ODOM_ENABLE)

SITL odometry enabl

LED layout (SIM_LED_LAYOUT)

LED layout config value

Thermal scenarios (SIM_THML_SCENARI)

Scenario for thermalling simulation, for soaring

Loop rate (SIM_RATE_HZ)

SITL Loop rate

IMU count (SIM_IMU_COUNT)

Number of simulated IMUs to create

Baro count (SIM_BARO_COUNT)

Number of simulated baros to create in SITL

Loop time jitter (SIM_TIME_JITTER)

Note: This parameter is for advanced users

Upper limit of random jitter in loop time

Simulated ESC Telemetry (SIM_ESC_TELEM)

Note: This parameter is for advanced users

enable perfect simulated ESC telemetry

ESC RPM when armed (SIM_ESC_ARM_RPM)

Note: This parameter is for advanced users

Simulated RPM when motors are armed

UART byte loss percentage (SIM_UART_LOSS)

Note: This parameter is for advanced users

Sets percentage of outgoing byte loss on UARTs

Simulated ADSB Type mask (SIM_ADSB_TYPES)

Note: This parameter is for advanced users

specifies which simulated ADSB types are active

Simulated OSD number of text columns (SIM_OSD_COLUMNS)

Simulated OSD number of text columns

Simulated OSD number of text rows (SIM_OSD_ROWS)

Simulated OSD number of text rows

Initial Latitude Offset (SIM_INIT_LAT_OFS)

GPS initial lat offset from origin

Initial Longitude Offset (SIM_INIT_LON_OFS)

GPS initial lon offset from origin

Initial Altitude Offset (SIM_INIT_ALT_OFS)

GPS initial alt offset from origin

GPS Log Number (SIM_GPS_LOG_NUM)

Log number for GPS:update_file()

Mag motor noise factor (SIM_MAG_RND)

Note: This parameter is for advanced users

Scaling factor for simulated vibration from motors

Mag measurement delay (SIM_MAG_DELAY)

Note: This parameter is for advanced users

Magnetometer measurement delay

Magnetic anomaly height (SIM_MAG_ALY_HGT)

Note: This parameter is for advanced users

Height above ground where anomally strength has decayed to 1/8 of the ground level value

MAG1 Orientation (SIM_MAG1_ORIENT)

Note: This parameter is for advanced users

MAG1 external compass orientation

MAG1 Scaling factor (SIM_MAG1_SCALING)

Note: This parameter is for advanced users

Scale the compass 1 to simulate sensor scale factor errors

MAG1 Device ID (SIM_MAG1_DEVID)

Note: This parameter is for advanced users

Device ID of simulated compass 1

MAG2 Device ID (SIM_MAG2_DEVID)

Note: This parameter is for advanced users

Device ID of simulated compass 2

MAG3 Device ID (SIM_MAG3_DEVID)

Note: This parameter is for advanced users

Device ID of simulated compass 3

MAG2 Device ID (SIM_MAG4_DEVID)

Note: This parameter is for advanced users

Device ID of simulated compass 4

MAG5 Device ID (SIM_MAG5_DEVID)

Note: This parameter is for advanced users

Device ID of simulated compass 5

MAG6 Device ID (SIM_MAG6_DEVID)

Note: This parameter is for advanced users

Device ID of simulated compass 6

MAG7 Device ID (SIM_MAG7_DEVID)

Note: This parameter is for advanced users

Device ID of simulated compass 7

MAG8 Device ID (SIM_MAG8_DEVID)

Note: This parameter is for advanced users

Device ID of simulated compass 8

MAG1 Failure (SIM_MAG1_FAIL)

Note: This parameter is for advanced users

Simulated failure of MAG1

MAG2 Orientation (SIM_MAG2_ORIENT)

Note: This parameter is for advanced users

MAG2 external compass orientation

MAG2 Failure (SIM_MAG2_FAIL)

Note: This parameter is for advanced users

Simulated failure of MAG2

MAG2 Scaling factor (SIM_MAG2_SCALING)

Note: This parameter is for advanced users

Scale the compass 2 to simulate sensor scale factor errors

MAG3 Failure (SIM_MAG3_FAIL)

Note: This parameter is for advanced users

Simulated failure of MAG3

MAG3 Scaling factor (SIM_MAG3_SCALING)

Note: This parameter is for advanced users

Scale the compass 3 to simulate sensor scale factor errors

MAG3 Orientation (SIM_MAG3_ORIENT)

Note: This parameter is for advanced users

MAG3 external compass orientation

Save MAG devids on startup (SIM_MAG_SAVE_IDS)

Note: This parameter is for advanced users

This forces saving of compass devids on startup so that simulated compasses start as calibrated

IMU temperature start (SIM_IMUT_START)

Starting IMU temperature of a curve

IMU temperature end (SIM_IMUT_END)

Ending IMU temperature of a curve

IMU temperature time constant (SIM_IMUT_TCONST)

IMU temperature time constant of the curve

IMU fixed temperature (SIM_IMUT_FIXED)

IMU fixed temperature by user

Accel 1 bias (SIM_ACC1_BIAS_X)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

Accel 1 bias (SIM_ACC1_BIAS_Y)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

Accel 1 bias (SIM_ACC1_BIAS_Z)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

Accel 2 bias (SIM_ACC2_BIAS_X)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

Accel 2 bias (SIM_ACC2_BIAS_Y)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

Accel 2 bias (SIM_ACC2_BIAS_Z)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

Accel 3 bias (SIM_ACC3_BIAS_X)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

Accel 3 bias (SIM_ACC3_BIAS_Y)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

Accel 3 bias (SIM_ACC3_BIAS_Z)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

Gyro 1 motor noise factor (SIM_GYR1_RND)

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

Gyro 2 motor noise factor (SIM_GYR2_RND)

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

Gyro 3 motor noise factor (SIM_GYR3_RND)

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

Accel 1 motor noise factor (SIM_ACC1_RND)

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

Accel 2 motor noise factor (SIM_ACC2_RND)

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

Accel 3 motor noise factor (SIM_ACC3_RND)

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

Gyro 1 scaling factor (SIM_GYR1_SCALE_X)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

Gyro 1 scaling factor (SIM_GYR1_SCALE_Y)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

Gyro 1 scaling factor (SIM_GYR1_SCALE_Z)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

Gyro 2 scaling factor (SIM_GYR2_SCALE_X)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

Gyro 2 scaling factor (SIM_GYR2_SCALE_Y)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

Gyro 2 scaling factor (SIM_GYR2_SCALE_Z)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

Gyro 3 scaling factor (SIM_GYR3_SCALE_X)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

Gyro 3 scaling factor (SIM_GYR3_SCALE_Y)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

Gyro 3 scaling factor (SIM_GYR3_SCALE_Z)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

ACCEL1 Failure (SIM_ACCEL1_FAIL)

Note: This parameter is for advanced users

Simulated failure of ACCEL1

ACCEL2 Failure (SIM_ACCEL2_FAIL)

Note: This parameter is for advanced users

Simulated failure of ACCEL2

ACCEL3 Failure (SIM_ACCEL3_FAIL)

Note: This parameter is for advanced users

Simulated failure of ACCEL3

Gyro Failure Mask (SIM_GYR_FAIL_MSK)

Note: This parameter is for advanced users

Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

Accelerometer Failure Mask (SIM_ACC_FAIL_MSK)

Note: This parameter is for advanced users

Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

Accel 1 scaling factor (SIM_ACC1_SCAL_X)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

Accel 1 scaling factor (SIM_ACC1_SCAL_Y)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

Accel 1 scaling factor (SIM_ACC1_SCAL_Z)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

Accel 2 scaling factor (SIM_ACC2_SCAL_X)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

Accel 2 scaling factor (SIM_ACC2_SCAL_Y)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

Accel 2 scaling factor (SIM_ACC2_SCAL_Z)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

Accel 3 scaling factor (SIM_ACC3_SCAL_X)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

Accel 3 scaling factor (SIM_ACC3_SCAL_Y)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

Accel 3 scaling factor (SIM_ACC3_SCAL_Z)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

Accelerometer trim (SIM_ACC_TRIM_X)

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (X-axis)

Accelerometer trim (SIM_ACC_TRIM_Y)

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (Y-axis)

Accelerometer trim (SIM_ACC_TRIM_Z)

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (Z-axis)

JSON master instance (SIM_JSON_MASTER)

the instance number to take servos from

SIM-on_hardware Output Enable Mask (SIM_OH_MASK)

channels which are passed through to actual hardware when running sim on actual hardware

Gyro data to/from files (SIM_GYR_FILE_RW)

Read and write gyro data to/from files

Accelerometer data to/from files (SIM_ACC_FILE_RW)

Read and write accelerometer data to/from files

First Gyro bias on X axis (SIM_GYR1_BIAS_X)

Note: This parameter is for advanced users

First Gyro bias on X axis

First Gyro bias on Y axis (SIM_GYR1_BIAS_Y)

Note: This parameter is for advanced users

First Gyro bias on Y axis

First Gyro bias on Z axis (SIM_GYR1_BIAS_Z)

Note: This parameter is for advanced users

First Gyro bias on Z axis

Second Gyro bias on X axis (SIM_GYR2_BIAS_X)

Note: This parameter is for advanced users

Second Gyro bias on X axis

Second Gyro bias on Y axis (SIM_GYR2_BIAS_Y)

Note: This parameter is for advanced users

Second Gyro bias on Y axis

Second Gyro bias on Z axis (SIM_GYR2_BIAS_Z)

Note: This parameter is for advanced users

Second Gyro bias on Z axis

Third Gyro bias on X axis (SIM_GYR3_BIAS_X)

Note: This parameter is for advanced users

Third Gyro bias on X axis

Third Gyro bias on Y axis (SIM_GYR3_BIAS_Y)

Note: This parameter is for advanced users

Third Gyro bias on Y axis

Third Gyro bias on Z axis (SIM_GYR3_BIAS_Z)

Note: This parameter is for advanced users

Third Gyro bias on Z axis

Accel 4 scaling factor (SIM_ACC4_SCAL_X)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

Accel 4 scaling factor (SIM_ACC4_SCAL_Y)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

Accel 4 scaling factor (SIM_ACC4_SCAL_Z)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

ACCEL4 Failure (SIM_ACCEL4_FAIL)

Note: This parameter is for advanced users

Simulated failure of ACCEL4

Gyro 4 scaling factor (SIM_GYR4_SCALE_X)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

Gyro 4 scaling factor (SIM_GYR4_SCALE_Y)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

Gyro 4 scaling factor (SIM_GYR4_SCALE_Z)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

Accel 4 motor noise factor (SIM_ACC4_RND)

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

Gyro 4 motor noise factor (SIM_GYR4_RND)

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

Accel 4 bias (SIM_ACC4_BIAS_X)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

Accel 4 bias (SIM_ACC4_BIAS_Y)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

Accel 4 bias (SIM_ACC4_BIAS_Z)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

Fourth Gyro bias on X axis (SIM_GYR4_BIAS_X)

Note: This parameter is for advanced users

Fourth Gyro bias on X axis

Fourth Gyro bias on Y axis (SIM_GYR4_BIAS_Y)

Note: This parameter is for advanced users

Fourth Gyro bias on Y axis

Fourth Gyro bias on Z axis (SIM_GYR4_BIAS_Z)

Note: This parameter is for advanced users

Fourth Gyro bias on Z axis

Accel 4 scaling factor (SIM_ACC5_SCAL_X)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

Accel 4 scaling factor (SIM_ACC5_SCAL_Y)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

Accel 4 scaling factor (SIM_ACC5_SCAL_Z)

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

ACCEL5 Failure (SIM_ACCEL5_FAIL)

Note: This parameter is for advanced users

Simulated failure of ACCEL5

Gyro 5 scaling factor (SIM_GYR5_SCALE_X)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

Gyro 5 scaling factor (SIM_GYR5_SCALE_Y)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

Gyro 5 scaling factor (SIM_GYR5_SCALE_Z)

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

Accel 5 motor noise factor (SIM_ACC5_RND)

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

Gyro 5 motor noise factor (SIM_GYR5_RND)

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

Accel 5 bias (SIM_ACC5_BIAS_X)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

Accel 5 bias (SIM_ACC5_BIAS_Y)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

Accel 5 bias (SIM_ACC5_BIAS_Z)

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

Fifth Gyro bias on X axis (SIM_GYR5_BIAS_X)

Note: This parameter is for advanced users

Fifth Gyro bias on X axis

Fifth Gyro bias on Y axis (SIM_GYR5_BIAS_Y)

Note: This parameter is for advanced users

Fifth Gyro bias on Y axis

Fifth Gyro bias on Z axis (SIM_GYR5_BIAS_Z)

Note: This parameter is for advanced users

Fifth Gyro bias on Z axis

SIM-on_hardware Relay Enable Mask (SIM_OH_RELAY_MSK)

Allow relay output operation when running SIM-on-hardware

Simulated Clamp Channel (SIM_CLAMP_CH)

If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM

SIM_AIS_ Parameters

Number of AIS vessels (SIM_AIS_COUNT)

Total number of AIS simulated vessels

AIS radius stddev of vessels (SIM_AIS_RADIUS)

Simulated standard deviation of radius in AIS of a vessel

SIM_ARSPD2_ Parameters

Airspeed sensor noise (SIM_ARSPD2_RND)

Note: This parameter is for advanced users

Simulated Airspeed sensor noise

Airspeed sensor offset (SIM_ARSPD2_OFS)

Note: This parameter is for advanced users

Simulated Airspeed sensor offset

Airspeed sensor failure (SIM_ARSPD2_FAIL)

Note: This parameter is for advanced users

Simulates Airspeed sensor 1 failure

Airspeed sensor failure pressure (SIM_ARSPD2_FAILP)

Note: This parameter is for advanced users

Simulated airspeed sensor failure pressure

Airspeed pitot tube failure pressure (SIM_ARSPD2_PITOT)

Note: This parameter is for advanced users

Simulated airspeed sensor pitot tube failure pressure

Airspeed signflip (SIM_ARSPD2_SIGN)

Note: This parameter is for advanced users

Simulated airspeed sensor with reversed pitot/static connections

Airspeed ratios (SIM_ARSPD2_RATIO)

Note: This parameter is for advanced users

Simulated airspeed sensor ratio

SIM_ARSPD_ Parameters

Airspeed sensor noise (SIM_ARSPD_RND)

Note: This parameter is for advanced users

Simulated Airspeed sensor noise

Airspeed sensor offset (SIM_ARSPD_OFS)

Note: This parameter is for advanced users

Simulated Airspeed sensor offset

Airspeed sensor failure (SIM_ARSPD_FAIL)

Note: This parameter is for advanced users

Simulates Airspeed sensor 1 failure

Airspeed sensor failure pressure (SIM_ARSPD_FAILP)

Note: This parameter is for advanced users

Simulated airspeed sensor failure pressure

Airspeed pitot tube failure pressure (SIM_ARSPD_PITOT)

Note: This parameter is for advanced users

Simulated airspeed sensor pitot tube failure pressure

Airspeed signflip (SIM_ARSPD_SIGN)

Note: This parameter is for advanced users

Simulated airspeed sensor with reversed pitot/static connections

Airspeed ratios (SIM_ARSPD_RATIO)

Note: This parameter is for advanced users

Simulated airspeed sensor ratio

SIM_BAR2_ Parameters

Barometer noise (SIM_BAR2_RND)

Note: This parameter is for advanced users

Barometer noise in height

Barometer altitude drift (SIM_BAR2_DRIFT)

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Barometer disable (SIM_BAR2_DISABLE)

Note: This parameter is for advanced users

Disable barometer in SITL

Barometer glitch (SIM_BAR2_GLITCH)

Note: This parameter is for advanced users

Barometer glitch height in SITL

Barometer freeze (SIM_BAR2_FREEZE)

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

Barometer delay (SIM_BAR2_DELAY)

Note: This parameter is for advanced users

Barometer data time delay

Wind coefficient forward (SIM_BAR2_WCF_FWD)

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

Wind coefficient backward (SIM_BAR2_WCF_BAK)

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

Wind coefficient right (SIM_BAR2_WCF_RGT)

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

Wind coefficient left (SIM_BAR2_WCF_LFT)

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

Wind coefficient up (SIM_BAR2_WCF_UP)

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

Wind coefficient down (SIM_BAR2_WCF_DN)

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BAR3_ Parameters

Barometer noise (SIM_BAR3_RND)

Note: This parameter is for advanced users

Barometer noise in height

Barometer altitude drift (SIM_BAR3_DRIFT)

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Barometer disable (SIM_BAR3_DISABLE)

Note: This parameter is for advanced users

Disable barometer in SITL

Barometer glitch (SIM_BAR3_GLITCH)

Note: This parameter is for advanced users

Barometer glitch height in SITL

Barometer freeze (SIM_BAR3_FREEZE)

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

Barometer delay (SIM_BAR3_DELAY)

Note: This parameter is for advanced users

Barometer data time delay

Wind coefficient forward (SIM_BAR3_WCF_FWD)

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

Wind coefficient backward (SIM_BAR3_WCF_BAK)

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

Wind coefficient right (SIM_BAR3_WCF_RGT)

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

Wind coefficient left (SIM_BAR3_WCF_LFT)

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

Wind coefficient up (SIM_BAR3_WCF_UP)

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

Wind coefficient down (SIM_BAR3_WCF_DN)

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BARO_ Parameters

Barometer noise (SIM_BARO_RND)

Note: This parameter is for advanced users

Barometer noise in height

Barometer altitude drift (SIM_BARO_DRIFT)

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Barometer disable (SIM_BARO_DISABLE)

Note: This parameter is for advanced users

Disable barometer in SITL

Barometer glitch (SIM_BARO_GLITCH)

Note: This parameter is for advanced users

Barometer glitch height in SITL

Barometer freeze (SIM_BARO_FREEZE)

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

Barometer delay (SIM_BARO_DELAY)

Note: This parameter is for advanced users

Barometer data time delay

Wind coefficient forward (SIM_BARO_WCF_FWD)

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

Wind coefficient backward (SIM_BARO_WCF_BAK)

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

Wind coefficient right (SIM_BARO_WCF_RGT)

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

Wind coefficient left (SIM_BARO_WCF_LFT)

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

Wind coefficient up (SIM_BARO_WCF_UP)

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

Wind coefficient down (SIM_BARO_WCF_DN)

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BZ_ Parameters

Buzzer enable/disable (SIM_BZ_ENABLE)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the simulated buzzer

buzzer pin (SIM_BZ_PIN)

Note: This parameter is for advanced users

The pin number that the Buzzer is connected to (start at 1)

SIM_FTOWESC_ Parameters

FETtec OneWire ESC simulator enable/disable (SIM_FTOWESC_ENA)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the FETtecOneWireESC simulator

Power off FETtec ESC mask (SIM_FTOWESC_POW)

Note: This parameter is for advanced users

Allows you to turn power off to the simulated ESCs. Bits correspond to the ESC ID, *NOT* their servo channel.

SIM_GLD_ Parameters

balloon burst height (SIM_GLD_BLN_BRST)

balloon burst height

balloon climb rate (SIM_GLD_BLN_RATE)

balloon climb rate. If the value is less than zero then the balloon is disabled.

SIM_GPS1_ Parameters

GPS enable (SIM_GPS1_ENABLE)

Note: This parameter is for advanced users

Enable simulated GPS

GPS Lag (SIM_GPS1_LAG_MS)

Note: This parameter is for advanced users

GPS lag

GPS type (SIM_GPS1_TYPE)

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

GPS Byteloss (SIM_GPS1_BYTELOS)

Note: This parameter is for advanced users

Percent of bytes lost from GPS

GPS Num Satellites (SIM_GPS1_NUMSATS)

Number of satellites GPS has in view

GPS Glitch (SIM_GPS1_GLTCH_X)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

GPS Glitch (SIM_GPS1_GLTCH_Y)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

GPS Glitch (SIM_GPS1_GLTCH_Z)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

GPS Hz (SIM_GPS1_HZ)

GPS Update rate

GPS Altitude Drift (SIM_GPS1_DRFTALT)

Note: This parameter is for advanced users

GPS altitude drift error

GPS Position (SIM_GPS1_POS_X)

GPS antenna phase center position relative to the body frame origin (X-axis)

GPS Position (SIM_GPS1_POS_Y)

GPS antenna phase center position relative to the body frame origin (Y-axis)

GPS Position (SIM_GPS1_POS_Z)

GPS antenna phase center position relative to the body frame origin (Z-axis)

GPS Noise (SIM_GPS1_NOISE)

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

GPS Lock Time (SIM_GPS1_LCKTIME)

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

GPS Altitude Offset (SIM_GPS1_ALT_OFS)

GPS Altitude Error

GPS Heading (SIM_GPS1_HDG)

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

GPS Accuracy (SIM_GPS1_ACC)

Note: This parameter is for advanced users

GPS Accuracy

GPS Velocity Error (SIM_GPS1_VERR_X)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

GPS Velocity Error (SIM_GPS1_VERR_Y)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

GPS Velocity Error (SIM_GPS1_VERR_Z)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

GPS jamming enable (SIM_GPS1_JAM)

Note: This parameter is for advanced users

Enable simulated GPS jamming

GPS heading offset (SIM_GPS1_HDG_OFS)

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS2_ Parameters

GPS enable (SIM_GPS2_ENABLE)

Note: This parameter is for advanced users

Enable simulated GPS

GPS Lag (SIM_GPS2_LAG_MS)

Note: This parameter is for advanced users

GPS lag

GPS type (SIM_GPS2_TYPE)

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

GPS Byteloss (SIM_GPS2_BYTELOS)

Note: This parameter is for advanced users

Percent of bytes lost from GPS

GPS Num Satellites (SIM_GPS2_NUMSATS)

Number of satellites GPS has in view

GPS Glitch (SIM_GPS2_GLTCH_X)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

GPS Glitch (SIM_GPS2_GLTCH_Y)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

GPS Glitch (SIM_GPS2_GLTCH_Z)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

GPS Hz (SIM_GPS2_HZ)

GPS Update rate

GPS Altitude Drift (SIM_GPS2_DRFTALT)

Note: This parameter is for advanced users

GPS altitude drift error

GPS Position (SIM_GPS2_POS_X)

GPS antenna phase center position relative to the body frame origin (X-axis)

GPS Position (SIM_GPS2_POS_Y)

GPS antenna phase center position relative to the body frame origin (Y-axis)

GPS Position (SIM_GPS2_POS_Z)

GPS antenna phase center position relative to the body frame origin (Z-axis)

GPS Noise (SIM_GPS2_NOISE)

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

GPS Lock Time (SIM_GPS2_LCKTIME)

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

GPS Altitude Offset (SIM_GPS2_ALT_OFS)

GPS Altitude Error

GPS Heading (SIM_GPS2_HDG)

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

GPS Accuracy (SIM_GPS2_ACC)

Note: This parameter is for advanced users

GPS Accuracy

GPS Velocity Error (SIM_GPS2_VERR_X)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

GPS Velocity Error (SIM_GPS2_VERR_Y)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

GPS Velocity Error (SIM_GPS2_VERR_Z)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

GPS jamming enable (SIM_GPS2_JAM)

Note: This parameter is for advanced users

Enable simulated GPS jamming

GPS heading offset (SIM_GPS2_HDG_OFS)

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS3_ Parameters

GPS enable (SIM_GPS3_ENABLE)

Note: This parameter is for advanced users

Enable simulated GPS

GPS Lag (SIM_GPS3_LAG_MS)

Note: This parameter is for advanced users

GPS lag

GPS type (SIM_GPS3_TYPE)

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

GPS Byteloss (SIM_GPS3_BYTELOS)

Note: This parameter is for advanced users

Percent of bytes lost from GPS

GPS Num Satellites (SIM_GPS3_NUMSATS)

Number of satellites GPS has in view

GPS Glitch (SIM_GPS3_GLTCH_X)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

GPS Glitch (SIM_GPS3_GLTCH_Y)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

GPS Glitch (SIM_GPS3_GLTCH_Z)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

GPS Hz (SIM_GPS3_HZ)

GPS Update rate

GPS Altitude Drift (SIM_GPS3_DRFTALT)

Note: This parameter is for advanced users

GPS altitude drift error

GPS Position (SIM_GPS3_POS_X)

GPS antenna phase center position relative to the body frame origin (X-axis)

GPS Position (SIM_GPS3_POS_Y)

GPS antenna phase center position relative to the body frame origin (Y-axis)

GPS Position (SIM_GPS3_POS_Z)

GPS antenna phase center position relative to the body frame origin (Z-axis)

GPS Noise (SIM_GPS3_NOISE)

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

GPS Lock Time (SIM_GPS3_LCKTIME)

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

GPS Altitude Offset (SIM_GPS3_ALT_OFS)

GPS Altitude Error

GPS Heading (SIM_GPS3_HDG)

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

GPS Accuracy (SIM_GPS3_ACC)

Note: This parameter is for advanced users

GPS Accuracy

GPS Velocity Error (SIM_GPS3_VERR_X)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

GPS Velocity Error (SIM_GPS3_VERR_Y)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

GPS Velocity Error (SIM_GPS3_VERR_Z)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

GPS jamming enable (SIM_GPS3_JAM)

Note: This parameter is for advanced users

Enable simulated GPS jamming

GPS heading offset (SIM_GPS3_HDG_OFS)

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS4_ Parameters

GPS enable (SIM_GPS4_ENABLE)

Note: This parameter is for advanced users

Enable simulated GPS

GPS Lag (SIM_GPS4_LAG_MS)

Note: This parameter is for advanced users

GPS lag

GPS type (SIM_GPS4_TYPE)

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

GPS Byteloss (SIM_GPS4_BYTELOS)

Note: This parameter is for advanced users

Percent of bytes lost from GPS

GPS Num Satellites (SIM_GPS4_NUMSATS)

Number of satellites GPS has in view

GPS Glitch (SIM_GPS4_GLTCH_X)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

GPS Glitch (SIM_GPS4_GLTCH_Y)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

GPS Glitch (SIM_GPS4_GLTCH_Z)

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

GPS Hz (SIM_GPS4_HZ)

GPS Update rate

GPS Altitude Drift (SIM_GPS4_DRFTALT)

Note: This parameter is for advanced users

GPS altitude drift error

GPS Position (SIM_GPS4_POS_X)

GPS antenna phase center position relative to the body frame origin (X-axis)

GPS Position (SIM_GPS4_POS_Y)

GPS antenna phase center position relative to the body frame origin (Y-axis)

GPS Position (SIM_GPS4_POS_Z)

GPS antenna phase center position relative to the body frame origin (Z-axis)

GPS Noise (SIM_GPS4_NOISE)

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

GPS Lock Time (SIM_GPS4_LCKTIME)

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

GPS Altitude Offset (SIM_GPS4_ALT_OFS)

GPS Altitude Error

GPS Heading (SIM_GPS4_HDG)

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

GPS Accuracy (SIM_GPS4_ACC)

Note: This parameter is for advanced users

GPS Accuracy

GPS Velocity Error (SIM_GPS4_VERR_X)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

GPS Velocity Error (SIM_GPS4_VERR_Y)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

GPS Velocity Error (SIM_GPS4_VERR_Z)

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

GPS jamming enable (SIM_GPS4_JAM)

Note: This parameter is for advanced users

Enable simulated GPS jamming

GPS heading offset (SIM_GPS4_HDG_OFS)

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GRPE_ Parameters

Gripper servo Sim enable/disable (SIM_GRPE_ENABLE)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Gripper emp pin (SIM_GRPE_PIN)

Note: This parameter is for advanced users

The pin number that the gripper emp is connected to. (start at 1)

SIM_GRPS_ Parameters

Gripper servo Sim enable/disable (SIM_GRPS_ENABLE)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Gripper servo pin (SIM_GRPS_PIN)

Note: This parameter is for advanced users

The pin number that the gripper servo is connected to. (start at 1)

Gripper Grab PWM (SIM_GRPS_GRAB)

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

Gripper Release PWM (SIM_GRPS_RELEASE)

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Gripper close direction (SIM_GRPS_REVERSE)

Note: This parameter is for advanced users

Reverse the closing direction.

SIM_IE24_ Parameters

IntelligentEnergy 2.4kWh FuelCell sim enable/disable (SIM_IE24_ENABLE)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the FuelCell simulator

Explicitly set state (SIM_IE24_STATE)

Note: This parameter is for advanced users

Explicitly specify a state for the generator to be in

Explicitly set error code (SIM_IE24_ERROR)

Note: This parameter is for advanced users

Explicitly specify an error code to send to the generator

SIM_PARA_ Parameters

Parachute Sim enable/disable (SIM_PARA_ENABLE)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Parachute simulation

Parachute pin (SIM_PARA_PIN)

Note: This parameter is for advanced users

The pin number that the Parachute pyrotechnics are connected to. (start at 1)

SIM_PLD_ Parameters

Preland device Sim enable/disable (SIM_PLD_ENABLE)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Preland simulation

Precland device center's latitude (SIM_PLD_LAT)

Note: This parameter is for advanced users

Precland device center's latitude

Precland device center's longitude (SIM_PLD_LON)

Note: This parameter is for advanced users

Precland device center's longitude

Precland device center's height SITL origin (SIM_PLD_HEIGHT)

Note: This parameter is for advanced users

Precland device center's height above SITL origin. Assumes a 2x2m square as station base

Precland device systems rotation from north (SIM_PLD_YAW)

Note: This parameter is for advanced users

Precland device systems rotation from north

Precland device update rate (SIM_PLD_RATE)

Note: This parameter is for advanced users

Precland device rate. e.g led patter refresh rate, RF message rate, etc.

Precland device radiance type (SIM_PLD_TYPE)

Note: This parameter is for advanced users

Precland device radiance type: it can be a cylinder, a cone, or a sphere.

Precland device alt range (SIM_PLD_ALT_LMT)

Note: This parameter is for advanced users

Precland device maximum range altitude

Precland device lateral range (SIM_PLD_DIST_LMT)

Note: This parameter is for advanced users

Precland device maximum lateral range

Precland device orientation (SIM_PLD_ORIENT)

Note: This parameter is for advanced users

Precland device orientation vector

SIM_Precland extra options (SIM_PLD_OPTIONS)

Note: This parameter is for advanced users

SIM_Precland extra options

SIM_Precland follow ship (SIM_PLD_SHIP)

Note: This parameter is for advanced users

This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters

SIM_RFL_ Parameters

FlightAxis options (SIM_RFL_OPTS)

Note: This parameter is for advanced users

Bitmask of FlightAxis options

SIM_RICH_ Parameters

RichenPower Generator sim enable/disable (SIM_RICH_ENABLE)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the RichenPower simulator

Pin RichenPower is connectred to (SIM_RICH_CTRL)

Note: This parameter is for advanced users

The pin number that the RichenPower spinner servo is connected to. (start at 1)

SIM_SB_ Parameters

mass (SIM_SB_MASS)

mass of blimp not including lifting gas

helium mass (SIM_SB_HMASS)

mass of lifting gas

arm length (SIM_SB_ARM_LEN)

distance from center of mass to one motor

motor thrust (SIM_SB_MOT_THST)

thrust at max throttle for one motor

drag in forward direction (SIM_SB_DRAG_FWD)

drag on X axis

drag in sidewards direction (SIM_SB_DRAG_SIDE)

drag on Y axis

drag in upward direction (SIM_SB_DRAG_UP)

drag on Z axis

moment of inertia in yaw (SIM_SB_MOI_YAW)

moment of inertia in yaw

moment of inertia in roll (SIM_SB_MOI_ROLL)

moment of inertia in roll

moment of inertia in pitch (SIM_SB_MOI_PITCH)

moment of inertia in pitch

altitude target (SIM_SB_ALT_TARG)

altitude target

target climb rate (SIM_SB_CLMB_RT)

target climb rate

yaw rate (SIM_SB_YAW_RT)

maximum yaw rate with full left throttle at target altitude

motor angle (SIM_SB_MOT_ANG)

maximum motor tilt angle

center of lift (SIM_SB_COL)

center of lift position above CoG

weathervaning offset (SIM_SB_WVANE)

center of drag for weathervaning

free lift rate (SIM_SB_FLR)

amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift

SIM_SERVO_ Parameters

servo speed (SIM_SERVO_SPEED)

servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit

servo delay (SIM_SERVO_DELAY)

servo delay

servo filter (SIM_SERVO_FILTER)

servo filter

SIM_SHIP_ Parameters

Ship landing Enable (SIM_SHIP_ENABLE)

Enable ship landing simulation

Ship Speed (SIM_SHIP_SPEED)

Speed of the ship

Path Size (SIM_SHIP_PSIZE)

Diameter of the circle the ship is traveling on

System ID (SIM_SHIP_SYSID)

System ID of the ship

Deck Size (SIM_SHIP_DSIZE)

Size of the ship's deck

Ship landing pad offset (SIM_SHIP_OFS_X)

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)

Ship landing pad offset (SIM_SHIP_OFS_Y)

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)

Ship landing pad offset (SIM_SHIP_OFS_Z)

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)

SIM_SLUP_ Parameters

Slung Payload Sim enable/disable (SIM_SLUP_ENABLE)

Note: This parameter is for advanced users

Slung Payload Sim enable/disable

Slung Payload weight (SIM_SLUP_WEIGHT)

Note: This parameter is for advanced users

Slung Payload weight in kg

Slung Payload line length (SIM_SLUP_LINELEN)

Note: This parameter is for advanced users

Slung Payload line length in meters

Slung Payload drag coefficient (SIM_SLUP_DRAG)

Note: This parameter is for advanced users

Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly

Slung Payload MAVLink system ID (SIM_SLUP_SYSID)

Note: This parameter is for advanced users

Slung Payload MAVLink system id to distinguish it from others on the same network

SIM_SPR_ Parameters

Sprayer Sim enable/disable (SIM_SPR_ENABLE)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Sprayer simulation

Sprayer pump pin (SIM_SPR_PUMP)

Note: This parameter is for advanced users

The pin number that the Sprayer pump is connected to. (start at 1)

Sprayer spinner servo pin (SIM_SPR_SPIN)

Note: This parameter is for advanced users

The pin number that the Sprayer spinner servo is connected to. (start at 1)

SIM_TA_ Parameters

ToneAlarm enable/disable (SIM_TA_ENABLE)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the simulated tonealarm

SIM_TETH_ Parameters

Tether Simulation Enable/Disable (SIM_TETH_ENABLE)

Note: This parameter is for advanced users

Enable or disable the tether simulation

Tether Wire Density (SIM_TETH_DENSITY)

Note: This parameter is for advanced users

Linear mass density of the tether wire

Tether Maximum Line Length (SIM_TETH_LINELEN)

Note: This parameter is for advanced users

Maximum length of the tether line in meters

Tether Simulation MAVLink System ID (SIM_TETH_SYSID)

Note: This parameter is for advanced users

MAVLink system ID for the tether simulation, used to distinguish it from other systems on the network

Tether Stuck Enable/Disable (SIM_TETH_STUCK)

Note: This parameter is for advanced users

Enable or disable a stuck tether simulation

Tether Spring Constant (SIM_TETH_SPGCNST)

Note: This parameter is for advanced users

Spring constant for the tether to simulate elastic forces when stretched beyond its maximum length

Tether Damping Constant (SIM_TETH_DMPCNST)

Note: This parameter is for advanced users

Damping constant for the tether to simulate resistance based on change in stretch

SIM_VICON_ Parameters

SITL vicon position on vehicle in Forward direction (SIM_VICON_POS_X)

Note: This parameter is for advanced users

SITL vicon position on vehicle in Forward direction

SITL vicon position on vehicle in Right direction (SIM_VICON_POS_Y)

Note: This parameter is for advanced users

SITL vicon position on vehicle in Right direction

SITL vicon position on vehicle in Down direction (SIM_VICON_POS_Z)

Note: This parameter is for advanced users

SITL vicon position on vehicle in Down direction

SITL vicon position glitch North (SIM_VICON_GLIT_X)

Note: This parameter is for advanced users

SITL vicon position glitch North

SITL vicon position glitch East (SIM_VICON_GLIT_Y)

Note: This parameter is for advanced users

SITL vicon position glitch East

SITL vicon position glitch Down (SIM_VICON_GLIT_Z)

Note: This parameter is for advanced users

SITL vicon position glitch Down

SITL vicon failure (SIM_VICON_FAIL)

Note: This parameter is for advanced users

SITL vicon failure

SITL vicon yaw angle in earth frame (SIM_VICON_YAW)

Note: This parameter is for advanced users

SITL vicon yaw angle in earth frame

SITL vicon yaw error (SIM_VICON_YAWERR)

Note: This parameter is for advanced users

SITL vicon yaw added to reported yaw sent to vehicle

SITL vicon type mask (SIM_VICON_TMASK)

Note: This parameter is for advanced users

SITL vicon messages sent

SITL vicon velocity glitch North (SIM_VICON_VGLI_X)

Note: This parameter is for advanced users

SITL vicon velocity glitch North

SITL vicon velocity glitch East (SIM_VICON_VGLI_Y)

Note: This parameter is for advanced users

SITL vicon velocity glitch East

SITL vicon velocity glitch Down (SIM_VICON_VGLI_Z)

Note: This parameter is for advanced users

SITL vicon velocity glitch Down

SITL vicon position standard deviation for gaussian noise (SIM_VICON_P_SD)

Note: This parameter is for advanced users

SITL vicon position standard deviation for gaussian noise

SITL vicon velocity standard deviation for gaussian noise (SIM_VICON_V_SD)

Note: This parameter is for advanced users

SITL vicon velocity standard deviation for gaussian noise

SITL vicon rate (SIM_VICON_RATE)

Note: This parameter is for advanced users

SITL vicon rate

SIM_VOLZ_ Parameters

Volz simulator enable/disable (SIM_VOLZ_ENA)

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Volz simulator

Volz override mask (SIM_VOLZ_MASK)

Note: This parameter is for advanced users

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).

Volz fail mask (SIM_VOLZ_FMASK)

Note: This parameter is for advanced users

fail servo at current position. Channel 1 is bit 0.

SOAR_ Parameters

Is the soaring mode enabled or not (SOAR_ENABLE)

Note: This parameter is for advanced users

Toggles the soaring mode on and off

Vertical v-speed (SOAR_VSPEED)

Note: This parameter is for advanced users

Rate of climb to trigger themalling speed

Process noise (SOAR_Q1)

Note: This parameter is for advanced users

Standard deviation of noise in process for strength

Process noise (SOAR_Q2)

Note: This parameter is for advanced users

Standard deviation of noise in process for position and radius

Measurement noise (SOAR_R)

Note: This parameter is for advanced users

Standard deviation of noise in measurement

Distance to thermal center (SOAR_DIST_AHEAD)

Note: This parameter is for advanced users

Initial guess of the distance to the thermal center

Minimum thermalling time (SOAR_MIN_THML_S)

Note: This parameter is for advanced users

Minimum number of seconds to spend thermalling

Minimum cruising time (SOAR_MIN_CRSE_S)

Note: This parameter is for advanced users

Minimum number of seconds to spend cruising

Zero lift drag coef. (SOAR_POLAR_CD0)

Note: This parameter is for advanced users

Zero lift drag coefficient

Induced drag coeffient (SOAR_POLAR_B)

Note: This parameter is for advanced users

Induced drag coeffient

Cl factor (SOAR_POLAR_K)

Note: This parameter is for advanced users

Cl factor 2*m*g/(rho*S)

Maximum soaring altitude, relative to the home location (SOAR_ALT_MAX)

Note: This parameter is for advanced users

Don't thermal any higher than this.

Minimum soaring altitude, relative to the home location (SOAR_ALT_MIN)

Note: This parameter is for advanced users

Don't get any lower than this.

Maximum power altitude, relative to the home location (SOAR_ALT_CUTOFF)

Note: This parameter is for advanced users

Cut off throttle at this alt.

(Optional) Maximum drift distance to allow when thermalling. (SOAR_MAX_DRIFT)

Note: This parameter is for advanced users

The previous mode will be restored if the horizontal distance to the thermalling start location exceeds this value. -1 to disable.

(Optional) Maximum distance from home (SOAR_MAX_RADIUS)

Note: This parameter is for advanced users

RTL will be entered when a thermal is exited and the plane is more than this distance from home. -1 to disable.

Thermalling bank angle (SOAR_THML_BANK)

Note: This parameter is for advanced users

This parameter sets the bank angle to use when thermalling. Typically 30 - 45 degrees works well.

Specific setting for airspeed when soaring in THERMAL mode. (SOAR_THML_ARSPD)

Note: This parameter is for advanced users

If non-zero this airspeed will be used when thermalling. A value of 0 will use AIRSPEED_CRUISE.

Specific setting for airspeed when soaring in AUTO mode. (SOAR_CRSE_ARSPD)

Note: This parameter is for advanced users

If non-zero this airspeed will be used when cruising between thermals in AUTO. If set to -1, airspeed will be selected based on speed-to-fly theory. If set to 0, then AIRSPEED_CRUISE will be used while cruising between thermals.

Flap percent to be used during thermalling flight. (SOAR_THML_FLAP)

Note: This parameter is for advanced users

This sets the flap when in LOITER with soaring active. Overrides the usual auto flap behaviour.

STAT Parameters

Boot Count (STAT_BOOTCNT)

Number of times board has been booted

Total FlightTime (STAT_FLTTIME)

Total FlightTime (seconds)

Total RunTime (STAT_RUNTIME)

Total time autopilot has run

Statistics Reset Time (STAT_RESET)

Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)

Total Flight Count (STAT_FLTCNT)

Total number of flights

STEER2SRV_ Parameters

Steering Time Constant (STEER2SRV_TCONST)

Note: This parameter is for advanced users

This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve.

Steering turning gain (STEER2SRV_P)

The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle

Integrator Gain (STEER2SRV_I)

This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle.

Damping Gain (STEER2SRV_D)

This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle.

Integrator limit (STEER2SRV_IMAX)

Note: This parameter is for advanced users

This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim.

Minimum speed (STEER2SRV_MINSPD)

This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed.

Steering feed forward (STEER2SRV_FF)

The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed.

Derating speed (STEER2SRV_DRTSPD)

Note: This parameter is for advanced users

Speed after that the maximum degree of steering will start to derate. Set this speed to a maximum speed that a plane can do controlled turn at maximum angle of steering wheel without rolling to wing. If 0 then no derating is used.

Derating factor (STEER2SRV_DRTFCT)

Note: This parameter is for advanced users

Degrees of steering wheel to derate at each additional m/s of speed above "Derating speed". Should be set so that at higher speeds the plane does not roll to the wing in turns.

Minimum angle of wheel (STEER2SRV_DRTMIN)

Note: This parameter is for advanced users

The angle that limits smallest angle of steering wheel at maximum speed. Even if it should derate below, it will stop derating at this angle.

TECS_ Parameters

Maximum Climb Rate (metres/sec) (TECS_CLMB_MAX)

Maximum demanded climb rate. Do not set higher than the climb speed at THR_MAX at AIRSPEED_CRUISE when the battery is at low voltage. Reduce value if airspeed cannot be maintained on ascent. Increase value if throttle does not increase significantly to ascend.

Minimum Sink Rate (metres/sec) (TECS_SINK_MIN)

Minimum sink rate when at THR_MIN and AIRSPEED_CRUISE.

Controller time constant (sec) (TECS_TIME_CONST)

Note: This parameter is for advanced users

Time constant of the TECS control algorithm. Small values make faster altitude corrections but can cause overshoot and aggressive behavior.

Controller throttle damping (TECS_THR_DAMP)

Note: This parameter is for advanced users

Damping gain for throttle demand loop. Increase to add throttle activity to dampen oscillations in speed and height.

Controller integrator (TECS_INTEG_GAIN)

Note: This parameter is for advanced users

Integrator gain to trim out long-term speed and height errors.

Vertical Acceleration Limit (metres/sec^2) (TECS_VERT_ACC)

Note: This parameter is for advanced users

Maximum vertical acceleration used to correct speed or height errors.

Height complementary filter frequency (radians/sec) (TECS_HGT_OMEGA)

Note: This parameter is for advanced users

This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height.

Speed complementary filter frequency (radians/sec) (TECS_SPD_OMEGA)

Note: This parameter is for advanced users

This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed.

Bank angle compensation gain (TECS_RLL2THR)

Note: This parameter is for advanced users

Gain from bank angle to throttle to compensate for loss of airspeed from drag in turns. Set to approximately 10x the sink rate in m/s caused by a 45-degree turn. High efficiency models may need less while less efficient aircraft may need more. Should be tuned in an automatic mission with waypoints and turns greater than 90 degrees. Tune with PTCH2SRV_RLL and KFF_RDDRMIX to achieve constant airspeed, constant altitude turns.

Weighting applied to speed control (TECS_SPDWEIGHT)

Note: This parameter is for advanced users

Mixing of pitch and throttle correction for height and airspeed errors. Pitch controls altitude and throttle controls airspeed if set to 0. Pitch controls airspeed and throttle controls altitude if set to 2 (good for gliders). Blended if set to 1.

Controller pitch damping (TECS_PTCH_DAMP)

Note: This parameter is for advanced users

Damping gain for pitch control from TECS control. Increasing may correct for oscillations in speed and height, but too much may cause additional oscillation and degraded control.

Maximum Descent Rate (metres/sec) (TECS_SINK_MAX)

Maximum demanded descent rate. Do not set higher than the vertical speed the aircraft can maintain at THR_MIN, TECS_PITCH_MIN, and AIRSPEED_MAX.

Airspeed during landing approach (m/s) (TECS_LAND_ARSPD)

When performing an autonomous landing, this value is used as the goal airspeed during approach. Max airspeed allowed is Trim Airspeed or AIRSPEED_MAX as defined by LAND_OPTIONS bitmask. Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead). If negative then this value is halfway between AIRSPEED_MIN and AIRSPEED_CRUISE speed for fixed wing autolandings.

Cruise throttle during landing approach (percentage) (TECS_LAND_THR)

Use this parameter instead of LAND_ARSPD if your platform does not have an airspeed sensor. It is the cruise throttle during landing approach. If this value is negative then it is disabled and TECS_LAND_ARSPD is used instead.

Weighting applied to speed control during landing. (TECS_LAND_SPDWGT)

Note: This parameter is for advanced users

Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages. A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point). A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall. Values between 0 and 2 are valid values for a fixed landing weight. When using -1 the weight will be scaled during the landing. At the start of the landing approach it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the land point. Example: Halfway down the landing approach you'll effectively have a weight of TECS_SPDWEIGHT/2.

Maximum pitch in auto flight (TECS_PITCH_MAX)

Note: This parameter is for advanced users

Overrides PTCH_LIM_MAX_DEG in automatic throttle modes to reduce climb rates. Uses PTCH_LIM_MAX_DEG if set to 0. For proper TECS tuning, set to the angle that the aircraft can climb at AIRSPEED_CRUISE and THR_MAX.

Minimum pitch in auto flight (TECS_PITCH_MIN)

Note: This parameter is for advanced users

Overrides PTCH_LIM_MIN_DEG in automatic throttle modes to reduce descent rates. Uses PTCH_LIM_MIN_DEG if set to 0. For proper TECS tuning, set to the angle that the aircraft can descend at without overspeeding.

Sink rate for final landing stage (TECS_LAND_SINK)

Note: This parameter is for advanced users

The sink rate in meters/second for the final stage of landing.

Land controller time constant (sec) (TECS_LAND_TCONST)

Note: This parameter is for advanced users

This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare

Controller sink rate to pitch gain during flare (TECS_LAND_DAMP)

Note: This parameter is for advanced users

This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare.

Maximum pitch during final stage of landing (TECS_LAND_PMAX)

Note: This parameter is for advanced users

This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits.

Sink rate max for landing approach stage (TECS_APPR_SMAX)

Note: This parameter is for advanced users

The sink rate max for the landing approach stage of landing. This will need to be large for steep landing approaches especially when using reverse thrust. If 0, then use TECS_SINK_MAX.

Land sink rate change (TECS_LAND_SRC)

Note: This parameter is for advanced users

When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sink rate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.

Controller throttle damping when landing (TECS_LAND_TDAMP)

Note: This parameter is for advanced users

Damping gain for the throttle demand loop during an auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add throttle activity to dampen oscillations in speed and height. When set to 0 landing throttle damping is controlled by TECS_THR_DAMP.

Controller integrator during landing (TECS_LAND_IGAIN)

Note: This parameter is for advanced users

This is the integrator gain on the control loop during landing. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work best

Controller integrator during takeoff (TECS_TKOFF_IGAIN)

Note: This parameter is for advanced users

This is the integrator gain on the control loop during takeoff. Increase to increase the rate at which speed and height offsets are trimmed out.

Pitch damping gain when landing (TECS_LAND_PDAMP)

Note: This parameter is for advanced users

This is the damping gain for the pitch demand loop during landing. Increase to add damping to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead.

Enable the use of synthetic airspeed (TECS_SYNAIRSPEED)

Note: This parameter is for advanced users

This enables the use of synthetic airspeed in TECS for aircraft that don't have a real airspeed sensor. This is useful for development testing where the user is aware of the considerable limitations of the synthetic airspeed system, such as very poor estimates when a wind estimate is not accurate. Do not enable this option unless you fully understand the limitations of a synthetic airspeed estimate. This option has no effect if a healthy airspeed sensor is being used for airspeed measurements.

Extra TECS options (TECS_OPTIONS)

Note: This parameter is for advanced users

This allows the enabling of special features in the speed/height controller.

Baseline airspeed for pitch feed-forward. (TECS_PTCH_FF_V0)

Note: This parameter is for advanced users

This parameter sets the airspeed at which no feed-forward is applied between demanded airspeed and pitch. It should correspond to the airspeed in metres per second at which the plane glides at neutral pitch including STAB_PITCH_DOWN.

Gain for pitch feed-forward. (TECS_PTCH_FF_K)

Note: This parameter is for advanced users

This parameter sets the gain between demanded airspeed and pitch. It has units of radians per metre per second and should generally be negative. A good starting value is -0.04 for gliders and -0.08 for draggy airframes. The default (0.0) disables this feed-forward.

Forward throttle external limit slew rate (TECS_THR_ERATE)

Note: This parameter is for advanced users

The externally set forward throttle lower limit applied within TECS will be reduced by this many percentage points per second after being set. Set to a non positive value to hold the lower limit for one frame only.

Flare holdoff height (TECS_FLARE_HGT)

Note: This parameter is for advanced users

When height above ground is below this, the sink rate will be held at TECS_LAND_SINK. Use this to perform a hold-off manoeuvre when combined with small values for TECS_LAND_SINK.

Height Demand Time Constant (TECS_HDEM_TCONST)

Note: This parameter is for advanced users

This sets the time constant of the low pass filter that is applied to the height demand input when bit 0 of TECS_OPTIONS is not selected.

TEMP Parameters

Logging (TEMP_LOG)

Enables temperature sensor logging

TEMP1_ Parameters

Temperature Sensor Type (TEMP1_TYPE)

Enables temperature sensors

Temperature sensor bus (TEMP1_BUS)

Note: This parameter is for advanced users

Temperature sensor bus number, typically used to select from multiple I2C buses

Temperature sensor address (TEMP1_ADDR)

Note: This parameter is for advanced users

Temperature sensor address, typically used for I2C address

Sensor Source (TEMP1_SRC)

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.

Sensor Source Identification (TEMP1_SRC_ID)

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.

Temperature sensor analog voltage sensing pin (TEMP1_PIN)

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".

Temperature sensor analog 0th polynomial coefficient (TEMP1_A0)

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 1st polynomial coefficient (TEMP1_A1)

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 2nd polynomial coefficient (TEMP1_A2)

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 3rd polynomial coefficient (TEMP1_A3)

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 4th polynomial coefficient (TEMP1_A4)

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 5th polynomial coefficient (TEMP1_A5)

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor DroneCAN message ID (TEMP1_MSG_ID)

Sets the message device ID this backend listens for

Nominal RTD resistance (TEMP1_RTD_NOM)

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

RTD reference resistance (TEMP1_RTD_REF)

Reference resistance used to calculate temperature, in ohms

TEMP2_ Parameters

Temperature Sensor Type (TEMP2_TYPE)

Enables temperature sensors

Temperature sensor bus (TEMP2_BUS)

Note: This parameter is for advanced users

Temperature sensor bus number, typically used to select from multiple I2C buses

Temperature sensor address (TEMP2_ADDR)

Note: This parameter is for advanced users

Temperature sensor address, typically used for I2C address

Sensor Source (TEMP2_SRC)

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.

Sensor Source Identification (TEMP2_SRC_ID)

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.

Temperature sensor analog voltage sensing pin (TEMP2_PIN)

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".

Temperature sensor analog 0th polynomial coefficient (TEMP2_A0)

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 1st polynomial coefficient (TEMP2_A1)

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 2nd polynomial coefficient (TEMP2_A2)

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 3rd polynomial coefficient (TEMP2_A3)

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 4th polynomial coefficient (TEMP2_A4)

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 5th polynomial coefficient (TEMP2_A5)

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor DroneCAN message ID (TEMP2_MSG_ID)

Sets the message device ID this backend listens for

Nominal RTD resistance (TEMP2_RTD_NOM)

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

RTD reference resistance (TEMP2_RTD_REF)

Reference resistance used to calculate temperature, in ohms

TEMP3_ Parameters

Temperature Sensor Type (TEMP3_TYPE)

Enables temperature sensors

Temperature sensor bus (TEMP3_BUS)

Note: This parameter is for advanced users

Temperature sensor bus number, typically used to select from multiple I2C buses

Temperature sensor address (TEMP3_ADDR)

Note: This parameter is for advanced users

Temperature sensor address, typically used for I2C address

Sensor Source (TEMP3_SRC)

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.

Sensor Source Identification (TEMP3_SRC_ID)

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.

Temperature sensor analog voltage sensing pin (TEMP3_PIN)

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".

Temperature sensor analog 0th polynomial coefficient (TEMP3_A0)

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 1st polynomial coefficient (TEMP3_A1)

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 2nd polynomial coefficient (TEMP3_A2)

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 3rd polynomial coefficient (TEMP3_A3)

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 4th polynomial coefficient (TEMP3_A4)

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 5th polynomial coefficient (TEMP3_A5)

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor DroneCAN message ID (TEMP3_MSG_ID)

Sets the message device ID this backend listens for

Nominal RTD resistance (TEMP3_RTD_NOM)

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

RTD reference resistance (TEMP3_RTD_REF)

Reference resistance used to calculate temperature, in ohms

TEMP4_ Parameters

Temperature Sensor Type (TEMP4_TYPE)

Enables temperature sensors

Temperature sensor bus (TEMP4_BUS)

Note: This parameter is for advanced users

Temperature sensor bus number, typically used to select from multiple I2C buses

Temperature sensor address (TEMP4_ADDR)

Note: This parameter is for advanced users

Temperature sensor address, typically used for I2C address

Sensor Source (TEMP4_SRC)

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.

Sensor Source Identification (TEMP4_SRC_ID)

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.

Temperature sensor analog voltage sensing pin (TEMP4_PIN)

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".

Temperature sensor analog 0th polynomial coefficient (TEMP4_A0)

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 1st polynomial coefficient (TEMP4_A1)

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 2nd polynomial coefficient (TEMP4_A2)

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 3rd polynomial coefficient (TEMP4_A3)

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 4th polynomial coefficient (TEMP4_A4)

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 5th polynomial coefficient (TEMP4_A5)

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor DroneCAN message ID (TEMP4_MSG_ID)

Sets the message device ID this backend listens for

Nominal RTD resistance (TEMP4_RTD_NOM)

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

RTD reference resistance (TEMP4_RTD_REF)

Reference resistance used to calculate temperature, in ohms

TEMP5_ Parameters

Temperature Sensor Type (TEMP5_TYPE)

Enables temperature sensors

Temperature sensor bus (TEMP5_BUS)

Note: This parameter is for advanced users

Temperature sensor bus number, typically used to select from multiple I2C buses

Temperature sensor address (TEMP5_ADDR)

Note: This parameter is for advanced users

Temperature sensor address, typically used for I2C address

Sensor Source (TEMP5_SRC)

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.

Sensor Source Identification (TEMP5_SRC_ID)

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.

Temperature sensor analog voltage sensing pin (TEMP5_PIN)

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".

Temperature sensor analog 0th polynomial coefficient (TEMP5_A0)

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 1st polynomial coefficient (TEMP5_A1)

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 2nd polynomial coefficient (TEMP5_A2)

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 3rd polynomial coefficient (TEMP5_A3)

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 4th polynomial coefficient (TEMP5_A4)

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 5th polynomial coefficient (TEMP5_A5)

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor DroneCAN message ID (TEMP5_MSG_ID)

Sets the message device ID this backend listens for

Nominal RTD resistance (TEMP5_RTD_NOM)

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

RTD reference resistance (TEMP5_RTD_REF)

Reference resistance used to calculate temperature, in ohms

TEMP6_ Parameters

Temperature Sensor Type (TEMP6_TYPE)

Enables temperature sensors

Temperature sensor bus (TEMP6_BUS)

Note: This parameter is for advanced users

Temperature sensor bus number, typically used to select from multiple I2C buses

Temperature sensor address (TEMP6_ADDR)

Note: This parameter is for advanced users

Temperature sensor address, typically used for I2C address

Sensor Source (TEMP6_SRC)

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.

Sensor Source Identification (TEMP6_SRC_ID)

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.

Temperature sensor analog voltage sensing pin (TEMP6_PIN)

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".

Temperature sensor analog 0th polynomial coefficient (TEMP6_A0)

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 1st polynomial coefficient (TEMP6_A1)

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 2nd polynomial coefficient (TEMP6_A2)

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 3rd polynomial coefficient (TEMP6_A3)

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 4th polynomial coefficient (TEMP6_A4)

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 5th polynomial coefficient (TEMP6_A5)

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor DroneCAN message ID (TEMP6_MSG_ID)

Sets the message device ID this backend listens for

Nominal RTD resistance (TEMP6_RTD_NOM)

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

RTD reference resistance (TEMP6_RTD_REF)

Reference resistance used to calculate temperature, in ohms

TEMP7_ Parameters

Temperature Sensor Type (TEMP7_TYPE)

Enables temperature sensors

Temperature sensor bus (TEMP7_BUS)

Note: This parameter is for advanced users

Temperature sensor bus number, typically used to select from multiple I2C buses

Temperature sensor address (TEMP7_ADDR)

Note: This parameter is for advanced users

Temperature sensor address, typically used for I2C address

Sensor Source (TEMP7_SRC)

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.

Sensor Source Identification (TEMP7_SRC_ID)

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.

Temperature sensor analog voltage sensing pin (TEMP7_PIN)

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".

Temperature sensor analog 0th polynomial coefficient (TEMP7_A0)

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 1st polynomial coefficient (TEMP7_A1)

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 2nd polynomial coefficient (TEMP7_A2)

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 3rd polynomial coefficient (TEMP7_A3)

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 4th polynomial coefficient (TEMP7_A4)

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 5th polynomial coefficient (TEMP7_A5)

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor DroneCAN message ID (TEMP7_MSG_ID)

Sets the message device ID this backend listens for

Nominal RTD resistance (TEMP7_RTD_NOM)

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

RTD reference resistance (TEMP7_RTD_REF)

Reference resistance used to calculate temperature, in ohms

TEMP8_ Parameters

Temperature Sensor Type (TEMP8_TYPE)

Enables temperature sensors

Temperature sensor bus (TEMP8_BUS)

Note: This parameter is for advanced users

Temperature sensor bus number, typically used to select from multiple I2C buses

Temperature sensor address (TEMP8_ADDR)

Note: This parameter is for advanced users

Temperature sensor address, typically used for I2C address

Sensor Source (TEMP8_SRC)

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.

Sensor Source Identification (TEMP8_SRC_ID)

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.

Temperature sensor analog voltage sensing pin (TEMP8_PIN)

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".

Temperature sensor analog 0th polynomial coefficient (TEMP8_A0)

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 1st polynomial coefficient (TEMP8_A1)

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 2nd polynomial coefficient (TEMP8_A2)

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 3rd polynomial coefficient (TEMP8_A3)

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 4th polynomial coefficient (TEMP8_A4)

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 5th polynomial coefficient (TEMP8_A5)

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor DroneCAN message ID (TEMP8_MSG_ID)

Sets the message device ID this backend listens for

Nominal RTD resistance (TEMP8_RTD_NOM)

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

RTD reference resistance (TEMP8_RTD_REF)

Reference resistance used to calculate temperature, in ohms

TEMP9_ Parameters

Temperature Sensor Type (TEMP9_TYPE)

Enables temperature sensors

Temperature sensor bus (TEMP9_BUS)

Note: This parameter is for advanced users

Temperature sensor bus number, typically used to select from multiple I2C buses

Temperature sensor address (TEMP9_ADDR)

Note: This parameter is for advanced users

Temperature sensor address, typically used for I2C address

Sensor Source (TEMP9_SRC)

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.

Sensor Source Identification (TEMP9_SRC_ID)

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.

Temperature sensor analog voltage sensing pin (TEMP9_PIN)

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".

Temperature sensor analog 0th polynomial coefficient (TEMP9_A0)

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 1st polynomial coefficient (TEMP9_A1)

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 2nd polynomial coefficient (TEMP9_A2)

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 3rd polynomial coefficient (TEMP9_A3)

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 4th polynomial coefficient (TEMP9_A4)

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor analog 5th polynomial coefficient (TEMP9_A5)

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

Temperature sensor DroneCAN message ID (TEMP9_MSG_ID)

Sets the message device ID this backend listens for

Nominal RTD resistance (TEMP9_RTD_NOM)

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

RTD reference resistance (TEMP9_RTD_REF)

Reference resistance used to calculate temperature, in ohms

TERRAIN_ Parameters

Terrain data enable (TERRAIN_ENABLE)

Note: This parameter is for advanced users

enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.

Terrain grid spacing (TERRAIN_SPACING)

Note: This parameter is for advanced users

Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed.

Terrain options (TERRAIN_OPTIONS)

Note: This parameter is for advanced users

Options to change behaviour of terrain system

Acceptance margin (TERRAIN_MARGIN)

Note: This parameter is for advanced users

Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used

Terrain reference offset maximum (TERRAIN_OFS_MAX)

Note: This parameter is for advanced users

The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed. When the vehicle is armed the location of the vehicle is recorded, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming. This height adjustment is applied to all terrain data. This parameter clamps the amount of adjustment. A value of zero disables the use of terrain height adjustment.

Terrain cache size (TERRAIN_CACHE_SZ)

Note: This parameter is for advanced users

The number of 32x28 cache blocks to keep in memory. Each block uses about 1800 bytes of memory

TKOFF_ Parameters

Takeoff mode altitude (TKOFF_ALT)

This is the target altitude for TAKEOFF mode

Takeoff mode altitude level altitude (TKOFF_LVL_ALT)

This is the altitude below which the wings are held level for TAKEOFF and AUTO modes. Below this altitude, roll demand is restricted to LEVEL_ROLL_LIMIT. Normal-flight roll restriction resumes above TKOFF_LVL_ALT*3 or TKOFF_ALT, whichever is lower. Roll limits are scaled while between TKOFF_LVL_ALT and those altitudes for a smooth transition.

Takeoff mode altitude initial pitch (TKOFF_LVL_PITCH)

This is the target pitch during the takeoff.

Takeoff mode distance (TKOFF_DIST)

This is the distance from the takeoff location where the plane will loiter. The loiter point will be in the direction of takeoff (the direction the plane is facing when the plane begins takeoff)

Takeoff run pitch demand (TKOFF_GND_PITCH)

Degrees of pitch angle demanded during the takeoff run before speed reaches TKOFF_ROTATE_SPD. For taildraggers set to 3-point ground pitch angle and use TKOFF_TDRAG_ELEV to prevent nose tipover. For nose-wheel steer aircraft set to the ground pitch angle and if a reduction in nose-wheel load is required as speed rises, use a positive offset in TKOFF_GND_PITCH of up to 5 degrees above the angle on ground, starting at the measured pitch angle and incrementing in 1 degree steps whilst checking for premature rotation and takeoff with each increment. To increase nose-wheel load, use a negative TKOFF_TDRAG_ELEV and refer to notes on TKOFF_TDRAG_ELEV before making adjustments.

TUNE_ Parameters

Transmitter tuning parameter or set of parameters (TUNE_PARAM)

This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only.

Transmitter tuning channel (TUNE_CHAN)

This sets the channel for transmitter tuning. This should be connected to a knob or slider on your transmitter. It needs to be setup to use the PWM range given by TUNE_CHAN_MIN to TUNE_CHAN_MAX

Transmitter tuning channel minimum pwm (TUNE_CHAN_MIN)

This sets the PWM lower limit for the tuning channel

Transmitter tuning channel maximum pwm (TUNE_CHAN_MAX)

This sets the PWM upper limit for the tuning channel

Transmitter tuning selector channel (TUNE_SELECTOR)

This sets the channel for the transmitter tuning selector switch. This should be a 2 position switch, preferably spring loaded. A PWM above 1700 means high, below 1300 means low. If no selector is set then you won't be able to switch between parameters during flight or re-center the tuning knob

Transmitter tuning range (TUNE_RANGE)

This sets the range over which tuning will change a parameter. A value of 2 means the tuning parameter will go from 0.5 times the start value to 2x the start value over the range of the tuning channel

Revert on mode change (TUNE_MODE_REVERT)

This controls whether tuning values will revert on a flight mode change.

Controller error threshold (TUNE_ERR_THRESH)

This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability while tuning. The error is the rms value of the P+D corrections in the loop. High values in hover indicate possible instability due to too high PID gains or excessively high D to P gain ratios.-1 will disable this message.

VISO Parameters

Visual odometry camera connection type (VISO_TYPE)

Note: This parameter is for advanced users

Visual odometry camera connection type

Visual odometry camera X position offset (VISO_POS_X)

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Visual odometry camera Y position offset (VISO_POS_Y)

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Visual odometry camera Z position offset (VISO_POS_Z)

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Visual odometery camera orientation (VISO_ORIENT)

Note: This parameter is for advanced users

Visual odometery camera orientation

Visual odometry scaling factor (VISO_SCALE)

Note: This parameter is for advanced users

Visual odometry scaling factor applied to position estimates from sensor

Visual odometry sensor delay (VISO_DELAY_MS)

Note: This parameter is for advanced users

Visual odometry sensor delay relative to inertial measurements

Visual odometry velocity measurement noise (VISO_VEL_M_NSE)

Note: This parameter is for advanced users

Visual odometry velocity measurement noise in m/s

Visual odometry position measurement noise (VISO_POS_M_NSE)

Note: This parameter is for advanced users

Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)

Visual odometry yaw measurement noise (VISO_YAW_M_NSE)

Note: This parameter is for advanced users

Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)

Visual odometry minimum quality (VISO_QUAL_MIN)

Note: This parameter is for advanced users

Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown

VTX_ Parameters

Is the Video Transmitter enabled or not (VTX_ENABLE)

Toggles the Video Transmitter on and off

Video Transmitter Power Level (VTX_POWER)

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 (VTX_CHANNEL)

Video Transmitter Channel

Video Transmitter Band (VTX_BAND)

Video Transmitter Band

Video Transmitter Frequency (VTX_FREQ)

Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL

Video Transmitter Options (VTX_OPTIONS)

Note: This parameter is for advanced users

Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.

Video Transmitter Max Power Level (VTX_MAX_POWER)

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.

YAW Parameters

Sideslip control gain (YAW2SRV_SLIP)

Note: This parameter is for advanced users

Gain from lateral acceleration to demanded yaw rate for aircraft with enough fuselage area to detect lateral acceleration and sideslips. Do not enable for flying wings and gliders. Actively coordinates flight more than just yaw damping. Set after YAW2SRV_DAMP and YAW2SRV_INT are tuned.

Sideslip control integrator (YAW2SRV_INT)

Note: This parameter is for advanced users

Integral gain from lateral acceleration error. Effectively trims rudder to eliminate long-term sideslip.

Yaw damping (YAW2SRV_DAMP)

Note: This parameter is for advanced users

Gain from yaw rate to rudder. Most effective at yaw damping and should be tuned after KFF_RDDRMIX. Also disables YAW2SRV_INT if set to 0.

Yaw coordination gain (YAW2SRV_RLL)

Note: This parameter is for advanced users

Gain to the yaw rate required to keep it consistent with the turn rate in a coordinated turn. Corrects for yaw tendencies after the turn is established. Increase yaw into the turn by raising. Increase yaw out of the turn by decreasing. Values outside of 0.9-1.1 range indicate airspeed calibration problems.

Integrator limit (YAW2SRV_IMAX)

Note: This parameter is for advanced users

Limit of yaw integrator gain in centi-degrees of servo travel. Servos are assumed to have +/- 4500 centi-degrees of travel, so a value of 1500 allows trim of up to 1/3 of servo travel range.

Yaw rate enable (YAW_RATE_ENABLE)

Note: This parameter is for advanced users

Enable yaw rate controller for aerobatic flight

Yaw axis rate controller P gain (YAW_RATE_P)

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 (YAW_RATE_I)

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 (YAW_RATE_IMAX)

Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output

Yaw axis rate controller D gain (YAW_RATE_D)

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_RATE_FF)

Yaw axis rate controller feed forward

Yaw axis rate controller target frequency in Hz (YAW_RATE_FLTT)

Yaw axis rate controller target frequency in Hz

Yaw axis rate controller error frequency in Hz (YAW_RATE_FLTE)

Yaw axis rate controller error frequency in Hz

Yaw axis rate controller derivative frequency in Hz (YAW_RATE_FLTD)

Yaw axis rate controller derivative frequency in Hz

Yaw slew rate limit (YAW_RATE_SMAX)

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Yaw axis rate controller PD sum maximum (YAW_RATE_PDMX)

Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Yaw Derivative FeedForward Gain (YAW_RATE_D_FF)

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Yaw Target notch filter index (YAW_RATE_NTF)

Note: This parameter is for advanced users

Yaw Target notch filter index

Yaw Error notch filter index (YAW_RATE_NEF)

Note: This parameter is for advanced users

Yaw Error notch filter index