Table of Contents

• Introducing Copter
  • Key features
  • Getting started
  • Learn more about Copter
    • How Multicopters Work
      • Overview
      • What is the difference between a MultiCopter and a UAV/Drone?
      • MultiCopter Demo illustrating Manual and Automatic Control
      • High wind demonstration
    • Choosing a MultiCopter Frame
      • Decide what you want it for
      • Ready-To-Fly, Kits or Build your Own
      • Continued Reading
    • Choosing a Flight Controller
    • Choosing a Ground Station
      • Overview
      • Comparison Desktop
      • Comparison Mobile
      • Additional GCS hardware
    • Building Your Own Frame
      • Multicopter frame including motors, ESCs and propellers
      • 6+ channel RC transmitter and receiver
      • Flight Controller board (Autopilot hardware)
      • GPS module
      • LiPo batteries and charger
      • Ground Control Station
      • Telemetry Radio
    • MultiCopter Safety
    • Ready to Fly vehicles
      • Vehicles from Partners
      • Vehicles from Non-Partners
    • Supported vehicle types
      • Overview
      • Supported Vehicles
    • Use-Case Overview
      • Overview
      • Still and Video Photography
      • First Person View (FPV)
      • Disaster response
      • Search (and rescue)
      • Agricultural applications
      • Forest fire mitigation
      • Hazard/danger mitigation
      • 3D Mapping and GIS (Geographic Information Systems)
      • Inspection, Verification and Sample Collection
      • Payload Based Applications
      • Other applications
• AutoPilot Hardware Options
  • Open hardware
    • BBBMini
    • Beagle Bone Blue
      • Specifications
      • Uploading firmware
      • Video of BeagleBone Blue flying Copter-3.5
      • More Links
    • CUAV V5 Plus
      • Specifications
      • Where to Buy
      • Quick Start
      • More Information
      • More Images
    • CUAV V5 Nano
      • Specifications
      • Where to Buy
      • Quick Start
      • More Information
      • More Images
    • Drotek Pixhawk3
    • F4BY
      • Specifications
      • Where to Buy
    • Hex/ProfiCNC Cube Black
      • System Features
      • Specifications
      • The Cube connector pin assignments
      • Where to Buy
      • Quick Start
      • More Information
      • More Images
    • Hex/ProfiCNC Cube Green
    • Hex/ProfiCNC Cube Orange
    • Hex/ProfiCNC Cube Purple
    • Hex/ProfiCNC Cube Yellow
    • mRo Pixhawk
      • Specifications
      • Purchase
      • Pixhawk connector assignments
      • Pixhawk top connectors
      • Pixhawk PWM connectors for servos and ESCs and PPM-SUM in and SBUS out
      • Pixhawk connector diagram
      • Pixhawk connector pin assignments
      • Connecting and disconnecting DF13 connectors
      • Pixhawk analog input pins
      • Pixhawk digital outputs and inputs (Virtual Pins 50-55)
      • Powering
      • See also
    • mRo Pixracer
      • Overview
      • Specifications
      • Connector pin assignments
      • Where to Buy
      • See also
    • mRo X2.1
    • mRo X2.1-777
    • OpenPilot Revolution
      • Specifications
      • Default UART order
      • Wiring diagrams
      • Optional connectivity
      • Where to Buy
      • Firmware handling
    • PocketPilot
    • TauLabs Sparky2
      • Specifications
      • Where to Buy
      • Videos
  • Closed hardware
    • Aerotenna Ocpoc-Zynq
    • Emlid Edge
      • Specifications
      • For more details and purchase
    • Emlid NAVIO2
      • Specifications
      • What’s new compared to Navio+
      • For more details and purchase
    • Furious FPV F-35 Lightning and Wing FC-10
      • Specifications
      • Where to Buy
      • Peripheral Connections
      • Default UART order
      • Dshot capability
      • Notes
      • Videos
    • Holybro Durandal H7
      • Specifications
      • Where to Buy
      • Quick Start
      • More Images
    • Holybro Kakute F4
      • Specifications
      • Where to Buy
      • Loading ArduPilot onto the board
      • Videos
    • Holybro Kakute F7 AIO
      • Specifications
      • Pinout
      • UART Mapping
      • Servo Output Mapping
      • RC Input
      • FrSky Telemetry
      • OSD Support
      • PWM Output
      • Battery Monitoring
      • Compass
      • Loading Firmware
      • Where to Buy
    • Holybro Pixhawk 4
    • Holybro Pixhawk 4 Mini
    • Mateksys F405-STD and variants
      • Specifications
      • Variants
      • Default UART order
      • Where to Buy
      • Connecting a GPS/Compass module
    • Mateksys F405-Wing
      • Specifications
      • Default UART order
      • Dshot capability
      • Where to Buy
      • Connecting a GPS/Compass module
    • mRo ControlZero F7
    • Omnibus F4 AIO/Pro
      • Specifications
      • Where to Buy
      • Versions
      • Board Connections
      • PWM Outputs
      • Dshot capability
      • Flashing Firmware
      • How to trigger a camera with relay pin
    • OmnibusNanoV6
      • Specifications
      • Dshot capability
      • Where to Buy
      • Versions
      • Board Connections
      • Flashing Firmware
    • Omnibus F7V2
      • Specifications
      • Board Connections
      • Configuration
      • Where to Buy
    • Parrot Bebop Autopilot
      • Specifications
      • Video of Bebop flying Copter-3.3
      • Firmware upload process
    • Parrot C.H.U.C.K
    • RadioLink MiniPix
      • Specifications
      • Where to Buy
      • Peripheral Connections
      • Default UART order
      • Firmware handling
    • SpeedyBee F4
      • Specifications
      • Where to Buy
    • VR Brain 5
    • VR uBrain 5.1
  • Discontinued boards
    • CUAV V5
      • Specifications
      • Where to Buy
      • Quick Start
      • More Information
      • More Images
    • Erle PXFmini RPi Zero Shield
      • Quick start
    • Erle ErleBrain
      • Erle-Brain 2
      • Erle-Brain 1 (Discontinued)
      • Snappy Ubuntu Core store
      • Further documentation
    • Intel Aero
      • Specifications
    • Intel Aero RTF vehicle
      • Additional parts to buy
      • Upgrading the vehicle’s software
      • Connecting and configuring with a ground station
      • Connecting the Transmitter
      • Known Issues with the Transmitter
      • Improving the vehicle’s center of gravity
      • More flight videos
• First Time Setup
  • Install Ground Station Software
  • Assembly
    • Mounting the Flight Controller
      • Standard orientation
      • Alternative orientations
    • Pixhawk Wiring QuickStart
      • Pixhawk Wiring Chart
      • Power Pixhawk
      • Connect remote control inputs
      • Connect buzzer and safety switch
      • 3DR GPS+Compass
      • Connect Motors
      • Connect other peripherals
      • Related information
    • NAVIO2 Wiring QuickStart
      • Attaching NAVIO2 to a Raspberry Pi
      • Powering NAVIO2
      • Connect remote control inputs
      • GNSS Antenna
      • Connect Motors
      • Connect other peripherals
      • Related information
    • Edge QuickStart
      • Connect Edge GNSS module
      • Connect video camera
      • Connect Wi-Fi modules
      • Power from a battery
      • Connect to Edge’s access point
      • Configuring QGroundControl for Edge
    • Erle-Brain2 Wiring Quick Start
      • Erle-Brain2 Wiring Chart
      • Power Erle-Brain2
      • Connect remote control inputs
      • GPS+Compass
      • Connect Motors
      • USB ports
      • Connect other peripherals
      • Related information
    • PXFmini Wiring Quick Start
      • PXFmini Wiring Chart
      • Power PXFmini
      • HDMI Connector
      • Connect remote control inputs
      • GPS+Compass
      • Connect Motors
      • USB ports
      • Connect other peripherals
      • Related information
    • ESCs and Motors
      • Motor order diagrams
      • Testing motor spin directions
      • Checking the motor numbering with the Mission Planner Motor test
      • Using a Power Distribution Board
      • KDE (and other) Opto Isolated ESCs
      • Pixhawk ESC issues
    • GPS+Compass Module
      • Connecting the Autopilot
      • Mounting the GPS Module
      • Setup in Mission Planner
      • LED Indicators
      • Advanced Configuration
    • Vibration Damping
      • 3M, Du-Bro or HobbyKing Foam
      • Gel pads
      • 3D Printed Anti-Vibration Platform
      • 3D Printed Anti-Vibration Platform for NAVIO2
      • O-ring Suspension Mount
      • Ear Plug Mount
      • Bulb Damper + Ear Plug Vibration Mount
    • Magnetic Interference
      • Overview
      • Hardware changes to reduce magnetic interference on the compass
      • Maxwell’s Equations - The Magnetic Field on the Axis of a Current Loop
      • Natural and Artificial Magnetic Anomalies Warning
  • Loading Firmware to Pixhawk boards
    • Connect flight controller to computer
    • Select the COM port
    • Install firmware
    • Testing
  • Loading Firmware to ChibiOS-only boards
    • Download and Install Zadig (Windows only)
    • Download the ArduPilot firmware
    • Upload ArduPilot to the board
  • Connect Mission Planner to AutoPilot
    • Setting up the connection
    • Troubleshooting
    • Related topics
  • Configuring Hardware
    • Basic System Overview
      • Basic Goal
      • Inputs
      • Outputs
      • Sensors
    • Frame Type Configuration
      • Motor Order Diagrams
    • Compass Calibration
      • Calibration first steps
      • Onboard Calibration
      • Onboard Calibration using Stick Gestures (no GCS)
      • Offboard Calibration (aka “Live Calibration”)
      • Additional information
      • Video demonstration
    • Radio Control Calibration
      • Overview
    • Accelerometer Calibration
      • Calibration steps
      • Video demonstration (Copter)
    • RC Transmitter Mode Setup
      • Flight modes configuration
      • Setting the flight mode channel
      • Transmitter configuration
    • ESC Calibration
      • About ESC Calibration
      • All at once calibration
      • Manual ESC-by-ESC Calibration
      • Semi Automatic ESC-by-ESC Calibration
      • Testing
      • Notes / Troubleshooting
    • Configure Motor Range (optional)
      • Measuring the deadzone
      • Setting Spin-Armed and Min Throttle
• First Flight
  • Flight Modes
    • Overview
    • Recommended Flight Modes
    • GPS Dependency
    • Full list of flight modes
      • Acro
      • Altitude Hold
      • Auto
      • Brake
      • Circle
      • Drift
      • Flip
      • FlowHold
      • Follow
      • Follow Me (GSC Enabled)
      • Guided
      • Land
      • Loiter
      • PosHold
      • Position
      • RTL
      • Simple and Super Simple
      • Smart RTL (Return-to-Launch)
      • Sport
      • Stabilize
      • Throw
      • ZigZag
  • Pre-arm Safety Check
    • Recognising which Pre-Arm Check has failed using the GCS
    • Failure messages
    • Disabling the Pre-arm Safety Check
  • Arming and Disarming
    • Disarming the motors
  • Getting Off the Ground – Tips for New Operators
    • First flight
    • Tips for your first flights
    • Warning about low batteries
  • Tuning
    • Tuning Process Instructions
      • Setting the aircraft up ready for tuning
      • Pilot’s preparation for first flight
      • First Flight
      • Initial aircraft tune
      • Test AltHold
      • Evaluating the aircraft tune
      • Manual tuning of Roll and Pitch
      • Autotune
      • Setting the input shaping parameters
      • Advanced Tuning
    • AutoTune
      • Setup before flying
      • How to invoke AutoTune
      • Invoke AutoTune with Position Hold
      • Additional Notes
      • Common Problems
      • Dataflash logging
    • Roll and Pitch Tuning
      • In-flight tuning
      • Video of in-flight tuning
    • Advanced Tuning
      • Overview
      • Roll/Pitch tuning
      • Yaw tuning
      • Altitude Tuning
      • Loiter Tuning
      • In-flight tuning
      • Video introduction to PIDs
    • Basic Tuning
      • Overview
      • Roll and pitch tuning
      • Throttle tuning
  • Measuring Vibration
    • Real-Time view in Ground Station
    • Vibe Dataflash Log message
    • Looking for “The Leans”
    • Advanced Analysis with FFT
    • IMU Dataflash Log message
  • Setting Hover Throttle
  • Save Trim & Auto Trim
    • Save Trim
    • Auto Trim
    • Video demonstrations of Save Trim and Auto Trim
    • Desktop method
  • Failsafe Mechanisms
    • Radio Failsafe
      • When the failsafe will trigger
      • What will happen
      • Receiver and flight controller set-up
      • Testing
      • Using the receiver to set the flight mode (not recommended)
    • Battery Failsafe
      • When the failsafe will trigger
      • What will happen
      • Setting up using Mission Planner
      • Two-Layer failsafe
      • Advanced Settings
    • GCS Failsafe
      • Overview
      • Setting the failsafe
    • EKF failsafe
      • When will it trigger?
      • What will happen when the failsafe triggers?
      • Adjusting the Sensitivity of the failsafe
      • Dataflash Log example
      • Video
    • Simple GeoFence
      • Overview
      • Enabling the Fence in Mission Planner
      • Enabling the fence with Channel 7 or 8
      • Warnings:
      • Video overview of the Fence setup and Operation
    • Polygon Fence
      • Overview
      • Enabling the Fence in Mission Planner
      • Combining with the Circular and Altitude fences
    • Crash Check
      • When will the crash check disarm the motors?
      • What will happen when the crash check fires?
      • How and when should the crash check be disabled?
    • Parachute
      • What you will need
      • Connecting to the Flight Controller
      • Setup through the mission planner
      • When will the parachute deploy?
      • Testing the chute
    • ADSB Avoidance of manned aircraft
      • Required Hardware
      • Connecting to the flight controller
      • Setup through the ground station
      • Enabling Manned Vehicle Avoidance
      • Older version of ADS-B based avoidance in Plane-3.5
      • Vehicle Database
      • Developer information including Simulation
  • Pre-Flight Checklist
    • Summary Checklist
    • Configuration
    • Flying
• Advanced Configuration
  • AutoTune
    • Setup before flying
    • How to invoke AutoTune
    • Invoke AutoTune with Position Hold
    • Additional Notes
    • Common Problems
    • Dataflash logging
  • Auxiliary Function Switches
    • Configuration
    • Check Ch7 & Ch8 PWM values reach 1800
  • Baro Temperature Compensation
    • How to Use
  • Boat mode
    • Settings
    • Manually trigger gyro calibration
  • CAN Bus Setup
    • Overview
    • Configuration settings
      • Enabling CAN interfaces
      • Configuration of CAN interfaces
      • Configuration of CAN driver
  • Compass Setup (Advanced)
    • Overview
    • Configuration settings
      • Quick configuration
      • Checking Compass Orientation
      • General settings
      • Compass specific settings
    • Live calibration of offsets
    • CompassMot — compensation for interference from the power wires, ESCs and motors
    • Manual declination
    • Tuning declination in-flight
    • Compass error messages
  • Current Limiting and Voltage Scaling
    • Current Limiting
    • Voltage scaling
  • Extended Kalman Filter (EKF)
    • Should the EKF2 or EKF3 be used?
    • Choosing the EKF and number of cores
    • Commonly modified parameters
  • Flight Time Recorder
    • Parameter Details
    • When will counters be reset?
  • Ground Effect Compensation
    • Setup
    • Video
  • Motor Thrust Scaling
    • Thrust Curves
    • Thrust Stands
    • MatLab example code
  • Non-GPS Navigation
    • MarvelMind Beacons
      • Required Hardware
      • Marvelmind Settings
      • Connecting to a flight controller
      • Ground Testing
      • DataFlash logging
    • Optical Flow
      • Cheerson CX-OF
      • HereFlow
      • PX4FLOW
      • OpenMV
      • ADNS3080 Mouse Sensor (no longer supported)
    • OptiTrack motion capture system
      • Required hardware
      • Motion capture system setup
      • Required softwares
      • Prepare the drone
      • Configuration the drone
      • Send data to the drone
      • Ground testing
      • Flight testing
    • Pozyx Beacons
      • Required Hardware
      • Placing the anchors
      • Preparing the tag
      • Configuration through the Ground Station
      • Ground Testing
      • Flight testing
      • DataFlash logging
      • User videos
    • Vicon Positioning System
      • Overview
      • Hardware Setup
      • Software Setup
      • pyvicon
      • pymavlink
      • MAVProxy Setup
      • Connecting
      • Key Parameters
      • Starting Vicon
      • Checking Orientations
      • Test Flight
      • Tuning
      • Circle Mode
    • Visual Odometry with OpenKai and ZED
      • Required Hardware
      • Setup
      • Configuration through the Ground Station
      • Ground Testing
      • Flight testing
      • DataFlash logging
    • Visual Odometry with VIO tracking camera
      • Video
      • Hardware Requirements
      • System Overview
      • Install librealsense and pyrealsense2
      • Configure ArduPilot
      • Python Packages Installation
      • How to run
      • Verification before testing
      • Ground Test
      • Flight Test
      • Indoor and Outdoor Experiments
      • DataFlash logging
      • Autorun at boot
  • Object Avoidance
    • Setup the Lidar
    • Configuring Avoidance
    • Real-time view
    • DataFlash logging
    • Limitations
    • Links
      • 1D Lidar Setup
  • Parameter List (Full)
    • ArduCopter Parameters
      • SYSID_SW_MREV: Eeprom format version number
      • SYSID_THISMAV: MAVLink system ID of this vehicle
      • SYSID_MYGCS: My ground station number
      • PILOT_THR_FILT: Throttle filter cutoff
      • PILOT_TKOFF_ALT: Pilot takeoff altitude
      • PILOT_THR_BHV: Throttle stick behavior
      • TELEM_DELAY: Telemetry startup delay
      • GCS_PID_MASK: GCS PID tuning mask
      • RTL_ALT: RTL Altitude
      • RTL_CONE_SLOPE: RTL cone slope
      • RTL_SPEED: RTL speed
      • RTL_ALT_FINAL: RTL Final Altitude
      • RTL_CLIMB_MIN: RTL minimum climb
      • RTL_LOIT_TIME: RTL loiter time
      • RNGFND_GAIN: Rangefinder gain
      • FS_GCS_ENABLE: Ground Station Failsafe Enable
      • GPS_HDOP_GOOD: GPS Hdop Good
      • SUPER_SIMPLE: Super Simple Mode
      • WP_YAW_BEHAVIOR: Yaw behaviour during missions
      • LAND_SPEED: Land speed
      • LAND_SPEED_HIGH: Land speed high
      • PILOT_SPEED_UP: Pilot maximum vertical speed ascending
      • PILOT_ACCEL_Z: Pilot vertical acceleration
      • FS_THR_ENABLE: Throttle Failsafe Enable
      • FS_THR_VALUE: Throttle Failsafe Value
      • THR_DZ: Throttle deadzone
      • FLTMODE1: Flight Mode 1
      • FLTMODE2: Flight Mode 2
      • FLTMODE3: Flight Mode 3
      • FLTMODE4: Flight Mode 4
      • FLTMODE5: Flight Mode 5
      • FLTMODE6: Flight Mode 6
      • FLTMODE_CH: Flightmode channel
      • SIMPLE: Simple mode bitmask
      • LOG_BITMASK: Log bitmask
      • ESC_CALIBRATION: ESC Calibration
      • TUNE: Channel 6 Tuning
      • FRAME_TYPE: Frame Type (+, X, V, etc)
      • DISARM_DELAY: Disarm delay
      • ANGLE_MAX: Angle Max
      • PHLD_BRAKE_RATE: PosHold braking rate
      • PHLD_BRAKE_ANGLE: PosHold braking angle max
      • LAND_REPOSITION: Land repositioning
      • FS_EKF_ACTION: EKF Failsafe Action
      • FS_EKF_THRESH: EKF failsafe variance threshold
      • FS_CRASH_CHECK: Crash check enable
      • RC_SPEED: ESC Update Speed
      • ACRO_RP_P: Acro Roll and Pitch P gain
      • ACRO_YAW_P: Acro Yaw P gain
      • ACRO_BAL_ROLL: Acro Balance Roll
      • ACRO_BAL_PITCH: Acro Balance Pitch
      • ACRO_TRAINER: Acro Trainer
      • ACRO_RP_EXPO: Acro Roll/Pitch Expo
      • THROW_MOT_START: Start motors before throwing is detected
      • TERRAIN_FOLLOW: Terrain Following use control
      • WP_NAVALT_MIN: Minimum navigation altitude
      • THROW_NEXTMODE: Throw mode’s follow up mode
      • THROW_TYPE: Type of Type
      • GND_EFFECT_COMP: Ground Effect Compensation Enable/Disable
      • DEV_OPTIONS: Development options
      • ACRO_Y_EXPO: Acro Yaw Expo
      • ACRO_THR_MID: Acro Thr Mid
      • SYSID_ENFORCE: GCS sysid enforcement
      • FRAME_CLASS: Frame Class
      • PILOT_SPEED_DN: Pilot maximum vertical speed descending
      • LAND_ALT_LOW: Land alt low
      • TUNE_MIN: Tuning minimum
      • TUNE_MAX: Tuning maximum
      • CH7_OPT: Channel 7 option
      • CH8_OPT: Channel 8 option
      • CH9_OPT: Channel 9 option
      • CH10_OPT: Channel 10 option
      • CH11_OPT: Channel 11 option
      • CH12_OPT: Channel 12 option
      • TUNE_LOW: Tuning minimum
      • TUNE_HIGH: Tuning maximum
    • ADSB_ Parameters
      • ADSB_ENABLE: Enable ADSB
      • ADSB_LIST_MAX: ADSB vehicle list size
      • ADSB_LIST_RADIUS: ADSB vehicle list radius filter
      • ADSB_ICAO_ID: ICAO_ID vehicle identification number
      • ADSB_EMIT_TYPE: Emitter type
      • ADSB_LEN_WIDTH: Aircraft length and width
      • ADSB_OFFSET_LAT: GPS antenna lateral offset
      • ADSB_OFFSET_LON: GPS antenna longitudinal offset
      • ADSB_RF_SELECT: Transceiver RF selection
      • ADSB_SQUAWK: Squawk code
      • ADSB_RF_CAPABLE: RF capabilities
      • ADSB_LIST_ALT: ADSB vehicle list altitude filter
      • ADSB_ICAO_SPECL: ICAO_ID of special vehicle
      • ADSB_LOG: ADS-B logging
    • AFS_ Parameters
      • AFS_ENABLE: Enable Advanced Failsafe
      • AFS_MAN_PIN: Manual Pin
      • AFS_HB_PIN: Heartbeat Pin
      • AFS_WP_COMMS: Comms Waypoint
      • AFS_GPS_LOSS: GPS Loss Waypoint
      • AFS_TERMINATE: Force Terminate
      • AFS_TERM_ACTION: Terminate action
      • AFS_TERM_PIN: Terminate Pin
      • AFS_AMSL_LIMIT: AMSL limit
      • AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit
      • AFS_QNH_PRESSURE: QNH pressure
      • AFS_MAX_GPS_LOSS: Maximum number of GPS loss events
      • AFS_MAX_COM_LOSS: Maximum number of comms loss events
      • AFS_GEOFENCE: Enable geofence Advanced Failsafe
      • AFS_RC: Enable RC Advanced Failsafe
      • AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes
      • AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously
      • AFS_RC_FAIL_TIME: RC failure time
      • AFS_MAX_RANGE: Max allowed range
    • AHRS_ Parameters
      • AHRS_GPS_GAIN: AHRS GPS gain
      • AHRS_GPS_USE: AHRS use GPS for navigation
      • AHRS_YAW_P: Yaw P
      • AHRS_RP_P: AHRS RP_P
      • AHRS_WIND_MAX: Maximum wind
      • AHRS_TRIM_X: AHRS Trim Roll
      • AHRS_TRIM_Y: AHRS Trim Pitch
      • AHRS_TRIM_Z: AHRS Trim Yaw
      • AHRS_ORIENTATION: Board Orientation
      • AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient
      • AHRS_GPS_MINSATS: AHRS GPS Minimum satellites
      • AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation
      • AHRS_CUSTOM_ROLL: Board orientation roll offset
      • AHRS_CUSTOM_PIT: Board orientation pitch offset
      • AHRS_CUSTOM_YAW: Board orientation yaw offset
    • ARMING_ Parameters
      • ARMING_REQUIRE: Require Arming Motors
      • ARMING_ACCTHRESH: Accelerometer error threshold
      • ARMING_RUDDER: Arming with Rudder enable/disable
      • ARMING_MIS_ITEMS: Required mission items
      • ARMING_CHECK: Arm Checks to Peform (bitmask)
    • ATC_ Parameters
      • ATC_SLEW_YAW: Yaw target slew rate
      • ATC_ACCEL_Y_MAX: Acceleration Max for Yaw
      • ATC_RATE_FF_ENAB: Rate Feedforward Enable
      • ATC_ACCEL_R_MAX: Acceleration Max for Roll
      • ATC_ACCEL_P_MAX: Acceleration Max for Pitch
      • ATC_ANGLE_BOOST: Angle Boost
      • ATC_ANG_RLL_P: Roll axis angle controller P gain
      • ATC_ANG_PIT_P: Pitch axis angle controller P gain
      • ATC_ANG_YAW_P: Yaw axis angle controller P gain
      • ATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant
      • ATC_RATE_R_MAX: Angular Velocity Max for Roll
      • ATC_RATE_P_MAX: Angular Velocity Max for Pitch
      • ATC_RATE_Y_MAX: Angular Velocity Max for Yaw
      • ATC_INPUT_TC: Attitude control input time constant
      • ATC_RAT_RLL_P (AC_AttitudeControl_Multi): Roll axis rate controller P gain
      • ATC_RAT_RLL_I (AC_AttitudeControl_Multi): Roll axis rate controller I gain
      • ATC_RAT_RLL_IMAX (AC_AttitudeControl_Multi): Roll axis rate controller I gain maximum
      • ATC_RAT_RLL_D (AC_AttitudeControl_Multi): Roll axis rate controller D gain
      • ATC_RAT_RLL_FF (AC_AttitudeControl_Multi): Roll axis rate controller feed forward
      • ATC_RAT_RLL_FLTT: Roll axis rate controller target frequency in Hz
      • ATC_RAT_RLL_FLTE: Roll axis rate controller error frequency in Hz
      • ATC_RAT_RLL_FLTD: Roll axis rate controller derivative frequency in Hz
      • ATC_RAT_PIT_P (AC_AttitudeControl_Multi): Pitch axis rate controller P gain
      • ATC_RAT_PIT_I (AC_AttitudeControl_Multi): Pitch axis rate controller I gain
      • ATC_RAT_PIT_IMAX (AC_AttitudeControl_Multi): Pitch axis rate controller I gain maximum
      • ATC_RAT_PIT_D (AC_AttitudeControl_Multi): Pitch axis rate controller D gain
      • ATC_RAT_PIT_FF (AC_AttitudeControl_Multi): Pitch axis rate controller feed forward
      • ATC_RAT_PIT_FLTT: Pitch axis rate controller target frequency in Hz
      • ATC_RAT_PIT_FLTE: Pitch axis rate controller error frequency in Hz
      • ATC_RAT_PIT_FLTD: Pitch axis rate controller derivative frequency in Hz
      • ATC_RAT_YAW_P (AC_AttitudeControl_Multi): Yaw axis rate controller P gain
      • ATC_RAT_YAW_I (AC_AttitudeControl_Multi): Yaw axis rate controller I gain
      • ATC_RAT_YAW_IMAX (AC_AttitudeControl_Multi): Yaw axis rate controller I gain maximum
      • ATC_RAT_YAW_D (AC_AttitudeControl_Multi): Yaw axis rate controller D gain
      • ATC_RAT_YAW_FF (AC_AttitudeControl_Multi): Yaw axis rate controller feed forward
      • ATC_RAT_YAW_FLTT: Yaw axis rate controller target frequency in Hz
      • ATC_RAT_YAW_FLTE: Yaw axis rate controller error frequency in Hz
      • ATC_RAT_YAW_FLTD: Yaw axis rate controller derivative frequency in Hz
      • ATC_THR_MIX_MIN: Throttle Mix Minimum
      • ATC_THR_MIX_MAX: Throttle Mix Maximum
      • ATC_THR_MIX_MAN: Throttle Mix Manual
      • ATC_RAT_RLL_FILT (AC_AttitudeControl_Multi): Roll axis rate controller input frequency in Hz
      • ATC_RAT_PIT_FILT (AC_AttitudeControl_Multi): Pitch axis rate controller input frequency in Hz
      • ATC_RAT_YAW_FILT (AC_AttitudeControl_Multi): Yaw axis rate controller input frequency in Hz
      • ATC_HOVR_ROL_TRM: Hover Roll Trim
      • ATC_RAT_RLL_P (AC_AttitudeControl_Heli): Roll axis rate controller P gain
      • ATC_RAT_RLL_I (AC_AttitudeControl_Heli): Roll axis rate controller I gain
      • ATC_RAT_RLL_IMAX (AC_AttitudeControl_Heli): Roll axis rate controller I gain maximum
      • ATC_RAT_RLL_D (AC_AttitudeControl_Heli): Roll axis rate controller D gain
      • ATC_RAT_RLL_FF (AC_AttitudeControl_Heli): Roll axis rate controller feed forward
      • ATC_RAT_RLL_FILT (AC_AttitudeControl_Heli): Roll axis rate controller input frequency in Hz
      • ATC_RAT_PIT_P (AC_AttitudeControl_Heli): Pitch axis rate controller P gain
      • ATC_RAT_PIT_I (AC_AttitudeControl_Heli): Pitch axis rate controller I gain
      • ATC_RAT_PIT_IMAX (AC_AttitudeControl_Heli): Pitch axis rate controller I gain maximum
      • ATC_RAT_PIT_D (AC_AttitudeControl_Heli): Pitch axis rate controller D gain
      • ATC_RAT_PIT_FF (AC_AttitudeControl_Heli): Pitch axis rate controller feed forward
      • ATC_RAT_PIT_FILT (AC_AttitudeControl_Heli): Pitch axis rate controller input frequency in Hz
      • ATC_RAT_YAW_P (AC_AttitudeControl_Heli): Yaw axis rate controller P gain
      • ATC_RAT_YAW_I (AC_AttitudeControl_Heli): Yaw axis rate controller I gain
      • ATC_RAT_YAW_IMAX (AC_AttitudeControl_Heli): Yaw axis rate controller I gain maximum
      • ATC_RAT_YAW_D (AC_AttitudeControl_Heli): Yaw axis rate controller D gain
      • ATC_RAT_YAW_FF (AC_AttitudeControl_Heli): Yaw axis rate controller feed forward
      • ATC_RAT_YAW_FILT (AC_AttitudeControl_Heli): Yaw axis rate controller input frequency in Hz
      • ATC_PIRO_COMP: Piro Comp Enable
    • AUTOTUNE_ Parameters
      • AUTOTUNE_AXES: Autotune axis bitmask
      • AUTOTUNE_AGGR: Autotune aggressiveness
      • AUTOTUNE_MIN_D: AutoTune minimum D
    • AVD_ Parameters
      • AVD_ENABLE: Enable Avoidance using ADSB
      • AVD_F_RCVRY: Recovery behaviour after a fail event
      • AVD_OBS_MAX: Maximum number of obstacles to track
      • AVD_W_TIME: Time Horizon Warn
      • AVD_F_TIME: Time Horizon Fail
      • AVD_W_DIST_XY: Distance Warn XY
      • AVD_F_DIST_XY: Distance Fail XY
      • AVD_W_DIST_Z: Distance Warn Z
      • AVD_F_DIST_Z: Distance Fail Z
      • AVD_F_ALT_MIN: ADS-B avoidance minimum altitude
    • AVOID_ Parameters
      • AVOID_ENABLE: Avoidance control enable/disable
      • AVOID_ANGLE_MAX: Avoidance max lean angle in non-GPS flight modes
      • AVOID_DIST_MAX: Avoidance distance maximum in non-GPS flight modes
      • AVOID_MARGIN: Avoidance distance margin in GPS modes
      • AVOID_BEHAVE: Avoidance behaviour
    • BATT2_ Parameters
      • BATT2_MONITOR: Battery monitoring
      • BATT2_VOLT_PIN: Battery Voltage sensing pin
      • BATT2_CURR_PIN: Battery Current sensing pin
      • BATT2_VOLT_MULT: Voltage Multiplier
      • BATT2_AMP_PERVLT: Amps per volt
      • BATT2_AMP_OFFSET: AMP offset
      • BATT2_CAPACITY: Battery capacity
      • BATT2_WATT_MAX: Maximum allowed power (Watts)
      • BATT2_SERIAL_NUM: Battery serial number
      • BATT2_LOW_TIMER: Low voltage timeout
      • BATT2_FS_VOLTSRC: Failsafe voltage source
      • BATT2_LOW_VOLT: Low battery voltage
      • BATT2_LOW_MAH: Low battery capacity
      • BATT2_CRT_VOLT: Critical battery voltage
      • BATT2_CRT_MAH: Battery critical capacity
      • BATT2_FS_LOW_ACT: Low battery failsafe action
      • BATT2_FS_CRT_ACT: Critical battery failsafe action
      • BATT2_ARM_VOLT: Required arming voltage
      • BATT2_ARM_MAH: Required arming remaining capacity
    • BATT3_ Parameters
      • BATT3_MONITOR: Battery monitoring
      • BATT3_VOLT_PIN: Battery Voltage sensing pin
      • BATT3_CURR_PIN: Battery Current sensing pin
      • BATT3_VOLT_MULT: Voltage Multiplier
      • BATT3_AMP_PERVLT: Amps per volt
      • BATT3_AMP_OFFSET: AMP offset
      • BATT3_CAPACITY: Battery capacity
      • BATT3_WATT_MAX: Maximum allowed power (Watts)
      • BATT3_SERIAL_NUM: Battery serial number
      • BATT3_LOW_TIMER: Low voltage timeout
      • BATT3_FS_VOLTSRC: Failsafe voltage source
      • BATT3_LOW_VOLT: Low battery voltage
      • BATT3_LOW_MAH: Low battery capacity
      • BATT3_CRT_VOLT: Critical battery voltage
      • BATT3_CRT_MAH: Battery critical capacity
      • BATT3_FS_LOW_ACT: Low battery failsafe action
      • BATT3_FS_CRT_ACT: Critical battery failsafe action
      • BATT3_ARM_VOLT: Required arming voltage
      • BATT3_ARM_MAH: Required arming remaining capacity
    • BATT4_ Parameters
      • BATT4_MONITOR: Battery monitoring
      • BATT4_VOLT_PIN: Battery Voltage sensing pin
      • BATT4_CURR_PIN: Battery Current sensing pin
      • BATT4_VOLT_MULT: Voltage Multiplier
      • BATT4_AMP_PERVLT: Amps per volt
      • BATT4_AMP_OFFSET: AMP offset
      • BATT4_CAPACITY: Battery capacity
      • BATT4_WATT_MAX: Maximum allowed power (Watts)
      • BATT4_SERIAL_NUM: Battery serial number
      • BATT4_LOW_TIMER: Low voltage timeout
      • BATT4_FS_VOLTSRC: Failsafe voltage source
      • BATT4_LOW_VOLT: Low battery voltage
      • BATT4_LOW_MAH: Low battery capacity
      • BATT4_CRT_VOLT: Critical battery voltage
      • BATT4_CRT_MAH: Battery critical capacity
      • BATT4_FS_LOW_ACT: Low battery failsafe action
      • BATT4_FS_CRT_ACT: Critical battery failsafe action
      • BATT4_ARM_VOLT: Required arming voltage
      • BATT4_ARM_MAH: Required arming remaining capacity
    • BATT5_ Parameters
      • BATT5_MONITOR: Battery monitoring
      • BATT5_VOLT_PIN: Battery Voltage sensing pin
      • BATT5_CURR_PIN: Battery Current sensing pin
      • BATT5_VOLT_MULT: Voltage Multiplier
      • BATT5_AMP_PERVLT: Amps per volt
      • BATT5_AMP_OFFSET: AMP offset
      • BATT5_CAPACITY: Battery capacity
      • BATT5_WATT_MAX: Maximum allowed power (Watts)
      • BATT5_SERIAL_NUM: Battery serial number
      • BATT5_LOW_TIMER: Low voltage timeout
      • BATT5_FS_VOLTSRC: Failsafe voltage source
      • BATT5_LOW_VOLT: Low battery voltage
      • BATT5_LOW_MAH: Low battery capacity
      • BATT5_CRT_VOLT: Critical battery voltage
      • BATT5_CRT_MAH: Battery critical capacity
      • BATT5_FS_LOW_ACT: Low battery failsafe action
      • BATT5_FS_CRT_ACT: Critical battery failsafe action
      • BATT5_ARM_VOLT: Required arming voltage
      • BATT5_ARM_MAH: Required arming remaining capacity
    • BATT6_ Parameters
      • BATT6_MONITOR: Battery monitoring
      • BATT6_VOLT_PIN: Battery Voltage sensing pin
      • BATT6_CURR_PIN: Battery Current sensing pin
      • BATT6_VOLT_MULT: Voltage Multiplier
      • BATT6_AMP_PERVLT: Amps per volt
      • BATT6_AMP_OFFSET: AMP offset
      • BATT6_CAPACITY: Battery capacity
      • BATT6_WATT_MAX: Maximum allowed power (Watts)
      • BATT6_SERIAL_NUM: Battery serial number
      • BATT6_LOW_TIMER: Low voltage timeout
      • BATT6_FS_VOLTSRC: Failsafe voltage source
      • BATT6_LOW_VOLT: Low battery voltage
      • BATT6_LOW_MAH: Low battery capacity
      • BATT6_CRT_VOLT: Critical battery voltage
      • BATT6_CRT_MAH: Battery critical capacity
      • BATT6_FS_LOW_ACT: Low battery failsafe action
      • BATT6_FS_CRT_ACT: Critical battery failsafe action
      • BATT6_ARM_VOLT: Required arming voltage
      • BATT6_ARM_MAH: Required arming remaining capacity
    • BATT7_ Parameters
      • BATT7_MONITOR: Battery monitoring
      • BATT7_VOLT_PIN: Battery Voltage sensing pin
      • BATT7_CURR_PIN: Battery Current sensing pin
      • BATT7_VOLT_MULT: Voltage Multiplier
      • BATT7_AMP_PERVLT: Amps per volt
      • BATT7_AMP_OFFSET: AMP offset
      • BATT7_CAPACITY: Battery capacity
      • BATT7_WATT_MAX: Maximum allowed power (Watts)
      • BATT7_SERIAL_NUM: Battery serial number
      • BATT7_LOW_TIMER: Low voltage timeout
      • BATT7_FS_VOLTSRC: Failsafe voltage source
      • BATT7_LOW_VOLT: Low battery voltage
      • BATT7_LOW_MAH: Low battery capacity
      • BATT7_CRT_VOLT: Critical battery voltage
      • BATT7_CRT_MAH: Battery critical capacity
      • BATT7_FS_LOW_ACT: Low battery failsafe action
      • BATT7_FS_CRT_ACT: Critical battery failsafe action
      • BATT7_ARM_VOLT: Required arming voltage
      • BATT7_ARM_MAH: Required arming remaining capacity
    • BATT8_ Parameters
      • BATT8_MONITOR: Battery monitoring
      • BATT8_VOLT_PIN: Battery Voltage sensing pin
      • BATT8_CURR_PIN: Battery Current sensing pin
      • BATT8_VOLT_MULT: Voltage Multiplier
      • BATT8_AMP_PERVLT: Amps per volt
      • BATT8_AMP_OFFSET: AMP offset
      • BATT8_CAPACITY: Battery capacity
      • BATT8_WATT_MAX: Maximum allowed power (Watts)
      • BATT8_SERIAL_NUM: Battery serial number
      • BATT8_LOW_TIMER: Low voltage timeout
      • BATT8_FS_VOLTSRC: Failsafe voltage source
      • BATT8_LOW_VOLT: Low battery voltage
      • BATT8_LOW_MAH: Low battery capacity
      • BATT8_CRT_VOLT: Critical battery voltage
      • BATT8_CRT_MAH: Battery critical capacity
      • BATT8_FS_LOW_ACT: Low battery failsafe action
      • BATT8_FS_CRT_ACT: Critical battery failsafe action
      • BATT8_ARM_VOLT: Required arming voltage
      • BATT8_ARM_MAH: Required arming remaining capacity
    • BATT9_ Parameters
      • BATT9_MONITOR: Battery monitoring
      • BATT9_VOLT_PIN: Battery Voltage sensing pin
      • BATT9_CURR_PIN: Battery Current sensing pin
      • BATT9_VOLT_MULT: Voltage Multiplier
      • BATT9_AMP_PERVLT: Amps per volt
      • BATT9_AMP_OFFSET: AMP offset
      • BATT9_CAPACITY: Battery capacity
      • BATT9_WATT_MAX: Maximum allowed power (Watts)
      • BATT9_SERIAL_NUM: Battery serial number
      • BATT9_LOW_TIMER: Low voltage timeout
      • BATT9_FS_VOLTSRC: Failsafe voltage source
      • BATT9_LOW_VOLT: Low battery voltage
      • BATT9_LOW_MAH: Low battery capacity
      • BATT9_CRT_VOLT: Critical battery voltage
      • BATT9_CRT_MAH: Battery critical capacity
      • BATT9_FS_LOW_ACT: Low battery failsafe action
      • BATT9_FS_CRT_ACT: Critical battery failsafe action
      • BATT9_ARM_VOLT: Required arming voltage
      • BATT9_ARM_MAH: Required arming remaining capacity
    • BATT_ Parameters
      • BATT_MONITOR: Battery monitoring
      • BATT_VOLT_PIN: Battery Voltage sensing pin
      • BATT_CURR_PIN: Battery Current sensing pin
      • BATT_VOLT_MULT: Voltage Multiplier
      • BATT_AMP_PERVLT: Amps per volt
      • BATT_AMP_OFFSET: AMP offset
      • BATT_CAPACITY: Battery capacity
      • BATT_WATT_MAX: Maximum allowed power (Watts)
      • BATT_SERIAL_NUM: Battery serial number
      • BATT_LOW_TIMER: Low voltage timeout
      • BATT_FS_VOLTSRC: Failsafe voltage source
      • BATT_LOW_VOLT: Low battery voltage
      • BATT_LOW_MAH: Low battery capacity
      • BATT_CRT_VOLT: Critical battery voltage
      • BATT_CRT_MAH: Battery critical capacity
      • BATT_FS_LOW_ACT: Low battery failsafe action
      • BATT_FS_CRT_ACT: Critical battery failsafe action
      • BATT_ARM_VOLT: Required arming voltage
      • BATT_ARM_MAH: Required arming remaining capacity
    • BCN Parameters
      • BCN_TYPE: Beacon based position estimation device type
      • BCN_LATITUDE: Beacon origin’s latitude
      • BCN_LONGITUDE: Beacon origin’s longitude
      • BCN_ALT: Beacon origin’s altitude above sealevel in meters
      • BCN_ORIENT_YAW: Beacon systems rotation from north in degrees
    • BRD_ Parameters
      • BRD_PWM_COUNT: Auxiliary pin config
      • BRD_SER1_RTSCTS: Serial 1 flow control
      • BRD_SER2_RTSCTS: Serial 2 flow control
      • BRD_SAFETYENABLE: Enable use of safety arming switch
      • BRD_SBUS_OUT: SBUS output rate
      • BRD_SERIAL_NUM: User-defined serial number
      • BRD_SAFETY_MASK: Channels which ignore the safety switch state
      • BRD_IMU_TARGTEMP: Target IMU temperature
      • BRD_TYPE: Board type
      • BRD_IO_ENABLE: Enable IO co-processor
      • BRD_SAFETYOPTION: Options for safety button behavior
      • BRD_VBUS_MIN: Autopilot board voltage requirement
      • BRD_VSERVO_MIN: Servo voltage requirement
      • BRD_SD_SLOWDOWN: microSD slowdown
      • BRD_PWM_VOLT_SEL: Set PWM Out Voltage
      • BRD_OPTIONS: Board options
      • BRD_BOOT_DELAY: Boot delay
    • BRD_RADIO Parameters
      • BRD_RADIO_TYPE: Set type of direct attached radio
      • BRD_RADIO_PROT: protocol
      • BRD_RADIO_DEBUG: debug level
      • BRD_RADIO_DISCRC: disable receive CRC
      • BRD_RADIO_SIGCH: RSSI signal strength
      • BRD_RADIO_PPSCH: Packet rate channel
      • BRD_RADIO_TELEM: Enable telemetry
      • BRD_RADIO_TXPOW: Telemetry Transmit power
      • BRD_RADIO_FCCTST: Put radio into FCC test mode
      • BRD_RADIO_STKMD: Stick input mode
      • BRD_RADIO_TESTCH: Set radio to factory test channel
      • BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter
      • BRD_RADIO_TPPSCH: Telemetry PPS channel
      • BRD_RADIO_TXMAX: Transmitter transmit power
      • BRD_RADIO_BZOFS: Transmitter buzzer adjustment
      • BRD_RADIO_ABTIME: Auto-bind time
      • BRD_RADIO_ABLVL: Auto-bind level
    • BRD_RTC Parameters
      • BRD_RTC_TYPES: Allowed sources of RTC time
    • BTN_ Parameters
      • BTN_ENABLE: Enable button reporting
      • BTN_PIN1: First button Pin
      • BTN_PIN2: Second button Pin
      • BTN_PIN3: Third button Pin
      • BTN_PIN4: Fourth button Pin
      • BTN_REPORT_SEND: Report send time
    • CAM_ Parameters
      • CAM_TRIGG_TYPE: Camera shutter (trigger) type
      • CAM_DURATION: Duration that shutter is held open
      • CAM_SERVO_ON: Servo ON PWM value
      • CAM_SERVO_OFF: Servo OFF PWM value
      • CAM_TRIGG_DIST: Camera trigger distance
      • CAM_RELAY_ON: Relay ON value
      • CAM_MIN_INTERVAL: Minimum time between photos
      • CAM_MAX_ROLL: Maximum photo roll angle.
      • CAM_FEEDBACK_PIN: Camera feedback pin
      • CAM_FEEDBACK_POL: Camera feedback pin polarity
      • CAM_AUTO_ONLY: Distance-trigging in AUTO mode only
      • CAM_TYPE: Type of camera (0: None, 1: BMMCC)
    • CAN_D1_ Parameters
      • CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver
    • CAN_D1_KDE_ Parameters
      • CAN_D1_KDE_NPOLE: Number of motor poles
    • CAN_D1_UC_ Parameters
      • CAN_D1_UC_NODE: UAVCAN node that is used for this network
      • CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
      • CAN_D1_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
      • CAN_D1_UC_SRV_RT: Servo output rate
    • CAN_D2_ Parameters
      • CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver
    • CAN_D2_KDE_ Parameters
      • CAN_D2_KDE_NPOLE: Number of motor poles
    • CAN_D2_UC_ Parameters
      • CAN_D2_UC_NODE: UAVCAN node that is used for this network
      • CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
      • CAN_D2_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
      • CAN_D2_UC_SRV_RT: Servo output rate
    • CAN_D3_ Parameters
      • CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver
    • CAN_D3_KDE_ Parameters
      • CAN_D3_KDE_NPOLE: Number of motor poles
    • CAN_D3_UC_ Parameters
      • CAN_D3_UC_NODE: UAVCAN node that is used for this network
      • CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
      • CAN_D3_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
      • CAN_D3_UC_SRV_RT: Servo output rate
    • CAN_P1_ Parameters
      • CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface
      • CAN_P1_BITRATE: Bitrate of CAN interface
      • CAN_P1_DEBUG: Level of debug for CAN devices
    • CAN_P2_ Parameters
      • CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface
      • CAN_P2_BITRATE: Bitrate of CAN interface
      • CAN_P2_DEBUG: Level of debug for CAN devices
    • CAN_P3_ Parameters
      • CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface
      • CAN_P3_BITRATE: Bitrate of CAN interface
      • CAN_P3_DEBUG: Level of debug for CAN devices
    • CAN_SLCAN_ Parameters
      • CAN_SLCAN_CPORT: SLCAN Route
      • CAN_SLCAN_SERNUM: SLCAN Serial Port
      • CAN_SLCAN_TIMOUT: SLCAN Timeout
    • CHUTE_ Parameters
      • CHUTE_ENABLED: Parachute release enabled or disabled
      • CHUTE_TYPE: Parachute release mechanism type (relay or servo)
      • CHUTE_SERVO_ON: Parachute Servo ON PWM value
      • CHUTE_SERVO_OFF: Servo OFF PWM value
      • CHUTE_ALT_MIN: Parachute min altitude in meters above home
      • CHUTE_DELAY_MS: Parachute release delay
      • CHUTE_CRT_SINK: Critical sink speed rate in m/s to trigger emergency parachute
    • CIRCLE_ Parameters
      • CIRCLE_RADIUS: Circle Radius
      • CIRCLE_RATE: Circle rate
    • COMPASS_ Parameters
      • COMPASS_OFS_X: Compass offsets in milligauss on the X axis
      • COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis
      • COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis
      • COMPASS_DEC: Compass declination
      • COMPASS_LEARN: Learn compass offsets automatically
      • COMPASS_USE: Use compass for yaw
      • COMPASS_AUTODEC: Auto Declination
      • COMPASS_MOTCT: Motor interference compensation type
      • COMPASS_MOT_X: Motor interference compensation for body frame X axis
      • COMPASS_MOT_Y: Motor interference compensation for body frame Y axis
      • COMPASS_MOT_Z: Motor interference compensation for body frame Z axis
      • COMPASS_ORIENT: Compass orientation
      • COMPASS_EXTERNAL: Compass is attached via an external cable
      • COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis
      • COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis
      • COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis
      • COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis
      • COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis
      • COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis
      • COMPASS_PRIMARY: Choose primary compass
      • COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis
      • COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis
      • COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis
      • COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis
      • COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis
      • COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis
      • COMPASS_DEV_ID: Compass device id
      • COMPASS_DEV_ID2: Compass2 device id
      • COMPASS_DEV_ID3: Compass3 device id
      • COMPASS_USE2: Compass2 used for yaw
      • COMPASS_ORIENT2: Compass2 orientation
      • COMPASS_EXTERN2: Compass2 is attached via an external cable
      • COMPASS_USE3: Compass3 used for yaw
      • COMPASS_ORIENT3: Compass3 orientation
      • COMPASS_EXTERN3: Compass3 is attached via an external cable
      • COMPASS_DIA_X: Compass soft-iron diagonal X component
      • COMPASS_DIA_Y: Compass soft-iron diagonal Y component
      • COMPASS_DIA_Z: Compass soft-iron diagonal Z component
      • COMPASS_ODI_X: Compass soft-iron off-diagonal X component
      • COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component
      • COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component
      • COMPASS_DIA2_X: Compass2 soft-iron diagonal X component
      • COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component
      • COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component
      • COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component
      • COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component
      • COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component
      • COMPASS_DIA3_X: Compass3 soft-iron diagonal X component
      • COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component
      • COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component
      • COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component
      • COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component
      • COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component
      • COMPASS_CAL_FIT: Compass calibration fitness
      • COMPASS_OFFS_MAX: Compass maximum offset
      • COMPASS_TYPEMASK: Compass disable driver type mask
      • COMPASS_FLTR_RNG: Range in which sample is accepted
      • COMPASS_AUTO_ROT: Automatically check orientation
      • COMPASS_EXP_DID: Compass device id expected
      • COMPASS_EXP_DID2: Compass2 device id expected
      • COMPASS_EXP_DID3: Compass3 device id expected
      • COMPASS_ENABLE: Enable Compass
    • COMPASS_PMOT Parameters
      • COMPASS_PMOT_EN: per-motor compass correction enable
      • COMPASS_PMOT_EXP: per-motor exponential correction
      • COMPASS_PMOT1_X: Compass per-motor1 X
      • COMPASS_PMOT1_Y: Compass per-motor1 Y
      • COMPASS_PMOT1_Z: Compass per-motor1 Z
      • COMPASS_PMOT2_X: Compass per-motor2 X
      • COMPASS_PMOT2_Y: Compass per-motor2 Y
      • COMPASS_PMOT2_Z: Compass per-motor2 Z
      • COMPASS_PMOT3_X: Compass per-motor3 X
      • COMPASS_PMOT3_Y: Compass per-motor3 Y
      • COMPASS_PMOT3_Z: Compass per-motor3 Z
      • COMPASS_PMOT4_X: Compass per-motor4 X
      • COMPASS_PMOT4_Y: Compass per-motor4 Y
      • COMPASS_PMOT4_Z: Compass per-motor4 Z
    • EK2_ Parameters
      • EK2_ENABLE: Enable EKF2
      • EK2_GPS_TYPE: GPS mode control
      • EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
      • EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
      • EK2_VEL_I_GATE: GPS velocity innovation gate size
      • EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)
      • EK2_POS_I_GATE: GPS position measurement gate size
      • EK2_GLITCH_RAD: GPS glitch radius gate size (m)
      • EK2_ALT_SOURCE: Primary altitude sensor source
      • EK2_ALT_M_NSE: Altitude measurement noise (m)
      • EK2_HGT_I_GATE: Height measurement gate size
      • EK2_HGT_DELAY: Height measurement delay (msec)
      • EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)
      • EK2_MAG_CAL: Magnetometer default fusion mode
      • EK2_MAG_I_GATE: Magnetometer measurement gate size
      • EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
      • EK2_EAS_I_GATE: Airspeed measurement gate size
      • EK2_RNG_M_NSE: Range finder measurement noise (m)
      • EK2_RNG_I_GATE: Range finder measurement gate size
      • EK2_MAX_FLOW: Maximum valid optical flow rate
      • EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)
      • EK2_FLOW_I_GATE: Optical Flow measurement gate size
      • EK2_FLOW_DELAY: Optical Flow measurement delay (msec)
      • EK2_GYRO_P_NSE: Rate gyro noise (rad/s)
      • EK2_ACC_P_NSE: Accelerometer noise (m/s^2)
      • EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
      • EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)
      • EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
      • EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)
      • EK2_WIND_PSCALE: Height rate to wind process noise scaler
      • EK2_GPS_CHECK: GPS preflight check
      • EK2_IMU_MASK: Bitmask of active IMUs
      • EK2_CHECK_SCALE: GPS accuracy check scaler (%)
      • EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
      • EK2_LOG_MASK: EKF sensor logging IMU mask
      • EK2_YAW_M_NSE: Yaw measurement noise (rad)
      • EK2_YAW_I_GATE: Yaw measurement gate size
      • EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
      • EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
      • EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
      • EK2_RNG_USE_HGT: Range finder switch height percentage
      • EK2_TERR_GRAD: Maximum terrain gradient
      • EK2_BCN_M_NSE: Range beacon measurement noise (m)
      • EK2_BCN_I_GTE: Range beacon measurement gate size
      • EK2_BCN_DELAY: Range beacon measurement delay (msec)
      • EK2_RNG_USE_SPD: Range finder max ground speed
      • EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
      • EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction
      • EK2_EXTNAV_DELAY: external navigation system measurement delay (msec)
      • EK2_FLOW_USE: Optical flow use bitmask
      • EK2_MAG_EF_LIM: EarthField error limit
    • EK3_ Parameters
      • EK3_ENABLE: Enable EKF3
      • EK3_GPS_TYPE: GPS mode control
      • EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
      • EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
      • EK3_VEL_I_GATE: GPS velocity innovation gate size
      • EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)
      • EK3_POS_I_GATE: GPS position measurement gate size
      • EK3_GLITCH_RAD: GPS glitch radius gate size (m)
      • EK3_ALT_SOURCE: Primary altitude sensor source
      • EK3_ALT_M_NSE: Altitude measurement noise (m)
      • EK3_HGT_I_GATE: Height measurement gate size
      • EK3_HGT_DELAY: Height measurement delay (msec)
      • EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)
      • EK3_MAG_CAL: Magnetometer default fusion mode
      • EK3_MAG_I_GATE: Magnetometer measurement gate size
      • EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
      • EK3_EAS_I_GATE: Airspeed measurement gate size
      • EK3_RNG_M_NSE: Range finder measurement noise (m)
      • EK3_RNG_I_GATE: Range finder measurement gate size
      • EK3_MAX_FLOW: Maximum valid optical flow rate
      • EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)
      • EK3_FLOW_I_GATE: Optical Flow measurement gate size
      • EK3_FLOW_DELAY: Optical Flow measurement delay (msec)
      • EK3_GYRO_P_NSE: Rate gyro noise (rad/s)
      • EK3_ACC_P_NSE: Accelerometer noise (m/s^2)
      • EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
      • EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
      • EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)
      • EK3_WIND_PSCALE: Height rate to wind process noise scaler
      • EK3_GPS_CHECK: GPS preflight check
      • EK3_IMU_MASK: Bitmask of active IMUs
      • EK3_CHECK_SCALE: GPS accuracy check scaler (%)
      • EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
      • EK3_LOG_MASK: EKF sensor logging IMU mask
      • EK3_YAW_M_NSE: Yaw measurement noise (rad)
      • EK3_YAW_I_GATE: Yaw measurement gate size
      • EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
      • EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
      • EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
      • EK3_RNG_USE_HGT: Range finder switch height percentage
      • EK3_TERR_GRAD: Maximum terrain gradient
      • EK3_BCN_M_NSE: Range beacon measurement noise (m)
      • EK3_BCN_I_GTE: Range beacon measurement gate size
      • EK3_BCN_DELAY: Range beacon measurement delay (msec)
      • EK3_RNG_USE_SPD: Range finder max ground speed
      • EK3_ACC_BIAS_LIM: Accelerometer bias limit
      • EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
      • EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction
      • EK3_VIS_VERR_MIN: Visual odometry minimum velocity error
      • EK3_VIS_VERR_MAX: Visual odometry maximum velocity error
      • EK3_WENC_VERR: Wheel odometry velocity error
      • EK3_FLOW_USE: Optical flow use bitmask
    • FENCE_ Parameters
      • FENCE_ENABLE: Fence enable/disable
      • FENCE_TYPE: Fence Type
      • FENCE_ACTION: Fence Action
      • FENCE_ALT_MAX: Fence Maximum Altitude
      • FENCE_RADIUS: Circular Fence Radius
      • FENCE_MARGIN: Fence Margin
      • FENCE_TOTAL: Fence polygon point total
      • FENCE_ALT_MIN: Fence Minimum Altitude
    • FHLD Parameters
      • FHLD_XY_P: FlowHold P gain
      • FHLD_XY_I: FlowHold I gain
      • FHLD_XY_IMAX: FlowHold Integrator Max
      • FHLD_XY_FILT_HZ: FlowHold filter on input to control
      • FHLD_FLOW_MAX: FlowHold Flow Rate Max
      • FHLD_FILT_HZ: FlowHold Filter Frequency
      • FHLD_QUAL_MIN: FlowHold Flow quality minimum
      • FHLD_BRAKE_RATE: FlowHold Braking rate
    • FLOW Parameters
      • FLOW_TYPE: Optical flow sensor type
      • FLOW_FXSCALER: X axis optical flow scale factor correction
      • FLOW_FYSCALER: Y axis optical flow scale factor correction
      • FLOW_ORIENT_YAW: Flow sensor yaw alignment
      • FLOW_POS_X: X position offset
      • FLOW_POS_Y: Y position offset
      • FLOW_POS_Z: Z position offset
      • FLOW_ADDR: Address on the bus
      • FLOW_ENABLE: Optical flow enable/disable
    • FOLL Parameters
      • FOLL_ENABLE: Follow enable/disable
      • FOLL_SYSID: Follow target’s mavlink system id
      • FOLL_DIST_MAX: Follow distance maximum
      • FOLL_OFS_TYPE: Follow offset type
      • FOLL_OFS_X: Follow offsets in meters north/forward
      • FOLL_OFS_Y: Follow offsets in meters east/right
      • FOLL_OFS_Z: Follow offsets in meters down
      • FOLL_YAW_BEHAVE: Follow yaw behaviour
      • FOLL_POS_P: Follow position error P gain
      • FOLL_ALT_TYPE: Follow altitude type
    • GND_ Parameters
      • GND_ABS_PRESS: Absolute Pressure
      • GND_TEMP: ground temperature
      • GND_ALT_OFFSET: altitude offset
      • GND_PRIMARY: Primary barometer
      • GND_EXT_BUS: External baro bus
      • GND_SPEC_GRAV: Specific Gravity (For water depth measurement)
      • GND_ABS_PRESS2: Absolute Pressure
      • GND_ABS_PRESS3: Absolute Pressure
      • GND_FLTR_RNG: Range in which sample is accepted
      • GND_PROBE_EXT: External barometers to probe
    • GPS_ Parameters
      • GPS_TYPE: GPS type
      • GPS_TYPE2: 2nd GPS type
      • GPS_NAVFILTER: Navigation filter setting
      • GPS_AUTO_SWITCH: Automatic Switchover Setting
      • GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS
      • GPS_SBAS_MODE: SBAS Mode
      • GPS_MIN_ELEV: Minimum elevation
      • GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets
      • GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask
      • GPS_RAW_DATA: Raw data logging
      • GPS_GNSS_MODE: GNSS system configuration
      • GPS_SAVE_CFG: Save GPS configuration
      • GPS_GNSS_MODE2: GNSS system configuration
      • GPS_AUTO_CONFIG: Automatic GPS configuration
      • GPS_RATE_MS: GPS update rate in milliseconds
      • GPS_RATE_MS2: GPS 2 update rate in milliseconds
      • GPS_POS1_X: Antenna X position offset
      • GPS_POS1_Y: Antenna Y position offset
      • GPS_POS1_Z: Antenna Z position offset
      • GPS_POS2_X: Antenna X position offset
      • GPS_POS2_Y: Antenna Y position offset
      • GPS_POS2_Z: Antenna Z position offset
      • GPS_DELAY_MS: GPS delay in milliseconds
      • GPS_DELAY_MS2: GPS 2 delay in milliseconds
      • GPS_BLEND_MASK: Multi GPS Blending Mask
      • GPS_BLEND_TC: Blending time constant
    • GRIP_ Parameters
      • GRIP_ENABLE: Gripper Enable/Disable
      • GRIP_TYPE: Gripper Type
      • GRIP_GRAB: Gripper Grab PWM
      • GRIP_RELEASE: Gripper Release PWM
      • GRIP_NEUTRAL: Neutral PWM
      • GRIP_REGRAB: Gripper Regrab interval
      • GRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID
    • H_ Parameters
      • H_TAIL_TYPE: Tail Type
      • H_GYR_GAIN: External Gyro Gain
      • H_COLYAW: Collective-Yaw Mixing
      • H_FLYBAR_MODE: Flybar Mode Selector
      • H_TAIL_SPEED: Direct Drive VarPitch Tail ESC speed
      • H_GYR_GAIN_ACRO: External Gyro Gain for ACRO
      • H_SW_TYPE (AP_MotorsHeli_Single): Swashplate 1 Type
      • H_SW_COL_DIR (AP_MotorsHeli_Single): Swashplate 1 Collective Control Direction
      • H_SW_LIN_SVO (AP_MotorsHeli_Single): Linearize Swashplate 1 Servo Mechanical Throw
      • H_SW_H3_ENABLE (AP_MotorsHeli_Single): Swashplate 1 Enable Generic H3 Settings
      • H_SW_H3_SV1_POS (AP_MotorsHeli_Single): Swashplate 1 Servo 1 Position
      • H_SW_H3_SV2_POS (AP_MotorsHeli_Single): Swashplate 1 Servo 2 Position
      • H_SW_H3_PHANG (AP_MotorsHeli_Single): Swashplate 1 Phase Angle Compensation
      • H_DUAL_MODE: Dual Mode
      • H_DCP_SCALER: Differential-Collective-Pitch Scaler
      • H_DCP_YAW: Differential-Collective-Pitch Yaw Mixing
      • H_YAW_SCALER: Scaler for yaw mixing
      • H_COL2_MIN: Collective Pitch Minimum for rear swashplate
      • H_COL2_MAX: Collective Pitch Maximum for rear swashplate
      • H_COL2_MID: Collective Pitch Mid-Point for rear swashplate
      • H_SW_TYPE (AP_MotorsHeli_Dual): Swashplate 1 Type
      • H_SW_COL_DIR (AP_MotorsHeli_Dual): Swashplate 1 Collective Control Direction
      • H_SW_LIN_SVO (AP_MotorsHeli_Dual): Linearize Swashplate 1 Servo Mechanical Throw
      • H_SW_H3_ENABLE (AP_MotorsHeli_Dual): Swashplate 1 Enable Generic H3 Settings
      • H_SW_H3_SV1_POS (AP_MotorsHeli_Dual): Swashplate 1 Servo 1 Position
      • H_SW_H3_SV2_POS (AP_MotorsHeli_Dual): Swashplate 1 Servo 2 Position
      • H_SW_H3_PHANG (AP_MotorsHeli_Dual): Swashplate 1 Phase Angle Compensation
      • H_SW2_TYPE: Swashplate 2 Type
      • H_SW2_COL_DIR: Swashplate 2 Collective Control Direction
      • H_SW2_LIN_SVO: Linearize Swashplate 2 Servo Mechanical Throw
      • H_SW2_H3_ENABLE: Swashplate 2 Enable Generic H3 Settings
      • H_SW2_H3_SV1_POS: Swashplate 2 Servo 1 Position
      • H_SW2_H3_SV2_POS: Swashplate 2 Servo 2 Position
      • H_SW2_H3_PHANG: Swashplate 2 Phase Angle Compensation
      • H_COL_MIN: Collective Pitch Minimum
      • H_COL_MAX: Collective Pitch Maximum
      • H_COL_MID: Collective Pitch Mid-Point
      • H_SV_MAN: Manual Servo Mode
      • H_CYC_MAX: Cyclic Pitch Angle Max
      • H_SV_TEST: Boot-up Servo Test Cycles
    • H_RSC_ Parameters
      • H_RSC_SETPOINT: External Motor Governor Setpoint
      • H_RSC_MODE: Rotor Speed Control Mode
      • H_RSC_RAMP_TIME: RSC Throttle Output Ramp Time
      • H_RSC_RUNUP_TIME: Rotor Runup Time
      • H_RSC_CRITICAL: Critical Rotor Speed
      • H_RSC_IDLE: RSC Throttle Output at Idle
      • H_RSC_SLEWRATE: RSC Throttle Output Slew Rate
      • H_RSC_THRCRV_0: RSC Throttle Output at 0% collective
      • H_RSC_THRCRV_25: RSC Throttle Output at 25% collective
      • H_RSC_THRCRV_50: RSC Throttle Output at 50% collective
      • H_RSC_THRCRV_75: RSC Throttle Output at 75% collective
      • H_RSC_THRCRV_100: RSC Throttle Output at 100% collective
      • H_RSC_GOV_SETPNT: Main Rotor Governor RPM Setpoint
      • H_RSC_GOV_DISGAG: Throttle Percentage for Governor Disengage
      • H_RSC_GOV_DROOP: Governor Droop Response Setting
      • H_RSC_GOV_TCGAIN: Governor Throttle Curve Gain
      • H_RSC_GOV_RANGE: Governor Operational Range
    • IM_ Parameters
      • IM_STAB_COL_1: Stabilize Mode Collective Point 1
      • IM_STAB_COL_2: Stabilize Mode Collective Point 2
      • IM_STAB_COL_3: Stabilize Mode Collective Point 3
      • IM_STAB_COL_4: Stabilize Mode Collective Point 4
      • IM_ACRO_COL_EXP: Acro Mode Collective Expo
    • INS_ Parameters
      • INS_GYROFFS_X: Gyro offsets of X axis
      • INS_GYROFFS_Y: Gyro offsets of Y axis
      • INS_GYROFFS_Z: Gyro offsets of Z axis
      • INS_GYR2OFFS_X: Gyro2 offsets of X axis
      • INS_GYR2OFFS_Y: Gyro2 offsets of Y axis
      • INS_GYR2OFFS_Z: Gyro2 offsets of Z axis
      • INS_GYR3OFFS_X: Gyro3 offsets of X axis
      • INS_GYR3OFFS_Y: Gyro3 offsets of Y axis
      • INS_GYR3OFFS_Z: Gyro3 offsets of Z axis
      • INS_ACCSCAL_X: Accelerometer scaling of X axis
      • INS_ACCSCAL_Y: Accelerometer scaling of Y axis
      • INS_ACCSCAL_Z: Accelerometer scaling of Z axis
      • INS_ACCOFFS_X: Accelerometer offsets of X axis
      • INS_ACCOFFS_Y: Accelerometer offsets of Y axis
      • INS_ACCOFFS_Z: Accelerometer offsets of Z axis
      • INS_ACC2SCAL_X: Accelerometer2 scaling of X axis
      • INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis
      • INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis
      • INS_ACC2OFFS_X: Accelerometer2 offsets of X axis
      • INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis
      • INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis
      • INS_ACC3SCAL_X: Accelerometer3 scaling of X axis
      • INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis
      • INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis
      • INS_ACC3OFFS_X: Accelerometer3 offsets of X axis
      • INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis
      • INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis
      • INS_GYRO_FILTER: Gyro filter cutoff frequency
      • INS_ACCEL_FILTER: Accel filter cutoff frequency
      • INS_USE: Use first IMU for attitude, velocity and position estimates
      • INS_USE2: Use second IMU for attitude, velocity and position estimates
      • INS_USE3: Use third IMU for attitude, velocity and position estimates
      • INS_STILL_THRESH: Stillness threshold for detecting if we are moving
      • INS_GYR_CAL: Gyro Calibration scheme
      • INS_TRIM_OPTION: Accel cal trim option
      • INS_ACC_BODYFIX: Body-fixed accelerometer
      • INS_POS1_X: IMU accelerometer X position
      • INS_POS1_Y: IMU accelerometer Y position
      • INS_POS1_Z: IMU accelerometer Z position
      • INS_POS2_X: IMU accelerometer X position
      • INS_POS2_Y: IMU accelerometer Y position
      • INS_POS2_Z: IMU accelerometer Z position
      • INS_POS3_X: IMU accelerometer X position
      • INS_POS3_Y: IMU accelerometer Y position
      • INS_POS3_Z: IMU accelerometer Z position
      • INS_GYR_ID: Gyro ID
      • INS_GYR2_ID: Gyro2 ID
      • INS_GYR3_ID: Gyro3 ID
      • INS_ACC_ID: Accelerometer ID
      • INS_ACC2_ID: Accelerometer2 ID
      • INS_ACC3_ID: Accelerometer3 ID
      • INS_FAST_SAMPLE: Fast sampling mask
      • INS_ENABLE_MASK: IMU enable mask
    • INS_HNTCH_ Parameters
      • INS_HNTCH_ENABLE: Harmonic Notch Filter enable
      • INS_HNTCH_FREQ: Harmonic Notch Filter base frequency
      • INS_HNTCH_BW: Harmonic Notch Filter bandwidth
      • INS_HNTCH_ATT: Harmonic Notch Filter attenuation
      • INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics
      • INS_HNTCH_REF: Harmonic Notch Filter reference value
    • INS_LOG_ Parameters
      • INS_LOG_BAT_CNT: sample count per batch
      • INS_LOG_BAT_MASK: Sensor Bitmask
      • INS_LOG_BAT_OPT: Batch Logging Options Mask
      • INS_LOG_BAT_LGIN: logging interval
      • INS_LOG_BAT_LGCT: logging count
    • INS_NOTCH_ Parameters
      • INS_NOTCH_ENABLE: Enable
      • INS_NOTCH_ATT: Attenuation
      • INS_NOTCH_FREQ: Frequency
      • INS_NOTCH_BW: Bandwidth
    • LGR_ Parameters
      • LGR_STARTUP: Landing Gear Startup position
      • LGR_DEPLOY_PIN: Chassis deployment feedback pin
      • LGR_DEPLOY_POL: Chassis deployment feedback pin polarity
      • LGR_WOW_PIN: Weight on wheels feedback pin
      • LGR_WOW_POL: Weight on wheels feedback pin polarity
      • LGR_DEPLOY_ALT: Landing gear deployment altitude
      • LGR_RETRACT_ALT: Landing gear retract altitude
    • LOG Parameters
      • LOG_BACKEND_TYPE: AP_Logger Backend Storage type
      • LOG_FILE_BUFSIZE: Maximum AP_Logger File Backend buffer size (in kilobytes)
      • LOG_DISARMED: Enable logging while disarmed
      • LOG_REPLAY: Enable logging of information needed for Replay
      • LOG_FILE_DSRMROT: Stop logging to current file on disarm
      • LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size
      • LOG_FILE_TIMEOUT: Timeout before giving up on file writes
    • LOIT_ Parameters
      • LOIT_ANG_MAX: Loiter Angle Max
      • LOIT_SPEED: Loiter Horizontal Maximum Speed
      • LOIT_ACC_MAX: Loiter maximum correction acceleration
      • LOIT_BRK_ACCEL: Loiter braking acceleration
      • LOIT_BRK_JERK: Loiter braking jerk
      • LOIT_BRK_DELAY: Loiter brake start delay (in seconds)
    • MIS_ Parameters
      • MIS_TOTAL: Total mission commands
      • MIS_RESTART: Mission Restart when entering Auto mode
      • MIS_OPTIONS: Mission options bitmask
    • MNT Parameters
      • MNT_DEFLT_MODE: Mount default operating mode
      • MNT_RETRACT_X: Mount roll angle when in retracted position
      • MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position
      • MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position
      • MNT_NEUTRAL_X: Mount roll angle when in neutral position
      • MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position
      • MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position
      • MNT_STAB_ROLL: Stabilize mount’s roll angle
      • MNT_STAB_TILT: Stabilize mount’s pitch/tilt angle
      • MNT_STAB_PAN: Stabilize mount pan/yaw angle
      • MNT_RC_IN_ROLL: roll RC input channel
      • MNT_ANGMIN_ROL: Minimum roll angle
      • MNT_ANGMAX_ROL: Maximum roll angle
      • MNT_RC_IN_TILT: tilt (pitch) RC input channel
      • MNT_ANGMIN_TIL: Minimum tilt angle
      • MNT_ANGMAX_TIL: Maximum tilt angle
      • MNT_RC_IN_PAN: pan (yaw) RC input channel
      • MNT_ANGMIN_PAN: Minimum pan angle
      • MNT_ANGMAX_PAN: Maximum pan angle
      • MNT_JSTICK_SPD: mount joystick speed
      • MNT_LEAD_RLL: Roll stabilization lead time
      • MNT_LEAD_PTCH: Pitch stabilization lead time
      • MNT_TYPE: Mount Type
      • MNT2_DEFLT_MODE: Mount default operating mode
      • MNT2_RETRACT_X: Mount2 roll angle when in retracted position
      • MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position
      • MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position
      • MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position
      • MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position
      • MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position
      • MNT2_STAB_ROLL: Stabilize Mount2’s roll angle
      • MNT2_STAB_TILT: Stabilize Mount2’s pitch/tilt angle
      • MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle
      • MNT2_RC_IN_ROLL: Mount2’s roll RC input channel
      • MNT2_ANGMIN_ROL: Mount2’s minimum roll angle
      • MNT2_ANGMAX_ROL: Mount2’s maximum roll angle
      • MNT2_RC_IN_TILT: Mount2’s tilt (pitch) RC input channel
      • MNT2_ANGMIN_TIL: Mount2’s minimum tilt angle
      • MNT2_ANGMAX_TIL: Mount2’s maximum tilt angle
      • MNT2_RC_IN_PAN: Mount2’s pan (yaw) RC input channel
      • MNT2_ANGMIN_PAN: Mount2’s minimum pan angle
      • MNT2_ANGMAX_PAN: Mount2’s maximum pan angle
      • MNT2_LEAD_RLL: Mount2’s Roll stabilization lead time
      • MNT2_LEAD_PTCH: Mount2’s Pitch stabilization lead time
      • MNT2_TYPE: Mount2 Type
    • MOT_ Parameters
      • MOT_YAW_HEADROOM: Matrix Yaw Min
      • MOT_THST_EXPO: Thrust Curve Expo
      • MOT_SPIN_MAX: Motor Spin maximum
      • MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage
      • MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage
      • MOT_BAT_CURR_MAX: Motor Current Max
      • MOT_PWM_TYPE: Output PWM type
      • MOT_PWM_MIN: PWM output miniumum
      • MOT_PWM_MAX: PWM output maximum
      • MOT_SPIN_MIN: Motor Spin minimum
      • MOT_SPIN_ARM: Motor Spin armed
      • MOT_BAT_CURR_TC: Motor Current Max Time Constant
      • MOT_THST_HOVER: Thrust Hover Value
      • MOT_HOVER_LEARN: Hover Value Learning
      • MOT_SAFE_DISARM: Motor PWM output disabled when disarmed
      • MOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle
      • MOT_SPOOL_TIME: Spool up time
      • MOT_BOOST_SCALE: Motor boost scale
      • MOT_BAT_IDX: Battery compensation index
      • MOT_SLEW_UP_TIME: Output slew time for increasing throttle
      • MOT_SLEW_DN_TIME: Output slew time for decreasing throttle
    • NTF_ Parameters
      • NTF_LED_BRIGHT: LED Brightness
      • NTF_BUZZ_ENABLE: Buzzer enable
      • NTF_LED_OVERRIDE: Specifies colour source for the RGBLed
      • NTF_DISPLAY_TYPE: Type of on-board I2C display
      • NTF_OREO_THEME: OreoLED Theme
      • NTF_BUZZ_PIN: Buzzer pin
      • NTF_LED_TYPES: LED Driver Types
      • NTF_BUZZ_ON_LVL: Buzzer-on pin logic level
      • NTF_BUZZ_VOLUME: Buzzer volume
    • OA_ Parameters
      • OA_TYPE: Object Avoidance Path Planning algorithm to use
      • OA_LOOKAHEAD: Object Avoidance look ahead distance maximum
      • OA_MARGIN_MAX: Object Avoidance wide margin distance
    • OA_DB_ Parameters
      • OA_DB_SIZE: OADatabase maximum number of points
      • OA_DB_EXPIRE: OADatabase item timeout
      • OA_DB_QUEUE_SIZE: OADatabase queue maximum number of points
      • OA_DB_OUTPUT: OADatabase output level
    • OSD Parameters
      • OSD_TYPE: OSD type
      • OSD_CHAN: Screen switch transmitter channel
      • OSD_OPTIONS: OSD Options
      • OSD_FONT: OSD Font
      • OSD_V_OFFSET: OSD vertical offset
      • OSD_H_OFFSET: OSD horizontal offset
      • OSD_W_RSSI: RSSI warn level (in %)
      • OSD_W_NSAT: NSAT warn level
      • OSD_W_BATVOLT: BAT_VOLT warn level
      • OSD_UNITS: Display Units
      • OSD_MSG_TIME: Message display duration in seconds
      • OSD_ARM_SCR: Arm screen
      • OSD_DSARM_SCR: Disarm screen
      • OSD_FS_SCR: Failsafe screen
    • OSD1_ Parameters
      • OSD1_ENABLE: Enable screen
      • OSD1_CHAN_MIN: Transmitter switch screen minimum pwm
      • OSD1_CHAN_MAX: Transmitter switch screen maximum pwm
      • OSD1_ALTITUDE_EN: ALTITUDE_EN
      • OSD1_ALTITUDE_X: ALTITUDE_X
      • OSD1_ALTITUDE_Y: ALTITUDE_Y
      • OSD1_BATVOLT_EN: BATVOLT_EN
      • OSD1_BATVOLT_X: BATVOLT_X
      • OSD1_BATVOLT_Y: BATVOLT_Y
      • OSD1_RSSI_EN: RSSI_EN
      • OSD1_RSSI_X: RSSI_X
      • OSD1_RSSI_Y: RSSI_Y
      • OSD1_CURRENT_EN: CURRENT_EN
      • OSD1_CURRENT_X: CURRENT_X
      • OSD1_CURRENT_Y: CURRENT_Y
      • OSD1_BATUSED_EN: BATUSED_EN
      • OSD1_BATUSED_X: BATUSED_X
      • OSD1_BATUSED_Y: BATUSED_Y
      • OSD1_SATS_EN: SATS_EN
      • OSD1_SATS_X: SATS_X
      • OSD1_SATS_Y: SATS_Y
      • OSD1_FLTMODE_EN: FLTMODE_EN
      • OSD1_FLTMODE_X: FLTMODE_X
      • OSD1_FLTMODE_Y: FLTMODE_Y
      • OSD1_MESSAGE_EN: MESSAGE_EN
      • OSD1_MESSAGE_X: MESSAGE_X
      • OSD1_MESSAGE_Y: MESSAGE_Y
      • OSD1_GSPEED_EN: GSPEED_EN
      • OSD1_GSPEED_X: GSPEED_X
      • OSD1_GSPEED_Y: GSPEED_Y
      • OSD1_HORIZON_EN: HORIZON_EN
      • OSD1_HORIZON_X: HORIZON_X
      • OSD1_HORIZON_Y: HORIZON_Y
      • OSD1_HOME_EN: HOME_EN
      • OSD1_HOME_X: HOME_X
      • OSD1_HOME_Y: HOME_Y
      • OSD1_HEADING_EN: HEADING_EN
      • OSD1_HEADING_X: HEADING_X
      • OSD1_HEADING_Y: HEADING_Y
      • OSD1_THROTTLE_EN: THROTTLE_EN
      • OSD1_THROTTLE_X: THROTTLE_X
      • OSD1_THROTTLE_Y: THROTTLE_Y
      • OSD1_COMPASS_EN: COMPASS_EN
      • OSD1_COMPASS_X: COMPASS_X
      • OSD1_COMPASS_Y: COMPASS_Y
      • OSD1_WIND_EN: WIND_EN
      • OSD1_WIND_X: WIND_X
      • OSD1_WIND_Y: WIND_Y
      • OSD1_ASPEED_EN: ASPEED_EN
      • OSD1_ASPEED_X: ASPEED_X
      • OSD1_ASPEED_Y: ASPEED_Y
      • OSD1_VSPEED_EN: VSPEED_EN
      • OSD1_VSPEED_X: VSPEED_X
      • OSD1_VSPEED_Y: VSPEED_Y
      • OSD1_BLHTEMP_EN: BLHTEMP_EN
      • OSD1_BLHTEMP_X: BLHTEMP_X
      • OSD1_BLHTEMP_Y: BLHTEMP_Y
      • OSD1_BLHRPM_EN: BLHRPM_EN
      • OSD1_BLHRPM_X: BLHRPM_X
      • OSD1_BLHRPM_Y: BLHRPM_Y
      • OSD1_BLHAMPS_EN: BLHAMPS_EN
      • OSD1_BLHAMPS_X: BLHAMPS_X
      • OSD1_BLHAMPS_Y: BLHAMPS_Y
      • OSD1_GPSLAT_EN: GPSLAT_EN
      • OSD1_GPSLAT_X: GPSLAT_X
      • OSD1_GPSLAT_Y: GPSLAT_Y
      • OSD1_GPSLONG_EN: GPSLONG_EN
      • OSD1_GPSLONG_X: GPSLONG_X
      • OSD1_GPSLONG_Y: GPSLONG_Y
      • OSD1_ROLL_EN: ROLL_EN
      • OSD1_ROLL_X: ROLL_X
      • OSD1_ROLL_Y: ROLL_Y
      • OSD1_PITCH_EN: PITCH_EN
      • OSD1_PITCH_X: PITCH_X
      • OSD1_PITCH_Y: PITCH_Y
      • OSD1_TEMP_EN: TEMP_EN
      • OSD1_TEMP_X: TEMP_X
      • OSD1_TEMP_Y: TEMP_Y
      • OSD1_HDOP_EN: HDOP_EN
      • OSD1_HDOP_X: HDOP_X
      • OSD1_HDOP_Y: HDOP_Y
      • OSD1_WAYPOINT_EN: WAYPOINT_EN
      • OSD1_WAYPOINT_X: WAYPOINT_X
      • OSD1_WAYPOINT_Y: WAYPOINT_Y
      • OSD1_XTRACK_EN: XTRACK_EN
      • OSD1_XTRACK_X: XTRACK_X
      • OSD1_XTRACK_Y: XTRACK_Y
      • OSD1_DIST_EN: DIST_EN
      • OSD1_DIST_X: DIST_X
      • OSD1_DIST_Y: DIST_Y
      • OSD1_STATS_EN: STATS_EN
      • OSD1_STATS_X: STATS_X
      • OSD1_STATS_Y: STATS_Y
      • OSD1_FLTIME_EN: FLTIME_EN
      • OSD1_FLTIME_X: FLTIME_X
      • OSD1_FLTIME_Y: FLTIME_Y
      • OSD1_CLIMBEFF_EN: CLIMBEFF_EN
      • OSD1_CLIMBEFF_X: CLIMBEFF_X
      • OSD1_CLIMBEFF_Y: CLIMBEFF_Y
      • OSD1_EFF_EN: EFF_EN
      • OSD1_EFF_X: EFF_X
      • OSD1_EFF_Y: EFF_Y
      • OSD1_BTEMP_EN: BTEMP_EN
      • OSD1_BTEMP_X: BTEMP_X
      • OSD1_BTEMP_Y: BTEMP_Y
      • OSD1_ATEMP_EN: ATEMP_EN
      • OSD1_ATEMP_X: ATEMP_X
      • OSD1_ATEMP_Y: ATEMP_Y
      • OSD1_BAT2VLT_EN: BAT2VLT_EN
      • OSD1_BAT2VLT_X: BAT2VLT_X
      • OSD1_BAT2VLT_Y: BAT2VLT_Y
      • OSD1_BAT2USED_EN: BAT2USED_EN
      • OSD1_BAT2USED_X: BAT2USED_X
      • OSD1_BAT2USED_Y: BAT2USED_Y
      • OSD1_ASPD2_EN: ASPD2_EN
      • OSD1_ASPD2_X: ASPD2_X
      • OSD1_ASPD2_Y: ASPD2_Y
      • OSD1_ASPD1_EN: ASPD1_EN
      • OSD1_ASPD1_X: ASPD1_X
      • OSD1_ASPD1_Y: ASPD1_Y
    • OSD2_ Parameters
      • OSD2_ENABLE: Enable screen
      • OSD2_CHAN_MIN: Transmitter switch screen minimum pwm
      • OSD2_CHAN_MAX: Transmitter switch screen maximum pwm
      • OSD2_ALTITUDE_EN: ALTITUDE_EN
      • OSD2_ALTITUDE_X: ALTITUDE_X
      • OSD2_ALTITUDE_Y: ALTITUDE_Y
      • OSD2_BATVOLT_EN: BATVOLT_EN
      • OSD2_BATVOLT_X: BATVOLT_X
      • OSD2_BATVOLT_Y: BATVOLT_Y
      • OSD2_RSSI_EN: RSSI_EN
      • OSD2_RSSI_X: RSSI_X
      • OSD2_RSSI_Y: RSSI_Y
      • OSD2_CURRENT_EN: CURRENT_EN
      • OSD2_CURRENT_X: CURRENT_X
      • OSD2_CURRENT_Y: CURRENT_Y
      • OSD2_BATUSED_EN: BATUSED_EN
      • OSD2_BATUSED_X: BATUSED_X
      • OSD2_BATUSED_Y: BATUSED_Y
      • OSD2_SATS_EN: SATS_EN
      • OSD2_SATS_X: SATS_X
      • OSD2_SATS_Y: SATS_Y
      • OSD2_FLTMODE_EN: FLTMODE_EN
      • OSD2_FLTMODE_X: FLTMODE_X
      • OSD2_FLTMODE_Y: FLTMODE_Y
      • OSD2_MESSAGE_EN: MESSAGE_EN
      • OSD2_MESSAGE_X: MESSAGE_X
      • OSD2_MESSAGE_Y: MESSAGE_Y
      • OSD2_GSPEED_EN: GSPEED_EN
      • OSD2_GSPEED_X: GSPEED_X
      • OSD2_GSPEED_Y: GSPEED_Y
      • OSD2_HORIZON_EN: HORIZON_EN
      • OSD2_HORIZON_X: HORIZON_X
      • OSD2_HORIZON_Y: HORIZON_Y
      • OSD2_HOME_EN: HOME_EN
      • OSD2_HOME_X: HOME_X
      • OSD2_HOME_Y: HOME_Y
      • OSD2_HEADING_EN: HEADING_EN
      • OSD2_HEADING_X: HEADING_X
      • OSD2_HEADING_Y: HEADING_Y
      • OSD2_THROTTLE_EN: THROTTLE_EN
      • OSD2_THROTTLE_X: THROTTLE_X
      • OSD2_THROTTLE_Y: THROTTLE_Y
      • OSD2_COMPASS_EN: COMPASS_EN
      • OSD2_COMPASS_X: COMPASS_X
      • OSD2_COMPASS_Y: COMPASS_Y
      • OSD2_WIND_EN: WIND_EN
      • OSD2_WIND_X: WIND_X
      • OSD2_WIND_Y: WIND_Y
      • OSD2_ASPEED_EN: ASPEED_EN
      • OSD2_ASPEED_X: ASPEED_X
      • OSD2_ASPEED_Y: ASPEED_Y
      • OSD2_VSPEED_EN: VSPEED_EN
      • OSD2_VSPEED_X: VSPEED_X
      • OSD2_VSPEED_Y: VSPEED_Y
      • OSD2_BLHTEMP_EN: BLHTEMP_EN
      • OSD2_BLHTEMP_X: BLHTEMP_X
      • OSD2_BLHTEMP_Y: BLHTEMP_Y
      • OSD2_BLHRPM_EN: BLHRPM_EN
      • OSD2_BLHRPM_X: BLHRPM_X
      • OSD2_BLHRPM_Y: BLHRPM_Y
      • OSD2_BLHAMPS_EN: BLHAMPS_EN
      • OSD2_BLHAMPS_X: BLHAMPS_X
      • OSD2_BLHAMPS_Y: BLHAMPS_Y
      • OSD2_GPSLAT_EN: GPSLAT_EN
      • OSD2_GPSLAT_X: GPSLAT_X
      • OSD2_GPSLAT_Y: GPSLAT_Y
      • OSD2_GPSLONG_EN: GPSLONG_EN
      • OSD2_GPSLONG_X: GPSLONG_X
      • OSD2_GPSLONG_Y: GPSLONG_Y
      • OSD2_ROLL_EN: ROLL_EN
      • OSD2_ROLL_X: ROLL_X
      • OSD2_ROLL_Y: ROLL_Y
      • OSD2_PITCH_EN: PITCH_EN
      • OSD2_PITCH_X: PITCH_X
      • OSD2_PITCH_Y: PITCH_Y
      • OSD2_TEMP_EN: TEMP_EN
      • OSD2_TEMP_X: TEMP_X
      • OSD2_TEMP_Y: TEMP_Y
      • OSD2_HDOP_EN: HDOP_EN
      • OSD2_HDOP_X: HDOP_X
      • OSD2_HDOP_Y: HDOP_Y
      • OSD2_WAYPOINT_EN: WAYPOINT_EN
      • OSD2_WAYPOINT_X: WAYPOINT_X
      • OSD2_WAYPOINT_Y: WAYPOINT_Y
      • OSD2_XTRACK_EN: XTRACK_EN
      • OSD2_XTRACK_X: XTRACK_X
      • OSD2_XTRACK_Y: XTRACK_Y
      • OSD2_DIST_EN: DIST_EN
      • OSD2_DIST_X: DIST_X
      • OSD2_DIST_Y: DIST_Y
      • OSD2_STATS_EN: STATS_EN
      • OSD2_STATS_X: STATS_X
      • OSD2_STATS_Y: STATS_Y
      • OSD2_FLTIME_EN: FLTIME_EN
      • OSD2_FLTIME_X: FLTIME_X
      • OSD2_FLTIME_Y: FLTIME_Y
      • OSD2_CLIMBEFF_EN: CLIMBEFF_EN
      • OSD2_CLIMBEFF_X: CLIMBEFF_X
      • OSD2_CLIMBEFF_Y: CLIMBEFF_Y
      • OSD2_EFF_EN: EFF_EN
      • OSD2_EFF_X: EFF_X
      • OSD2_EFF_Y: EFF_Y
      • OSD2_BTEMP_EN: BTEMP_EN
      • OSD2_BTEMP_X: BTEMP_X
      • OSD2_BTEMP_Y: BTEMP_Y
      • OSD2_ATEMP_EN: ATEMP_EN
      • OSD2_ATEMP_X: ATEMP_X
      • OSD2_ATEMP_Y: ATEMP_Y
      • OSD2_BAT2VLT_EN: BAT2VLT_EN
      • OSD2_BAT2VLT_X: BAT2VLT_X
      • OSD2_BAT2VLT_Y: BAT2VLT_Y
      • OSD2_BAT2USED_EN: BAT2USED_EN
      • OSD2_BAT2USED_X: BAT2USED_X
      • OSD2_BAT2USED_Y: BAT2USED_Y
      • OSD2_ASPD2_EN: ASPD2_EN
      • OSD2_ASPD2_X: ASPD2_X
      • OSD2_ASPD2_Y: ASPD2_Y
      • OSD2_ASPD1_EN: ASPD1_EN
      • OSD2_ASPD1_X: ASPD1_X
      • OSD2_ASPD1_Y: ASPD1_Y
    • OSD3_ Parameters
      • OSD3_ENABLE: Enable screen
      • OSD3_CHAN_MIN: Transmitter switch screen minimum pwm
      • OSD3_CHAN_MAX: Transmitter switch screen maximum pwm
      • OSD3_ALTITUDE_EN: ALTITUDE_EN
      • OSD3_ALTITUDE_X: ALTITUDE_X
      • OSD3_ALTITUDE_Y: ALTITUDE_Y
      • OSD3_BATVOLT_EN: BATVOLT_EN
      • OSD3_BATVOLT_X: BATVOLT_X
      • OSD3_BATVOLT_Y: BATVOLT_Y
      • OSD3_RSSI_EN: RSSI_EN
      • OSD3_RSSI_X: RSSI_X
      • OSD3_RSSI_Y: RSSI_Y
      • OSD3_CURRENT_EN: CURRENT_EN
      • OSD3_CURRENT_X: CURRENT_X
      • OSD3_CURRENT_Y: CURRENT_Y
      • OSD3_BATUSED_EN: BATUSED_EN
      • OSD3_BATUSED_X: BATUSED_X
      • OSD3_BATUSED_Y: BATUSED_Y
      • OSD3_SATS_EN: SATS_EN
      • OSD3_SATS_X: SATS_X
      • OSD3_SATS_Y: SATS_Y
      • OSD3_FLTMODE_EN: FLTMODE_EN
      • OSD3_FLTMODE_X: FLTMODE_X
      • OSD3_FLTMODE_Y: FLTMODE_Y
      • OSD3_MESSAGE_EN: MESSAGE_EN
      • OSD3_MESSAGE_X: MESSAGE_X
      • OSD3_MESSAGE_Y: MESSAGE_Y
      • OSD3_GSPEED_EN: GSPEED_EN
      • OSD3_GSPEED_X: GSPEED_X
      • OSD3_GSPEED_Y: GSPEED_Y
      • OSD3_HORIZON_EN: HORIZON_EN
      • OSD3_HORIZON_X: HORIZON_X
      • OSD3_HORIZON_Y: HORIZON_Y
      • OSD3_HOME_EN: HOME_EN
      • OSD3_HOME_X: HOME_X
      • OSD3_HOME_Y: HOME_Y
      • OSD3_HEADING_EN: HEADING_EN
      • OSD3_HEADING_X: HEADING_X
      • OSD3_HEADING_Y: HEADING_Y
      • OSD3_THROTTLE_EN: THROTTLE_EN
      • OSD3_THROTTLE_X: THROTTLE_X
      • OSD3_THROTTLE_Y: THROTTLE_Y
      • OSD3_COMPASS_EN: COMPASS_EN
      • OSD3_COMPASS_X: COMPASS_X
      • OSD3_COMPASS_Y: COMPASS_Y
      • OSD3_WIND_EN: WIND_EN
      • OSD3_WIND_X: WIND_X
      • OSD3_WIND_Y: WIND_Y
      • OSD3_ASPEED_EN: ASPEED_EN
      • OSD3_ASPEED_X: ASPEED_X
      • OSD3_ASPEED_Y: ASPEED_Y
      • OSD3_VSPEED_EN: VSPEED_EN
      • OSD3_VSPEED_X: VSPEED_X
      • OSD3_VSPEED_Y: VSPEED_Y
      • OSD3_BLHTEMP_EN: BLHTEMP_EN
      • OSD3_BLHTEMP_X: BLHTEMP_X
      • OSD3_BLHTEMP_Y: BLHTEMP_Y
      • OSD3_BLHRPM_EN: BLHRPM_EN
      • OSD3_BLHRPM_X: BLHRPM_X
      • OSD3_BLHRPM_Y: BLHRPM_Y
      • OSD3_BLHAMPS_EN: BLHAMPS_EN
      • OSD3_BLHAMPS_X: BLHAMPS_X
      • OSD3_BLHAMPS_Y: BLHAMPS_Y
      • OSD3_GPSLAT_EN: GPSLAT_EN
      • OSD3_GPSLAT_X: GPSLAT_X
      • OSD3_GPSLAT_Y: GPSLAT_Y
      • OSD3_GPSLONG_EN: GPSLONG_EN
      • OSD3_GPSLONG_X: GPSLONG_X
      • OSD3_GPSLONG_Y: GPSLONG_Y
      • OSD3_ROLL_EN: ROLL_EN
      • OSD3_ROLL_X: ROLL_X
      • OSD3_ROLL_Y: ROLL_Y
      • OSD3_PITCH_EN: PITCH_EN
      • OSD3_PITCH_X: PITCH_X
      • OSD3_PITCH_Y: PITCH_Y
      • OSD3_TEMP_EN: TEMP_EN
      • OSD3_TEMP_X: TEMP_X
      • OSD3_TEMP_Y: TEMP_Y
      • OSD3_HDOP_EN: HDOP_EN
      • OSD3_HDOP_X: HDOP_X
      • OSD3_HDOP_Y: HDOP_Y
      • OSD3_WAYPOINT_EN: WAYPOINT_EN
      • OSD3_WAYPOINT_X: WAYPOINT_X
      • OSD3_WAYPOINT_Y: WAYPOINT_Y
      • OSD3_XTRACK_EN: XTRACK_EN
      • OSD3_XTRACK_X: XTRACK_X
      • OSD3_XTRACK_Y: XTRACK_Y
      • OSD3_DIST_EN: DIST_EN
      • OSD3_DIST_X: DIST_X
      • OSD3_DIST_Y: DIST_Y
      • OSD3_STATS_EN: STATS_EN
      • OSD3_STATS_X: STATS_X
      • OSD3_STATS_Y: STATS_Y
      • OSD3_FLTIME_EN: FLTIME_EN
      • OSD3_FLTIME_X: FLTIME_X
      • OSD3_FLTIME_Y: FLTIME_Y
      • OSD3_CLIMBEFF_EN: CLIMBEFF_EN
      • OSD3_CLIMBEFF_X: CLIMBEFF_X
      • OSD3_CLIMBEFF_Y: CLIMBEFF_Y
      • OSD3_EFF_EN: EFF_EN
      • OSD3_EFF_X: EFF_X
      • OSD3_EFF_Y: EFF_Y
      • OSD3_BTEMP_EN: BTEMP_EN
      • OSD3_BTEMP_X: BTEMP_X
      • OSD3_BTEMP_Y: BTEMP_Y
      • OSD3_ATEMP_EN: ATEMP_EN
      • OSD3_ATEMP_X: ATEMP_X
      • OSD3_ATEMP_Y: ATEMP_Y
      • OSD3_BAT2VLT_EN: BAT2VLT_EN
      • OSD3_BAT2VLT_X: BAT2VLT_X
      • OSD3_BAT2VLT_Y: BAT2VLT_Y
      • OSD3_BAT2USED_EN: BAT2USED_EN
      • OSD3_BAT2USED_X: BAT2USED_X
      • OSD3_BAT2USED_Y: BAT2USED_Y
      • OSD3_ASPD2_EN: ASPD2_EN
      • OSD3_ASPD2_X: ASPD2_X
      • OSD3_ASPD2_Y: ASPD2_Y
      • OSD3_ASPD1_EN: ASPD1_EN
      • OSD3_ASPD1_X: ASPD1_X
      • OSD3_ASPD1_Y: ASPD1_Y
    • OSD4_ Parameters
      • OSD4_ENABLE: Enable screen
      • OSD4_CHAN_MIN: Transmitter switch screen minimum pwm
      • OSD4_CHAN_MAX: Transmitter switch screen maximum pwm
      • OSD4_ALTITUDE_EN: ALTITUDE_EN
      • OSD4_ALTITUDE_X: ALTITUDE_X
      • OSD4_ALTITUDE_Y: ALTITUDE_Y
      • OSD4_BATVOLT_EN: BATVOLT_EN
      • OSD4_BATVOLT_X: BATVOLT_X
      • OSD4_BATVOLT_Y: BATVOLT_Y
      • OSD4_RSSI_EN: RSSI_EN
      • OSD4_RSSI_X: RSSI_X
      • OSD4_RSSI_Y: RSSI_Y
      • OSD4_CURRENT_EN: CURRENT_EN
      • OSD4_CURRENT_X: CURRENT_X
      • OSD4_CURRENT_Y: CURRENT_Y
      • OSD4_BATUSED_EN: BATUSED_EN
      • OSD4_BATUSED_X: BATUSED_X
      • OSD4_BATUSED_Y: BATUSED_Y
      • OSD4_SATS_EN: SATS_EN
      • OSD4_SATS_X: SATS_X
      • OSD4_SATS_Y: SATS_Y
      • OSD4_FLTMODE_EN: FLTMODE_EN
      • OSD4_FLTMODE_X: FLTMODE_X
      • OSD4_FLTMODE_Y: FLTMODE_Y
      • OSD4_MESSAGE_EN: MESSAGE_EN
      • OSD4_MESSAGE_X: MESSAGE_X
      • OSD4_MESSAGE_Y: MESSAGE_Y
      • OSD4_GSPEED_EN: GSPEED_EN
      • OSD4_GSPEED_X: GSPEED_X
      • OSD4_GSPEED_Y: GSPEED_Y
      • OSD4_HORIZON_EN: HORIZON_EN
      • OSD4_HORIZON_X: HORIZON_X
      • OSD4_HORIZON_Y: HORIZON_Y
      • OSD4_HOME_EN: HOME_EN
      • OSD4_HOME_X: HOME_X
      • OSD4_HOME_Y: HOME_Y
      • OSD4_HEADING_EN: HEADING_EN
      • OSD4_HEADING_X: HEADING_X
      • OSD4_HEADING_Y: HEADING_Y
      • OSD4_THROTTLE_EN: THROTTLE_EN
      • OSD4_THROTTLE_X: THROTTLE_X
      • OSD4_THROTTLE_Y: THROTTLE_Y
      • OSD4_COMPASS_EN: COMPASS_EN
      • OSD4_COMPASS_X: COMPASS_X
      • OSD4_COMPASS_Y: COMPASS_Y
      • OSD4_WIND_EN: WIND_EN
      • OSD4_WIND_X: WIND_X
      • OSD4_WIND_Y: WIND_Y
      • OSD4_ASPEED_EN: ASPEED_EN
      • OSD4_ASPEED_X: ASPEED_X
      • OSD4_ASPEED_Y: ASPEED_Y
      • OSD4_VSPEED_EN: VSPEED_EN
      • OSD4_VSPEED_X: VSPEED_X
      • OSD4_VSPEED_Y: VSPEED_Y
      • OSD4_BLHTEMP_EN: BLHTEMP_EN
      • OSD4_BLHTEMP_X: BLHTEMP_X
      • OSD4_BLHTEMP_Y: BLHTEMP_Y
      • OSD4_BLHRPM_EN: BLHRPM_EN
      • OSD4_BLHRPM_X: BLHRPM_X
      • OSD4_BLHRPM_Y: BLHRPM_Y
      • OSD4_BLHAMPS_EN: BLHAMPS_EN
      • OSD4_BLHAMPS_X: BLHAMPS_X
      • OSD4_BLHAMPS_Y: BLHAMPS_Y
      • OSD4_GPSLAT_EN: GPSLAT_EN
      • OSD4_GPSLAT_X: GPSLAT_X
      • OSD4_GPSLAT_Y: GPSLAT_Y
      • OSD4_GPSLONG_EN: GPSLONG_EN
      • OSD4_GPSLONG_X: GPSLONG_X
      • OSD4_GPSLONG_Y: GPSLONG_Y
      • OSD4_ROLL_EN: ROLL_EN
      • OSD4_ROLL_X: ROLL_X
      • OSD4_ROLL_Y: ROLL_Y
      • OSD4_PITCH_EN: PITCH_EN
      • OSD4_PITCH_X: PITCH_X
      • OSD4_PITCH_Y: PITCH_Y
      • OSD4_TEMP_EN: TEMP_EN
      • OSD4_TEMP_X: TEMP_X
      • OSD4_TEMP_Y: TEMP_Y
      • OSD4_HDOP_EN: HDOP_EN
      • OSD4_HDOP_X: HDOP_X
      • OSD4_HDOP_Y: HDOP_Y
      • OSD4_WAYPOINT_EN: WAYPOINT_EN
      • OSD4_WAYPOINT_X: WAYPOINT_X
      • OSD4_WAYPOINT_Y: WAYPOINT_Y
      • OSD4_XTRACK_EN: XTRACK_EN
      • OSD4_XTRACK_X: XTRACK_X
      • OSD4_XTRACK_Y: XTRACK_Y
      • OSD4_DIST_EN: DIST_EN
      • OSD4_DIST_X: DIST_X
      • OSD4_DIST_Y: DIST_Y
      • OSD4_STATS_EN: STATS_EN
      • OSD4_STATS_X: STATS_X
      • OSD4_STATS_Y: STATS_Y
      • OSD4_FLTIME_EN: FLTIME_EN
      • OSD4_FLTIME_X: FLTIME_X
      • OSD4_FLTIME_Y: FLTIME_Y
      • OSD4_CLIMBEFF_EN: CLIMBEFF_EN
      • OSD4_CLIMBEFF_X: CLIMBEFF_X
      • OSD4_CLIMBEFF_Y: CLIMBEFF_Y
      • OSD4_EFF_EN: EFF_EN
      • OSD4_EFF_X: EFF_X
      • OSD4_EFF_Y: EFF_Y
      • OSD4_BTEMP_EN: BTEMP_EN
      • OSD4_BTEMP_X: BTEMP_X
      • OSD4_BTEMP_Y: BTEMP_Y
      • OSD4_ATEMP_EN: ATEMP_EN
      • OSD4_ATEMP_X: ATEMP_X
      • OSD4_ATEMP_Y: ATEMP_Y
      • OSD4_BAT2VLT_EN: BAT2VLT_EN
      • OSD4_BAT2VLT_X: BAT2VLT_X
      • OSD4_BAT2VLT_Y: BAT2VLT_Y
      • OSD4_BAT2USED_EN: BAT2USED_EN
      • OSD4_BAT2USED_X: BAT2USED_X
      • OSD4_BAT2USED_Y: BAT2USED_Y
      • OSD4_ASPD2_EN: ASPD2_EN
      • OSD4_ASPD2_X: ASPD2_X
      • OSD4_ASPD2_Y: ASPD2_Y
      • OSD4_ASPD1_EN: ASPD1_EN
      • OSD4_ASPD1_X: ASPD1_X
      • OSD4_ASPD1_Y: ASPD1_Y
    • PLND_ Parameters
      • PLND_ENABLED: Precision Land enabled/disabled and behaviour
      • PLND_TYPE: Precision Land Type
      • PLND_YAW_ALIGN: Sensor yaw alignment
      • PLND_LAND_OFS_X: Land offset forward
      • PLND_LAND_OFS_Y: Land offset right
      • PLND_EST_TYPE: Precision Land Estimator Type
      • PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise
      • PLND_CAM_POS_X: Camera X position offset
      • PLND_CAM_POS_Y: Camera Y position offset
      • PLND_CAM_POS_Z: Camera Z position offset
      • PLND_BUS: Sensor Bus
      • PLND_LAG: Precision Landing sensor lag
    • PRX Parameters
      • PRX_TYPE: Proximity type
      • PRX_ORIENT: Proximity sensor orientation
      • PRX_YAW_CORR: Proximity sensor yaw correction
      • PRX_IGN_ANG1: Proximity sensor ignore angle 1
      • PRX_IGN_WID1: Proximity sensor ignore width 1
      • PRX_IGN_ANG2: Proximity sensor ignore angle 2
      • PRX_IGN_WID2: Proximity sensor ignore width 2
      • PRX_IGN_ANG3: Proximity sensor ignore angle 3
      • PRX_IGN_WID3: Proximity sensor ignore width 3
      • PRX_IGN_ANG4: Proximity sensor ignore angle 4
      • PRX_IGN_WID4: Proximity sensor ignore width 4
      • PRX_IGN_ANG5: Proximity sensor ignore angle 5
      • PRX_IGN_WID5: Proximity sensor ignore width 5
      • PRX_IGN_ANG6: Proximity sensor ignore angle 6
      • PRX_IGN_WID6: Proximity sensor ignore width 6
      • PRX2_TYPE: Second Proximity type
      • PRX2_ORIENT: Second Proximity sensor orientation
      • PRX2_YAW_CORR: Second Proximity sensor yaw correction
    • PSC Parameters
      • PSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency
      • PSC_POSZ_P: Position (vertical) controller P gain
      • PSC_VELZ_P: Velocity (vertical) controller P gain
      • PSC_ACCZ_P: Acceleration (vertical) controller P gain
      • PSC_ACCZ_I: Acceleration (vertical) controller I gain
      • PSC_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum
      • PSC_ACCZ_D: Acceleration (vertical) controller D gain
      • PSC_ACCZ_FILT: Acceleration (vertical) controller filter
      • PSC_POSXY_P: Position (horizonal) controller P gain
      • PSC_VELXY_P: Velocity (horizontal) P gain
      • PSC_VELXY_I: Velocity (horizontal) I gain
      • PSC_VELXY_D: Velocity (horizontal) D gain
      • PSC_VELXY_IMAX: Velocity (horizontal) integrator maximum
      • PSC_VELXY_FILT: Velocity (horizontal) input filter
      • PSC_VELXY_D_FILT: Velocity (horizontal) input filter
      • PSC_ANGLE_MAX: Position Control Angle Max
    • RALLY_ Parameters
      • RALLY_TOTAL: Rally Total
      • RALLY_LIMIT_KM: Rally Limit
      • RALLY_INCL_HOME: Rally Include Home
    • RC Parameters
      • RC_OVERRIDE_TIME: RC override timeout
      • RC_OPTIONS: RC options
    • RC10_ Parameters
      • RC10_MIN: RC min PWM
      • RC10_TRIM: RC trim PWM
      • RC10_MAX: RC max PWM
      • RC10_REVERSED: RC reversed
      • RC10_DZ: RC dead-zone
      • RC10_OPTION: RC input option
    • RC11_ Parameters
      • RC11_MIN: RC min PWM
      • RC11_TRIM: RC trim PWM
      • RC11_MAX: RC max PWM
      • RC11_REVERSED: RC reversed
      • RC11_DZ: RC dead-zone
      • RC11_OPTION: RC input option
    • RC12_ Parameters
      • RC12_MIN: RC min PWM
      • RC12_TRIM: RC trim PWM
      • RC12_MAX: RC max PWM
      • RC12_REVERSED: RC reversed
      • RC12_DZ: RC dead-zone
      • RC12_OPTION: RC input option
    • RC13_ Parameters
      • RC13_MIN: RC min PWM
      • RC13_TRIM: RC trim PWM
      • RC13_MAX: RC max PWM
      • RC13_REVERSED: RC reversed
      • RC13_DZ: RC dead-zone
      • RC13_OPTION: RC input option
    • RC14_ Parameters
      • RC14_MIN: RC min PWM
      • RC14_TRIM: RC trim PWM
      • RC14_MAX: RC max PWM
      • RC14_REVERSED: RC reversed
      • RC14_DZ: RC dead-zone
      • RC14_OPTION: RC input option
    • RC15_ Parameters
      • RC15_MIN: RC min PWM
      • RC15_TRIM: RC trim PWM
      • RC15_MAX: RC max PWM
      • RC15_REVERSED: RC reversed
      • RC15_DZ: RC dead-zone
      • RC15_OPTION: RC input option
    • RC16_ Parameters
      • RC16_MIN: RC min PWM
      • RC16_TRIM: RC trim PWM
      • RC16_MAX: RC max PWM
      • RC16_REVERSED: RC reversed
      • RC16_DZ: RC dead-zone
      • RC16_OPTION: RC input option
    • RC1_ Parameters
      • RC1_MIN: RC min PWM
      • RC1_TRIM: RC trim PWM
      • RC1_MAX: RC max PWM
      • RC1_REVERSED: RC reversed
      • RC1_DZ: RC dead-zone
      • RC1_OPTION: RC input option
    • RC2_ Parameters
      • RC2_MIN: RC min PWM
      • RC2_TRIM: RC trim PWM
      • RC2_MAX: RC max PWM
      • RC2_REVERSED: RC reversed
      • RC2_DZ: RC dead-zone
      • RC2_OPTION: RC input option
    • RC3_ Parameters
      • RC3_MIN: RC min PWM
      • RC3_TRIM: RC trim PWM
      • RC3_MAX: RC max PWM
      • RC3_REVERSED: RC reversed
      • RC3_DZ: RC dead-zone
      • RC3_OPTION: RC input option
    • RC4_ Parameters
      • RC4_MIN: RC min PWM
      • RC4_TRIM: RC trim PWM
      • RC4_MAX: RC max PWM
      • RC4_REVERSED: RC reversed
      • RC4_DZ: RC dead-zone
      • RC4_OPTION: RC input option
    • RC5_ Parameters
      • RC5_MIN: RC min PWM
      • RC5_TRIM: RC trim PWM
      • RC5_MAX: RC max PWM
      • RC5_REVERSED: RC reversed
      • RC5_DZ: RC dead-zone
      • RC5_OPTION: RC input option
    • RC6_ Parameters
      • RC6_MIN: RC min PWM
      • RC6_TRIM: RC trim PWM
      • RC6_MAX: RC max PWM
      • RC6_REVERSED: RC reversed
      • RC6_DZ: RC dead-zone
      • RC6_OPTION: RC input option
    • RC7_ Parameters
      • RC7_MIN: RC min PWM
      • RC7_TRIM: RC trim PWM
      • RC7_MAX: RC max PWM
      • RC7_REVERSED: RC reversed
      • RC7_DZ: RC dead-zone
      • RC7_OPTION: RC input option
    • RC8_ Parameters
      • RC8_MIN: RC min PWM
      • RC8_TRIM: RC trim PWM
      • RC8_MAX: RC max PWM
      • RC8_REVERSED: RC reversed
      • RC8_DZ: RC dead-zone
      • RC8_OPTION: RC input option
    • RC9_ Parameters
      • RC9_MIN: RC min PWM
      • RC9_TRIM: RC trim PWM
      • RC9_MAX: RC max PWM
      • RC9_REVERSED: RC reversed
      • RC9_DZ: RC dead-zone
      • RC9_OPTION: RC input option
    • RCMAP_ Parameters
      • RCMAP_ROLL: Roll channel
      • RCMAP_PITCH: Pitch channel
      • RCMAP_THROTTLE: Throttle channel
      • RCMAP_YAW: Yaw channel
      • RCMAP_FORWARD: Forward channel
      • RCMAP_LATERAL: Lateral channel
    • RELAY_ Parameters
      • RELAY_PIN: First Relay Pin
      • RELAY_PIN2: Second Relay Pin
      • RELAY_PIN3: Third Relay Pin
      • RELAY_PIN4: Fourth Relay Pin
      • RELAY_DEFAULT: Default relay state
      • RELAY_PIN5: Fifth Relay Pin
      • RELAY_PIN6: Sixth Relay Pin
    • RNGFND1_ Parameters
      • RNGFND1_TYPE: Rangefinder type
      • RNGFND1_PIN: Rangefinder pin
      • RNGFND1_SCALING: Rangefinder scaling
      • RNGFND1_OFFSET: rangefinder offset
      • RNGFND1_FUNCTION: Rangefinder function
      • RNGFND1_MIN_CM: Rangefinder minimum distance
      • RNGFND1_MAX_CM: Rangefinder maximum distance
      • RNGFND1_STOP_PIN: Rangefinder stop pin
      • RNGFND1_RMETRIC: Ratiometric
      • RNGFND1_PWRRNG: Powersave range
      • RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground
      • RNGFND1_ADDR: Bus address of sensor
      • RNGFND1_POS_X: X position offset
      • RNGFND1_POS_Y: Y position offset
      • RNGFND1_POS_Z: Z position offset
      • RNGFND1_ORIENT: Rangefinder orientation
    • RNGFND1_ Parameters
      • RNGFND1_WSP_MAVG: Moving Average Range
      • RNGFND1_WSP_MEDF: Moving Median Filter
      • RNGFND1_WSP_FRQ: Frequency
      • RNGFND1_WSP_AVG: Multi-pulse averages
      • RNGFND1_WSP_THR: Sensitivity threshold
      • RNGFND1_WSP_BAUD: Baud rate
    • RNGFND2_ Parameters
      • RNGFND2_TYPE: Rangefinder type
      • RNGFND2_PIN: Rangefinder pin
      • RNGFND2_SCALING: Rangefinder scaling
      • RNGFND2_OFFSET: rangefinder offset
      • RNGFND2_FUNCTION: Rangefinder function
      • RNGFND2_MIN_CM: Rangefinder minimum distance
      • RNGFND2_MAX_CM: Rangefinder maximum distance
      • RNGFND2_STOP_PIN: Rangefinder stop pin
      • RNGFND2_RMETRIC: Ratiometric
      • RNGFND2_PWRRNG: Powersave range
      • RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground
      • RNGFND2_ADDR: Bus address of sensor
      • RNGFND2_POS_X: X position offset
      • RNGFND2_POS_Y: Y position offset
      • RNGFND2_POS_Z: Z position offset
      • RNGFND2_ORIENT: Rangefinder orientation
    • RNGFND2_ Parameters
      • RNGFND2_WSP_MAVG: Moving Average Range
      • RNGFND2_WSP_MEDF: Moving Median Filter
      • RNGFND2_WSP_FRQ: Frequency
      • RNGFND2_WSP_AVG: Multi-pulse averages
      • RNGFND2_WSP_THR: Sensitivity threshold
      • RNGFND2_WSP_BAUD: Baud rate
    • RNGFND3_ Parameters
      • RNGFND3_TYPE: Rangefinder type
      • RNGFND3_PIN: Rangefinder pin
      • RNGFND3_SCALING: Rangefinder scaling
      • RNGFND3_OFFSET: rangefinder offset
      • RNGFND3_FUNCTION: Rangefinder function
      • RNGFND3_MIN_CM: Rangefinder minimum distance
      • RNGFND3_MAX_CM: Rangefinder maximum distance
      • RNGFND3_STOP_PIN: Rangefinder stop pin
      • RNGFND3_RMETRIC: Ratiometric
      • RNGFND3_PWRRNG: Powersave range
      • RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground
      • RNGFND3_ADDR: Bus address of sensor
      • RNGFND3_POS_X: X position offset
      • RNGFND3_POS_Y: Y position offset
      • RNGFND3_POS_Z: Z position offset
      • RNGFND3_ORIENT: Rangefinder orientation
    • RNGFND3_ Parameters
      • RNGFND3_WSP_MAVG: Moving Average Range
      • RNGFND3_WSP_MEDF: Moving Median Filter
      • RNGFND3_WSP_FRQ: Frequency
      • RNGFND3_WSP_AVG: Multi-pulse averages
      • RNGFND3_WSP_THR: Sensitivity threshold
      • RNGFND3_WSP_BAUD: Baud rate
    • RNGFND4_ Parameters
      • RNGFND4_TYPE: Rangefinder type
      • RNGFND4_PIN: Rangefinder pin
      • RNGFND4_SCALING: Rangefinder scaling
      • RNGFND4_OFFSET: rangefinder offset
      • RNGFND4_FUNCTION: Rangefinder function
      • RNGFND4_MIN_CM: Rangefinder minimum distance
      • RNGFND4_MAX_CM: Rangefinder maximum distance
      • RNGFND4_STOP_PIN: Rangefinder stop pin
      • RNGFND4_RMETRIC: Ratiometric
      • RNGFND4_PWRRNG: Powersave range
      • RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground
      • RNGFND4_ADDR: Bus address of sensor
      • RNGFND4_POS_X: X position offset
      • RNGFND4_POS_Y: Y position offset
      • RNGFND4_POS_Z: Z position offset
      • RNGFND4_ORIENT: Rangefinder orientation
    • RNGFND4_ Parameters
      • RNGFND4_WSP_MAVG: Moving Average Range
      • RNGFND4_WSP_MEDF: Moving Median Filter
      • RNGFND4_WSP_FRQ: Frequency
      • RNGFND4_WSP_AVG: Multi-pulse averages
      • RNGFND4_WSP_THR: Sensitivity threshold
      • RNGFND4_WSP_BAUD: Baud rate
    • RNGFND5_ Parameters
      • RNGFND5_TYPE: Rangefinder type
      • RNGFND5_PIN: Rangefinder pin
      • RNGFND5_SCALING: Rangefinder scaling
      • RNGFND5_OFFSET: rangefinder offset
      • RNGFND5_FUNCTION: Rangefinder function
      • RNGFND5_MIN_CM: Rangefinder minimum distance
      • RNGFND5_MAX_CM: Rangefinder maximum distance
      • RNGFND5_STOP_PIN: Rangefinder stop pin
      • RNGFND5_RMETRIC: Ratiometric
      • RNGFND5_PWRRNG: Powersave range
      • RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground
      • RNGFND5_ADDR: Bus address of sensor
      • RNGFND5_POS_X: X position offset
      • RNGFND5_POS_Y: Y position offset
      • RNGFND5_POS_Z: Z position offset
      • RNGFND5_ORIENT: Rangefinder orientation
    • RNGFND5_ Parameters
      • RNGFND5_WSP_MAVG: Moving Average Range
      • RNGFND5_WSP_MEDF: Moving Median Filter
      • RNGFND5_WSP_FRQ: Frequency
      • RNGFND5_WSP_AVG: Multi-pulse averages
      • RNGFND5_WSP_THR: Sensitivity threshold
      • RNGFND5_WSP_BAUD: Baud rate
    • RNGFND6_ Parameters
      • RNGFND6_TYPE: Rangefinder type
      • RNGFND6_PIN: Rangefinder pin
      • RNGFND6_SCALING: Rangefinder scaling
      • RNGFND6_OFFSET: rangefinder offset
      • RNGFND6_FUNCTION: Rangefinder function
      • RNGFND6_MIN_CM: Rangefinder minimum distance
      • RNGFND6_MAX_CM: Rangefinder maximum distance
      • RNGFND6_STOP_PIN: Rangefinder stop pin
      • RNGFND6_RMETRIC: Ratiometric
      • RNGFND6_PWRRNG: Powersave range
      • RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground
      • RNGFND6_ADDR: Bus address of sensor
      • RNGFND6_POS_X: X position offset
      • RNGFND6_POS_Y: Y position offset
      • RNGFND6_POS_Z: Z position offset
      • RNGFND6_ORIENT: Rangefinder orientation
    • RNGFND6_ Parameters
      • RNGFND6_WSP_MAVG: Moving Average Range
      • RNGFND6_WSP_MEDF: Moving Median Filter
      • RNGFND6_WSP_FRQ: Frequency
      • RNGFND6_WSP_AVG: Multi-pulse averages
      • RNGFND6_WSP_THR: Sensitivity threshold
      • RNGFND6_WSP_BAUD: Baud rate
    • RNGFND7_ Parameters
      • RNGFND7_TYPE: Rangefinder type
      • RNGFND7_PIN: Rangefinder pin
      • RNGFND7_SCALING: Rangefinder scaling
      • RNGFND7_OFFSET: rangefinder offset
      • RNGFND7_FUNCTION: Rangefinder function
      • RNGFND7_MIN_CM: Rangefinder minimum distance
      • RNGFND7_MAX_CM: Rangefinder maximum distance
      • RNGFND7_STOP_PIN: Rangefinder stop pin
      • RNGFND7_RMETRIC: Ratiometric
      • RNGFND7_PWRRNG: Powersave range
      • RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground
      • RNGFND7_ADDR: Bus address of sensor
      • RNGFND7_POS_X: X position offset
      • RNGFND7_POS_Y: Y position offset
      • RNGFND7_POS_Z: Z position offset
      • RNGFND7_ORIENT: Rangefinder orientation
    • RNGFND7_ Parameters
      • RNGFND7_WSP_MAVG: Moving Average Range
      • RNGFND7_WSP_MEDF: Moving Median Filter
      • RNGFND7_WSP_FRQ: Frequency
      • RNGFND7_WSP_AVG: Multi-pulse averages
      • RNGFND7_WSP_THR: Sensitivity threshold
      • RNGFND7_WSP_BAUD: Baud rate
    • RNGFND8_ Parameters
      • RNGFND8_TYPE: Rangefinder type
      • RNGFND8_PIN: Rangefinder pin
      • RNGFND8_SCALING: Rangefinder scaling
      • RNGFND8_OFFSET: rangefinder offset
      • RNGFND8_FUNCTION: Rangefinder function
      • RNGFND8_MIN_CM: Rangefinder minimum distance
      • RNGFND8_MAX_CM: Rangefinder maximum distance
      • RNGFND8_STOP_PIN: Rangefinder stop pin
      • RNGFND8_RMETRIC: Ratiometric
      • RNGFND8_PWRRNG: Powersave range
      • RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground
      • RNGFND8_ADDR: Bus address of sensor
      • RNGFND8_POS_X: X position offset
      • RNGFND8_POS_Y: Y position offset
      • RNGFND8_POS_Z: Z position offset
      • RNGFND8_ORIENT: Rangefinder orientation
    • RNGFND8_ Parameters
      • RNGFND8_WSP_MAVG: Moving Average Range
      • RNGFND8_WSP_MEDF: Moving Median Filter
      • RNGFND8_WSP_FRQ: Frequency
      • RNGFND8_WSP_AVG: Multi-pulse averages
      • RNGFND8_WSP_THR: Sensitivity threshold
      • RNGFND8_WSP_BAUD: Baud rate
    • RNGFND9_ Parameters
      • RNGFND9_TYPE: Rangefinder type
      • RNGFND9_PIN: Rangefinder pin
      • RNGFND9_SCALING: Rangefinder scaling
      • RNGFND9_OFFSET: rangefinder offset
      • RNGFND9_FUNCTION: Rangefinder function
      • RNGFND9_MIN_CM: Rangefinder minimum distance
      • RNGFND9_MAX_CM: Rangefinder maximum distance
      • RNGFND9_STOP_PIN: Rangefinder stop pin
      • RNGFND9_RMETRIC: Ratiometric
      • RNGFND9_PWRRNG: Powersave range
      • RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground
      • RNGFND9_ADDR: Bus address of sensor
      • RNGFND9_POS_X: X position offset
      • RNGFND9_POS_Y: Y position offset
      • RNGFND9_POS_Z: Z position offset
      • RNGFND9_ORIENT: Rangefinder orientation
    • RNGFND9_ Parameters
      • RNGFND9_WSP_MAVG: Moving Average Range
      • RNGFND9_WSP_MEDF: Moving Median Filter
      • RNGFND9_WSP_FRQ: Frequency
      • RNGFND9_WSP_AVG: Multi-pulse averages
      • RNGFND9_WSP_THR: Sensitivity threshold
      • RNGFND9_WSP_BAUD: Baud rate
    • RNGFNDA_ Parameters
      • RNGFNDA_TYPE: Rangefinder type
      • RNGFNDA_PIN: Rangefinder pin
      • RNGFNDA_SCALING: Rangefinder scaling
      • RNGFNDA_OFFSET: rangefinder offset
      • RNGFNDA_FUNCTION: Rangefinder function
      • RNGFNDA_MIN_CM: Rangefinder minimum distance
      • RNGFNDA_MAX_CM: Rangefinder maximum distance
      • RNGFNDA_STOP_PIN: Rangefinder stop pin
      • RNGFNDA_RMETRIC: Ratiometric
      • RNGFNDA_PWRRNG: Powersave range
      • RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground
      • RNGFNDA_ADDR: Bus address of sensor
      • RNGFNDA_POS_X: X position offset
      • RNGFNDA_POS_Y: Y position offset
      • RNGFNDA_POS_Z: Z position offset
      • RNGFNDA_ORIENT: Rangefinder orientation
    • RNGFNDA_ Parameters
      • RNGFNDA_WSP_MAVG: Moving Average Range
      • RNGFNDA_WSP_MEDF: Moving Median Filter
      • RNGFNDA_WSP_FRQ: Frequency
      • RNGFNDA_WSP_AVG: Multi-pulse averages
      • RNGFNDA_WSP_THR: Sensitivity threshold
      • RNGFNDA_WSP_BAUD: Baud rate
    • RPM Parameters
      • RPM_TYPE: RPM type
      • RPM_SCALING: RPM scaling
      • RPM_MAX: Maximum RPM
      • RPM_MIN: Minimum RPM
      • RPM_MIN_QUAL: Minimum Quality
      • RPM_PIN: Input pin number
      • RPM2_TYPE: Second RPM type
      • RPM2_SCALING: RPM scaling
      • RPM2_PIN: RPM2 input pin number
    • RSSI_ Parameters
      • RSSI_TYPE: RSSI Type
      • RSSI_ANA_PIN: Receiver RSSI sensing pin
      • RSSI_PIN_LOW: RSSI pin’s lowest voltage
      • RSSI_PIN_HIGH: RSSI pin’s highest voltage
      • RSSI_CHANNEL: Receiver RSSI channel number
      • RSSI_CHAN_LOW: RSSI PWM low value
      • RSSI_CHAN_HIGH: Receiver RSSI PWM high value
    • SCHED_ Parameters
      • SCHED_DEBUG: Scheduler debug level
      • SCHED_LOOP_RATE: Scheduling main loop rate
    • SCR_ Parameters
      • SCR_ENABLE: Enable Scripting
      • SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count
      • SCR_HEAP_SIZE: Scripting Heap Size
    • SERIAL Parameters
      • SERIAL0_BAUD: Serial0 baud rate
      • SERIAL0_PROTOCOL: Console protocol selection
      • SERIAL1_PROTOCOL: Telem1 protocol selection
      • SERIAL1_BAUD: Telem1 Baud Rate
      • SERIAL2_PROTOCOL: Telemetry 2 protocol selection
      • SERIAL2_BAUD: Telemetry 2 Baud Rate
      • SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection
      • SERIAL3_BAUD: Serial 3 (GPS) Baud Rate
      • SERIAL4_PROTOCOL: Serial4 protocol selection
      • SERIAL4_BAUD: Serial 4 Baud Rate
      • SERIAL5_PROTOCOL: Serial5 protocol selection
      • SERIAL5_BAUD: Serial 5 Baud Rate
      • SERIAL6_PROTOCOL: Serial6 protocol selection
      • SERIAL6_BAUD: Serial 6 Baud Rate
      • SERIAL1_OPTIONS: Telem1 options
      • SERIAL2_OPTIONS: Telem2 options
      • SERIAL3_OPTIONS: Serial3 options
      • SERIAL4_OPTIONS: Serial4 options
      • SERIAL5_OPTIONS: Serial5 options
      • SERIAL6_OPTIONS: Serial6 options
      • SERIAL_PASS1: Serial passthru first port
      • SERIAL_PASS2: Serial passthru second port
      • SERIAL_PASSTIMO: Serial passthru timeout
      • SERIAL7_PROTOCOL: Serial7 protocol selection
      • SERIAL7_BAUD: Serial 7 Baud Rate
      • SERIAL7_OPTIONS: Serial7 options
    • SERVO Parameters
      • SERVO_AUTO_TRIM: Automatic servo trim
      • SERVO_RATE: Servo default output rate
    • SERVO10_ Parameters
      • SERVO10_MIN: Minimum PWM
      • SERVO10_MAX: Maximum PWM
      • SERVO10_TRIM: Trim PWM
      • SERVO10_REVERSED: Servo reverse
      • SERVO10_FUNCTION: Servo output function
    • SERVO11_ Parameters
      • SERVO11_MIN: Minimum PWM
      • SERVO11_MAX: Maximum PWM
      • SERVO11_TRIM: Trim PWM
      • SERVO11_REVERSED: Servo reverse
      • SERVO11_FUNCTION: Servo output function
    • SERVO12_ Parameters
      • SERVO12_MIN: Minimum PWM
      • SERVO12_MAX: Maximum PWM
      • SERVO12_TRIM: Trim PWM
      • SERVO12_REVERSED: Servo reverse
      • SERVO12_FUNCTION: Servo output function
    • SERVO13_ Parameters
      • SERVO13_MIN: Minimum PWM
      • SERVO13_MAX: Maximum PWM
      • SERVO13_TRIM: Trim PWM
      • SERVO13_REVERSED: Servo reverse
      • SERVO13_FUNCTION: Servo output function
    • SERVO14_ Parameters
      • SERVO14_MIN: Minimum PWM
      • SERVO14_MAX: Maximum PWM
      • SERVO14_TRIM: Trim PWM
      • SERVO14_REVERSED: Servo reverse
      • SERVO14_FUNCTION: Servo output function
    • SERVO15_ Parameters
      • SERVO15_MIN: Minimum PWM
      • SERVO15_MAX: Maximum PWM
      • SERVO15_TRIM: Trim PWM
      • SERVO15_REVERSED: Servo reverse
      • SERVO15_FUNCTION: Servo output function
    • SERVO16_ Parameters
      • SERVO16_MIN: Minimum PWM
      • SERVO16_MAX: Maximum PWM
      • SERVO16_TRIM: Trim PWM
      • SERVO16_REVERSED: Servo reverse
      • SERVO16_FUNCTION: Servo output function
    • SERVO1_ Parameters
      • SERVO1_MIN: Minimum PWM
      • SERVO1_MAX: Maximum PWM
      • SERVO1_TRIM: Trim PWM
      • SERVO1_REVERSED: Servo reverse
      • SERVO1_FUNCTION: Servo output function
    • SERVO2_ Parameters
      • SERVO2_MIN: Minimum PWM
      • SERVO2_MAX: Maximum PWM
      • SERVO2_TRIM: Trim PWM
      • SERVO2_REVERSED: Servo reverse
      • SERVO2_FUNCTION: Servo output function
    • SERVO3_ Parameters
      • SERVO3_MIN: Minimum PWM
      • SERVO3_MAX: Maximum PWM
      • SERVO3_TRIM: Trim PWM
      • SERVO3_REVERSED: Servo reverse
      • SERVO3_FUNCTION: Servo output function
    • SERVO4_ Parameters
      • SERVO4_MIN: Minimum PWM
      • SERVO4_MAX: Maximum PWM
      • SERVO4_TRIM: Trim PWM
      • SERVO4_REVERSED: Servo reverse
      • SERVO4_FUNCTION: Servo output function
    • SERVO5_ Parameters
      • SERVO5_MIN: Minimum PWM
      • SERVO5_MAX: Maximum PWM
      • SERVO5_TRIM: Trim PWM
      • SERVO5_REVERSED: Servo reverse
      • SERVO5_FUNCTION: Servo output function
    • SERVO6_ Parameters
      • SERVO6_MIN: Minimum PWM
      • SERVO6_MAX: Maximum PWM
      • SERVO6_TRIM: Trim PWM
      • SERVO6_REVERSED: Servo reverse
      • SERVO6_FUNCTION: Servo output function
    • SERVO7_ Parameters
      • SERVO7_MIN: Minimum PWM
      • SERVO7_MAX: Maximum PWM
      • SERVO7_TRIM: Trim PWM
      • SERVO7_REVERSED: Servo reverse
      • SERVO7_FUNCTION: Servo output function
    • SERVO8_ Parameters
      • SERVO8_MIN: Minimum PWM
      • SERVO8_MAX: Maximum PWM
      • SERVO8_TRIM: Trim PWM
      • SERVO8_REVERSED: Servo reverse
      • SERVO8_FUNCTION: Servo output function
    • SERVO9_ Parameters
      • SERVO9_MIN: Minimum PWM
      • SERVO9_MAX: Maximum PWM
      • SERVO9_TRIM: Trim PWM
      • SERVO9_REVERSED: Servo reverse
      • SERVO9_FUNCTION: Servo output function
    • SERVO_BLH_ Parameters
      • SERVO_BLH_MASK: BLHeli Channel Bitmask
      • SERVO_BLH_AUTO: BLHeli auto-enable for multicopter motors
      • SERVO_BLH_TEST: BLHeli internal interface test
      • SERVO_BLH_TMOUT: BLHeli protocol timeout
      • SERVO_BLH_TRATE: BLHeli telemetry rate
      • SERVO_BLH_DEBUG: BLHeli debug level
      • SERVO_BLH_OTYPE: BLHeli output type override
      • SERVO_BLH_PORT: Control port
      • SERVO_BLH_POLES: BLHeli Motor Poles
      • SERVO_BLH_REMASK: BLHeli bitmask of reversible channels
    • SERVO_ROB_ Parameters
      • SERVO_ROB_POSMIN: Robotis servo position min
      • SERVO_ROB_POSMAX: Robotis servo position max
    • SERVO_SBUS_ Parameters
      • SERVO_SBUS_RATE: SBUS default output rate
    • SERVO_VOLZ_ Parameters
      • SERVO_VOLZ_MASK: Channel Bitmask
    • SPRAY_ Parameters
      • SPRAY_ENABLE: Sprayer enable/disable
      • SPRAY_PUMP_RATE: Pump speed
      • SPRAY_SPINNER: Spinner rotation speed
      • SPRAY_SPEED_MIN: Speed minimum
      • SPRAY_PUMP_MIN: Pump speed minimum
    • SR0_ Parameters
      • SR0_RAW_SENS: Raw sensor stream rate
      • SR0_EXT_STAT: Extended status stream rate to ground station
      • SR0_RC_CHAN: RC Channel stream rate to ground station
      • SR0_RAW_CTRL: Raw Control stream rate to ground station
      • SR0_POSITION: Position stream rate to ground station
      • SR0_EXTRA1: Extra data type 1 stream rate to ground station
      • SR0_EXTRA2: Extra data type 2 stream rate to ground station
      • SR0_EXTRA3: Extra data type 3 stream rate to ground station
      • SR0_PARAMS: Parameter stream rate to ground station
      • SR0_ADSB: ADSB stream rate to ground station
    • SR1_ Parameters
      • SR1_RAW_SENS: Raw sensor stream rate
      • SR1_EXT_STAT: Extended status stream rate to ground station
      • SR1_RC_CHAN: RC Channel stream rate to ground station
      • SR1_RAW_CTRL: Raw Control stream rate to ground station
      • SR1_POSITION: Position stream rate to ground station
      • SR1_EXTRA1: Extra data type 1 stream rate to ground station
      • SR1_EXTRA2: Extra data type 2 stream rate to ground station
      • SR1_EXTRA3: Extra data type 3 stream rate to ground station
      • SR1_PARAMS: Parameter stream rate to ground station
      • SR1_ADSB: ADSB stream rate to ground station
    • SR2_ Parameters
      • SR2_RAW_SENS: Raw sensor stream rate
      • SR2_EXT_STAT: Extended status stream rate to ground station
      • SR2_RC_CHAN: RC Channel stream rate to ground station
      • SR2_RAW_CTRL: Raw Control stream rate to ground station
      • SR2_POSITION: Position stream rate to ground station
      • SR2_EXTRA1: Extra data type 1 stream rate to ground station
      • SR2_EXTRA2: Extra data type 2 stream rate to ground station
      • SR2_EXTRA3: Extra data type 3 stream rate to ground station
      • SR2_PARAMS: Parameter stream rate to ground station
      • SR2_ADSB: ADSB stream rate to ground station
    • SR3_ Parameters
      • SR3_RAW_SENS: Raw sensor stream rate
      • SR3_EXT_STAT: Extended status stream rate to ground station
      • SR3_RC_CHAN: RC Channel stream rate to ground station
      • SR3_RAW_CTRL: Raw Control stream rate to ground station
      • SR3_POSITION: Position stream rate to ground station
      • SR3_EXTRA1: Extra data type 1 stream rate to ground station
      • SR3_EXTRA2: Extra data type 2 stream rate to ground station
      • SR3_EXTRA3: Extra data type 3 stream rate to ground station
      • SR3_PARAMS: Parameter stream rate to ground station
      • SR3_ADSB: ADSB stream rate to ground station
    • SRTL_ Parameters
      • SRTL_ACCURACY: SmartRTL accuracy
      • SRTL_POINTS: SmartRTL maximum number of points on path
    • STAT Parameters
      • STAT_BOOTCNT: Boot Count
      • STAT_FLTTIME: Total FlightTime
      • STAT_RUNTIME: Total RunTime
      • STAT_RESET: Statistics Reset Time
    • TCAL Parameters
      • TCAL_ENABLED: Temperature calibration enable
      • TCAL_TEMP_MIN: Temperature calibration min learned temperature
      • TCAL_TEMP_MAX: Temperature calibration max learned temperature
      • TCAL_BARO_EXP: Temperature Calibration barometer exponent
    • TERRAIN_ Parameters
      • TERRAIN_ENABLE: Terrain data enable
      • TERRAIN_SPACING: Terrain grid spacing
    • TMODE Parameters
      • TMODE_ENABLE: tmode enable
      • TMODE_MODE1: Tmode first mode
      • TMODE_MODE2: Tmode second mode
      • TMODE_ACTION1: Tmode action 1
      • TMODE_ACTION2: Tmode action 2
      • TMODE_ACTION3: Tmode action 3
      • TMODE_ACTION4: Tmode action 4
      • TMODE_ACTION5: Tmode action 5
      • TMODE_ACTION6: Tmode action 6
      • TMODE_LEFT: Tmode left action
      • TMODE_LEFT_LONG: Tmode left long action
      • TMODE_TRIM_AUTO: Stick auto trim limit
      • TMODE_RIGHT: Tmode right action
      • TMODE_FLAGS: Tmode flags
      • TMODE_VMIN: Min voltage for output limiting
      • TMODE_VMAX: Max voltage for output limiting
      • TMODE_TMIN: Min thrust multiplier
      • TMODE_TMAX: Max thrust multiplier
      • TMODE_LOAD_MUL: Load test multiplier
      • TMODE_LOAD_FILT: Load test filter
      • TMODE_LOAD_TYPE: Load test type
    • VISO Parameters
      • VISO_TYPE: Visual odometry camera connection type
      • VISO_POS_X: Visual odometry camera X position offset
      • VISO_POS_Y: Visual odometry camera Y position offset
      • VISO_POS_Z: Visual odometry camera Z position offset
      • VISO_ORIENT: Visual odometery camera orientation
    • WENC Parameters
      • WENC_TYPE: WheelEncoder type
      • WENC_CPR: WheelEncoder counts per revolution
      • WENC_RADIUS: Wheel radius
      • WENC_POS_X: Wheel’s X position offset
      • WENC_POS_Y: Wheel’s Y position offset
      • WENC_POS_Z: Wheel’s Z position offset
      • WENC_PINA: Input Pin A
      • WENC_PINB: Input Pin B
      • WENC2_TYPE: Second WheelEncoder type
      • WENC2_CPR: WheelEncoder 2 counts per revolution
      • WENC2_RADIUS: Wheel2’s radius
      • WENC2_POS_X: Wheel2’s X position offset
      • WENC2_POS_Y: Wheel2’s Y position offset
      • WENC2_POS_Z: Wheel2’s Z position offset
      • WENC2_PINA: Second Encoder Input Pin A
      • WENC2_PINB: Second Encoder Input Pin B
    • WINCH_ Parameters
      • WINCH_ENABLE: Winch enable/disable
      • WINCH_TYPE: Winch Type
      • WINCH__RATE_MAX: Winch deploy or retract rate maximum
      • WINCH__POS_P: Winch control position error P gain
      • WINCH__RATE_P: Winch control rate P gain
      • WINCH__RATE_I: Winch control I gain
      • WINCH__RATE_IMAX: Winch control I gain maximum
      • WINCH__RATE_D: Winch control D gain
      • WINCH__RATE_FILT: Winch control filter frequency
    • WPNAV_ Parameters
      • WPNAV_SPEED: Waypoint Horizontal Speed Target
      • WPNAV_RADIUS: Waypoint Radius
      • WPNAV_SPEED_UP: Waypoint Climb Speed Target
      • WPNAV_SPEED_DN: Waypoint Descent Speed Target
      • WPNAV_ACCEL: Waypoint Acceleration
      • WPNAV_ACCEL_Z: Waypoint Vertical Acceleration
      • WPNAV_RFND_USE: Waypoint missions use rangefinder for terrain following
  • Parameter Reset
    • Option #1: Using the Mission Planner
    • Option #2: Change the SYSID_SW_MREV parameter
    • Option #3: Load another vehicle’s firmware
  • RC Input Channel Mapping (RCMAP)
    • Configuration
  • RC Output Channel Mapping
    • The SERVOn_FUNCTION parameters
    • Configuration
    • GENERIC FUNCTIONS
      • Disabled
      • RCPassThru
      • RCPassThru1 to RCPassThru16
    • PLANE FUNCTIONS (Also applies to QuadPlanes)
      • Aileron
      • Elevator
      • Throttle
      • Throttle Left/ Right
      • Rudder
      • Flap
      • Automatic Flaps
      • Flaperons
      • Elevon Left/ Right
      • V-tail Left/ Right
      • Differential Spoilers Left/Right
      • Ground Steering
      • Boost Engine Throttle
      • Motor Enable Switch
      • Landing Gear
    • COPTER / QUADPLANE FUNCTIONS
      • Motors 1 - 12
      • Motor Tilt/ Tilt Motor Left/ Tilt Motor Right
      • Boost Engine Throttle
      • Motor Enable Switch
      • Parachute Release
      • Landing Gear
      • Rotor Head Speed
      • Tail Rotor Speed
    • ROVER FUNCTIONS
      • Throttle
      • Throttle Left/ Right
      • Winch/ Main Sail Sheet
    • ANTENNA TRACKER FUNCTIONS
      • Tracker Yaw/Pitch
    • CAMERA/GIMBAL FUNCTIONS
      • Mount Pan/Tilt/Roll/Deploy
      • Camera_trigger
      • Camera ISO/Aperture/Focus/Shutter Speed
    • INTERNAL COMBUSTION ENGINE FUNCTIONS
      • Ignition/Starter/Choke
    • MISCELLANEOUS FUNCTIONS
      • Gripper
      • Sprayer Pump/Mixer
    • DEFAULT VALUES
  • Sensor Position Offset Compensation
    • Parameter Details
  • Sensor Testing
    • Checking the main sensors
    • Display Sensor Data on Graph
  • Serial Passthrough
    • Setup
  • Telemetry / Serial Port Setup
    • Overview
    • Set-up through the Ground Station
    • MAVLink1, MAVLink2 and Stream Rates
  • Terrain Following (Non-Autonomous modes)
    • Setup and Configuration
    • How does it work?
  • Tuning
    • Tuning Process Instructions
      • Setting the aircraft up ready for tuning
      • Pilot’s preparation for first flight
      • First Flight
      • Initial aircraft tune
      • Test AltHold
      • Evaluating the aircraft tune
      • Manual tuning of Roll and Pitch
      • Autotune
      • Setting the input shaping parameters
      • Advanced Tuning
    • AutoTune
      • Setup before flying
      • How to invoke AutoTune
      • Invoke AutoTune with Position Hold
      • Additional Notes
      • Common Problems
      • Dataflash logging
    • Roll and Pitch Tuning
      • In-flight tuning
      • Video of in-flight tuning
    • Advanced Tuning
      • Overview
      • Roll/Pitch tuning
      • Yaw tuning
      • Altitude Tuning
      • Loiter Tuning
      • In-flight tuning
      • Video introduction to PIDs
    • Basic Tuning
      • Overview
      • Roll and pitch tuning
      • Throttle tuning
  • UAVCAN Setup
    • Overview
    • Configuration settings
    • GNSS receiver configuration settings
  • UBlox GPS Configuration
    • Connection Option #1 - Mission Planner and Pixhawk as Passthrough
    • Connection Option #2 - FTDI cable
• Mission Planning
  • Planning a Mission with Waypoints and Events
    • Setting the Home Position
    • Video: Produce and save a Multi-waypoint Mission
    • Video: Load an already saved Multi-waypoint Mission
    • Instructions
    • Tips
    • Auto grid
    • Mission commands
    • How to prefetch a stored Mission Map
    • Occasionally You will see some really big Numbers
  • Copter Mission Command List
    • Takeoff
    • Waypoint
    • Spline Waypoint
    • Loiter_Time
    • Loiter_Turns
    • Loiter_Unlimited
    • Return-To-Launch
    • Land
    • Delay
    • Package Place
    • Do-Set-ROI
    • Condition-Delay
    • Condition-Distance
    • Condition-Yaw
    • Do-Jump
    • Do-Change-Speed
    • Do-Set-Home
    • Do-Set-Cam-Trigg-Dist
    • Do-Set-Relay
    • Do-Repeat-Relay
    • Do-Set-Servo
    • Do-Repeat-Servo
    • Do-Digicam-Control
    • Do-Mount-Control
    • Do-Gripper
  • Mission Command List
    • Overview
      • Types of commands
      • Frames of reference
      • How accurate is the information?
      • How to interpret the commands parameters
      • Using this information with a GCS
    • Commands supported by Copter
    • Special Commands
      • MAV_CMD_MISSION_START
      • MAV_CMD_COMPONENT_ARM_DISARM
    • Navigation commands
      • MAV_CMD_NAV_WAYPOINT
      • MAV_CMD_NAV_TAKEOFF
      • MAV_CMD_NAV_LOITER_UNLIM
      • MAV_CMD_NAV_LOITER_TURNS
      • MAV_CMD_NAV_LOITER_TIME
      • MAV_CMD_NAV_RETURN_TO_LAUNCH
      • MAV_CMD_NAV_LAND
      • MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT
      • MAV_CMD_NAV_SPLINE_WAYPOINT
      • MAV_CMD_NAV_GUIDED_ENABLE
      • MAV_CMD_NAV_ALTITUDE_WAIT
      • MAV_CMD_NAV_LOITER_TO_ALT
      • MAV_CMD_DO_JUMP
    • Conditional commands
      • MAV_CMD_CONDITION_DELAY
      • MAV_CMD_CONDITION_DISTANCE
      • MAV_CMD_CONDITION_YAW
    • DO commands
      • MAV_CMD_DO_SET_MODE
      • MAV_CMD_DO_CHANGE_SPEED
      • MAV_CMD_DO_SET_HOME
      • MAV_CMD_DO_SET_RELAY
      • MAV_CMD_DO_REPEAT_RELAY
      • MAV_CMD_DO_SET_SERVO
      • MAV_CMD_DO_REPEAT_SERVO
      • MAV_CMD_DO_LAND_START
      • MAV_CMD_DO_SET_ROI
      • MAV_CMD_DO_DIGICAM_CONFIGURE
      • MAV_CMD_DO_DIGICAM_CONTROL
      • MAV_CMD_DO_MOUNT_CONTROL
      • MAV_CMD_DO_SET_CAM_TRIGG_DIST
      • MAV_CMD_DO_FENCE_ENABLE
      • MAV_CMD_DO_PARACHUTE
      • MAV_CMD_DO_INVERTED_FLIGHT
      • MAV_CMD_DO_GRIPPER
      • MAV_CMD_DO_GUIDED_LIMITS
      • MAV_CMD_DO_AUTOTUNE_ENABLE
  • Camera Control in Auto Missions
    • Overview
      • Camera commands
      • Camera gimbal commands
      • Servo and Relay commands
    • Auto-mission types
      • Survey (Grid) Example
    • Creating composite images
  • Rally Points
    • Overview
    • Setting Up Rally Points
    • Example Flight
  • Geotagging Images with Mission Planner
    • Overview
    • Geotagging images
      • Common pre-steps
      • CAM messages
      • Time offset
      • Common post-steps
    • Interface overview
      • Files selection
      • Geotag mode
      • Time offset estimation and shutter lag
      • Item offsets in log
      • FOV and altitude reference
      • Action buttons
      • Process messages
    • Additional information
    • Acknowledgements
  • Terrain Following
    • Setting up a Mission to use Terrain data
    • Using Terrain Altitude during RTL and Land
    • Failsafe in case of no Terrain data
    • Terrain Spacing and Accuracy
    • Terrain Accuracy
    • Warning
    • Example mission at 2m using Lidar
• Logs
  • Topics related to mission logging and analysis
    • Diagnosing problems using Logs
      • Log Types (Dataflash vs tlogs)
      • Mechanical Failures
      • Vibrations
      • Compass interference
      • GPS glitches
      • Power Problems (BrownOuts, etc)
      • Unexpected ERRORS including Failsafes
    • Dataflash Logs
      • Downloading logs via MAVLink
      • Automatic Analysis of logs
      • Manually review a log
      • Setting what data you want recorded
      • Message Details (Copter specific)
      • Viewing KMZ FILES
      • Video tutorials
    • Telemetry Logs
      • When and where tlogs are created
      • Setting the datarate
      • Playing back missions
      • Creating 3d images of the flight path
      • Extracting parameters and Waypoints
      • Graphing data from a flight
      • Video overview of tlogs
    • Measuring Vibration with "Batch Sampling"
      • Pre-Flight Setup
      • Flight and Post-Flight Analysis
      • Log Message Contents
      • Analysis with pymavlink
  • Tools for log handling and analysis
    • MAVExplorer
    • MissionPLanner
    • QGroundControl
    • Dronee Plotter
• Optional Hardware
  • ADS-B Receiver
    • Required Hardware
    • Connecting to the flight controller
    • Setup through the ground station
    • Enabling Manned Vehicle Avoidance
    • Older version of ADS-B based avoidance in Plane-3.5
    • Vehicle Database
    • Developer information including Simulation
  • Battery Monitors (aka Power Modules)
    • Common Power Module
      • Specifications
      • Connecting to the flight controller
      • Configuration
      • Dual Battery Monitoring
      • Failsafe
    • AirbotPower Power Module
      • Overview
      • Key Features
      • Connecting to Pixhawk
      • AirbotPDB Power Distribution Board
      • Setup through Mission Planner
    • AttoPilot Current Sensor
      • Connection to Pixhawk
      • Setup in Mission Planner
      • Calibrating the voltage sensor
    • Mauch Power Modules
      • Overview
      • Connecting the PM to a flight controller board
      • Setup through Mission Planner
    • Power Module Configuration
      • Mission Planner Setup
      • Connecting power module to alternative pins
    • Smart Batteries
      • Connecting to the Pixhawk
      • Setup through Mission Planner
      • Limitations
      • Additional information
  • Barometer (external)
    • Where to Buy
    • Connecting and Configuring
    • Testing
  • Buzzer
    • Using an active buzzer instead of a passive buzzer
    • Mounting the buzzer
    • Silencing the buzzer
  • Cameras & Gimbals
    • Gimbals
    • Cameras with MAVLink interfaces
    • Camera Control and GeoTagging
    • Detail topics
      • Servo Gimbal
      • SimpleBGC Gimbal Controller
      • SToRM32 Gimbal Controller
      • Tarot 2D Gimbal
      • FLIR Vue Pro Thermal Camera
      • Airpixel Entire Geotagger
      • DROTAG x Geotagger
      • Seagull IR Camera Trigger
      • Seagull MAP2 Camera Trigger
      • Seagull MAP-X2 Camera Trigger and Logger
      • Seagull REC Camera Trigger
      • Skysight Mono Camera Trigger
      • StratosnapperV2 Camera Trigger
      • Camera Trigger Directly from AUX Ports
      • Camera Triggering Configuration
      • Camera Triggering using CHDK
      • Camera Triggering using CHDK Tutorial
  • Companion Computers
    • Overview
    • List
  • Crop Sprayer
    • Required Hardware
    • Enabling the Sprayer
    • Configuring the pump
  • Display (Onboard)
    • Where to Buy
    • Connecting to a Flight Controller
  • ESCs and Motors
    • Brushed motors
      • Verified Motor Drivers
      • Connection and Configuration
    • Booster motor
      • Configuration
    • DShot and BLHeli pass-through support
      • Where to buy
      • Connecting and Configuring
      • DShot Protocol
      • BLHeli Pass-Through Support
    • ICE (Internal Combustion Engines)
      • What to Buy
      • Connection and Configuration
      • Vibration isolation
    • KDE CAN ESCs
      • Where To Buy
      • Connection and Configuration
    • Toshiba CAN ESCs
      • Where To Buy
      • Connection and Configuration
    • UAVCAN ESCs
      • List of CAN ESCs
      • Connecting to the Pixhawk
      • ESC setup using CLI
      • Additional information
  • GPS/Compass
    • CUAV C-RTK 9P RTK Receiver
      • Key Features
      • Where to buy
      • Connect to Pixhawk
      • Connect to CUAV V5+ Or V5 nano
      • Connect to Others
      • Port and LED
      • More information
    • Emlid Reach RTK Receiver
      • What is Reach and what is it for?
      • ArduPilot integration
      • Connecting Reach to Pixhawk
    • Hex Here+ RTK Receiver
      • Where to buy
      • Connecting the vehicle and base station GPSs
      • Installing the Drivers
      • Upgrading to U-blox 1.30 Firmware
      • Downloading U-centre UI and 1.30 Firmware
      • Connect your HERE+ Base and Rover to Computer
      • Upgrading Process
      • Check current Rover/Base firmware version
      • Basic operating manual
      • Base module setting using Mission Planner
      • Rover Module and Flight Controller Setup
      • Use U-centre for live data recording/replaying
      • Use U-Centre for debugging/advanced configuration
      • Change Base Antenna and Testing
    • JDrones GPS Options
    • MRo M8N Gps+Compass Module
    • Swift Navigation's Piksi Multi RTK GPS Receiver
      • What is Piksi Multi?
      • What is RTK GPS and why does multi-frequency matter?
      • ArduPilot Integration
    • Septentrio AsteRx-mUAS RTK GPS
      • Setup instructions
      • Video including setup instructions
    • Trimble BD930 RTK GPS
    • Zubax GNSS 2: GNSS + Compass + Barometer
    • GPS Blending (aka Dual GPS)
      • Setup through the Ground Station
      • Dataflash logging
      • Video
    • GPS – How it Works
      • GPS multipathing
      • GPS disturbed signal propagation
      • GPS performance data for different scenarios
      • DGPS corrections
      • RTK corrections
  • Grippers
    • Electro Permanent Magnet v3 (EPMv3)
      • Overview
      • Useful links
      • Connecting to a Pixhawk via UAVCAN
      • Firmware setup
      • Parameter setup
      • Connecting to a Pixhawk via PWM header
      • Parameter setup
      • Auto mission
      • Magnetic interference and board voltage check
    • Electro Permanent Magnet v1 (EPM688)
      • Overview
      • Connecting to a Pixhawk
      • Controlling from a transmitter using servo pass-through
      • Controlling during missions and from GCS
      • Specifications and more info
      • Magnetic interference and Board Voltage check
      • User Video
    • Servo Gripper
      • Connecting the servo to a Pixhawk
      • Configuration
      • Controlling Gripper from the transmitter
      • Controlling Gripper during a mission
      • Controlling Gripper from the ground station
  • Joystick or Gamepad
    • What you will need
    • Setup with the Mission Planner
    • Testing the controls before flying
    • Testing the failsafes
    • Reducing lag in the controls
  • Landing Gear
    • Connecting to the Pixhawk
    • Setup through the Mission Planner
  • LEDs (external)
  • Non-GPS navigation
    • MarvelMind Beacons
      • Required Hardware
      • Marvelmind Settings
      • Connecting to a flight controller
      • Ground Testing
      • DataFlash logging
    • Optical Flow
      • Cheerson CX-OF
      • HereFlow
      • PX4FLOW
      • OpenMV
      • ADNS3080 Mouse Sensor (no longer supported)
    • OptiTrack motion capture system
      • Required hardware
      • Motion capture system setup
      • Required softwares
      • Prepare the drone
      • Configuration the drone
      • Send data to the drone
      • Ground testing
      • Flight testing
    • Pozyx Beacons
      • Required Hardware
      • Placing the anchors
      • Preparing the tag
      • Configuration through the Ground Station
      • Ground Testing
      • Flight testing
      • DataFlash logging
      • User videos
    • Vicon Positioning System
      • Overview
      • Hardware Setup
      • Software Setup
      • pyvicon
      • pymavlink
      • MAVProxy Setup
      • Connecting
      • Key Parameters
      • Starting Vicon
      • Checking Orientations
      • Test Flight
      • Tuning
      • Circle Mode
    • Visual Odometry with OpenKai and ZED
      • Required Hardware
      • Setup
      • Configuration through the Ground Station
      • Ground Testing
      • Flight testing
      • DataFlash logging
    • Visual Odometry with VIO tracking camera
      • Video
      • Hardware Requirements
      • System Overview
      • Install librealsense and pyrealsense2
      • Configure ArduPilot
      • Python Packages Installation
      • How to run
      • Verification before testing
      • Ground Test
      • Flight Test
      • Indoor and Outdoor Experiments
      • DataFlash logging
      • Autorun at boot
  • On-Screen Display (OSD)
    • Onboard OSD for FPV and simulation
      • Parameters
      • Screens and screen switching
      • Panel items
      • User Programmable Warnings
      • Testing OSD with SITL
    • Minim OSD
      • Overview
      • Basic wiring Diagram
      • Optional setup for critical cooling conditions
      • Firmware available for MinimOSD
      • MWOSD
      • MinimOSD-extra NG
      • Alternative Hardware
  • Optical Flow Sensor
    • Cheerson CX-OF
      • Where to Buy
      • Connection to Flight Controller
      • Additional Notes
    • HereFlow
      • Where to Buy
      • Connection to Flight Controller
      • Additional Notes
    • PX4FLOW
      • Overview
      • Install Drivers (Windows only)
      • Using MissionPlanner
      • Using QGroundControl
      • Connect to the Pixhawk
      • Mounting to the Frame
      • Enabling the sensor
      • Testing the sensor
      • Calibrating the sensor
      • Range Sensor Check
      • Pre-Arm checks
      • First Flight (Copter Only)
      • Second Flight (Copter only)
      • Example Video (Copter-3.4)
    • OpenMV
      • Where to Buy
      • Connection to Flight Controller
      • Camera Setup
      • Additional Notes
    • ADNS3080 Mouse Sensor (no longer supported)
      • Connecting the sensor to the APM2.5
      • Connecting the sensor to the APM2
      • Connecting the sensor to the APM1
      • Testing the sensor
      • Capturing an image from the sensor
      • How it works
      • Known issues
      • Acknowledgements:
  • Parachute
    • What you will need
    • Connecting to the Flight Controller
    • Setup through the mission planner
    • When will the parachute deploy?
    • Testing the chute
  • Power Tether
    • Demonstration
    • Parts used
    • Construction
  • PPM Encoder
    • Failsafe output values:
    • Setup Manual
    • Re-Programming the Atmega328p PPM encoder
    • Fuse setting for internal MCU
    • Re-Programming instructions for Windows
    • Re-Programming instructions for Mac OS X
    • Re-Programming instructions for Linux
    • Re-Compiling Options
      • Re-Compiling using Linux
    • Related information
      • PPM Encoder Programming Guide
  • Precision Landing and Loiter (IRLock)
    • Overview
    • Where to get it
    • Connecting to Pixhawk
    • Mounting to the frame
    • Setup through Mission Planner
    • Flying and Testing
  • Rangefinders (Sonar, Lidar)
    • Attollo Engineering Wasp200
      • Where to Buy
      • Connecting to the Flight Controller
    • Benewake TF02 / TF03
      • Where to Buy
      • Connecting to the Flight Controller
    • Benewake TFmini / TFmini Plus
      • Where to Buy
      • Connecting to the Flight Controller
    • Garman Lidar-Lite
      • Problems with the Lidar-Lite v2
      • Connecting to the Pixhawk via I2C
      • Connecting to Pixhawk via PWM
      • Setup in Mission Planner
      • Testing the sensor
      • Video guide
    • Leddar One Lidar
      • Connecting to the Pixhawk
      • Testing the sensor
    • LightWare SF20 / LW20 Lidar
      • Serial connection
      • I2C connection
    • LightWare SF10 / SF11 Lidar
      • Connecting to the Pixhawk
      • Testing the sensor
    • Lightware SF02 Lidar
      • Connecting to the Pixhawk
      • Setup through the mission planner
      • Testing the sensor
    • Lightware SF40c (360 degree)
      • Mounting the SF40c
      • Connecting to the Flight Controller
      • Configuration through the Ground Station
    • Maxbotix I2C Sonar
      • Connecting to the Pixhawk
      • Setup through the mission planner
      • Testing the sensor
    • Maxbotix Analog Sonar
      • Connecting to the Pixhawk
      • Setup through the mission planner
      • Testing the sensor
    • RPLidar A2 360 degree laser scanner
      • Where to buy
      • Specifications
      • Connecting and Configuring
    • ST VL53L0X / VL53L1X Lidar
      • Where to Buy
      • Connecting to the Flight Controller
    • TeraRanger One Rangefinder
      • Connecting to the TeraRanger via I2C
      • Setup in Mission Planner
      • Testing the sensor
    • TerraRanger Tower (360 degree)
      • Mounting the Sensor
      • Connecting to the Flight Controller
      • Configuration through the Ground Station
    • Underwater Sonar
      • BlueRobotics Ping
      • EchoLogger ECT400
      • Underwater Sonar (Analog)
      • Triducer
    • Analog Sonar (AC3.1)
      • Supported Sonars
      • Building a cable to reduce sonar noise
      • Connecting the Sonar Sensor on APM 2.x
      • Connecting the Sonar Sensor on PX4FMU
      • Mounting the Sonar Sensor
      • Enabling the Sonar through Mission Planner
      • Testing the sonar
      • Tuning the gain
      • Sonar Maximum Altitude
      • Cold weather performance
      • Other Potential Causes of Sonar Noise
  • Received Signal Strength Indication (RSSI)
    • Setting up RSSI on your flightcontroller
    • Displaying the RC receiver’s RSSI value in MissionPlanner’s HUD
    • Connection examples
      • RSSI embedded in a collective PPM / sum signal’s channel
      • Analog voltage type RSSI fed to a dedicated pin
      • PWM type RSSI fed to a dedicated pin
    • Special use cases
      • Converting Non-standard PWM type RSSI to analog voltage
      • How to utilize Futaba S.BUS2 “Frame Error Rate” information to be used as RSSI in your flight controller
      • How to setup the Hardware
      • How to setup RSSI Feedback to your Futaba FASSTest Telemetry capable transmitter
  • Relay Switch
    • Relay pins on the Pixhawk
    • Defining the relay pins through the Mission Planner
    • Pilot control of the relay
    • Mission control of the relay
  • RPM Sensor
    • How the RPM Sensor Library Works
    • Hall Effect Sensors
    • Electrical Commutation Sensors
    • Optical Sensors
  • Safety Switch
    • LED meaning
    • Configuring the Safety Switch
    • Using the Safety Switch to force I/O board firmware update
  • Servos
    • Servos (PWM)
      • Connecting the servo to a Pixhawk
      • Controlling the servo as a camera shutter
      • Controlling the servo as a servo
      • Testing with the Mission Planner
    • SBus Servos
      • Where to Buy
      • Configuring the Servos
      • Connecting Servos to a Flight Controller
      • Connecting Servos to a Serial Port
      • SBUS to PWM Decoders
    • Robotis Servos
      • Where to Buy
      • Configuring the Servos
      • Connecting and Configuring
    • Volz Servos
      • Where To Buy
      • Connection and Configuration
  • Telemetry Radio
    • Bluetooth
      • Connecting to the Flight Controller
      • Quick Start connecting with Mission Planner
      • Detailed connecting with Mission Planner
      • Connecting From your Android ground station
      • How to Change Baud Rate, Device Name and Device PIN
      • Troubleshooting
      • Specs
    • ESP8266 wifi telemetry
      • Where to Buy
      • Connecting to a flight controller
      • Connecting from a Ground Station
      • Flashing the device with the MAVESP8266 firmware
      • Changing the Wifi SSID and Password
    • FlightDeck FrSky Transmitter App
      • Overview
      • Turnkey Packages
    • Yaapu FrSky Telemetry Script for OpenTX
    • FrSky telemetry
      • Passthrough FrSky Telemetry
      • FlightDeck
      • Yaapu FrSky Telemetry Script for OpenTX
      • FrSky Telemetry Using Repurposed Messages
      • Repurposed Messages Scripts for Ardupilot
      • Configuration with OpenTX
      • Configuration with ErSky9x
      • MavLink to FrSky Telemetry Converters
      • Protocol Information
      • Hardware Selection Guide
      • Connecting Equipment to the SmartPort Bus
      • FrSky Telemetry Configuration in Mission Planner
      • OpenTX Scripts
      • Turnigy 9XR Pro
    • RFD900
      • Overview
      • Key Features
      • Status LEDs
      • Interfaces
      • Configuring using the Mission Planner
      • Support for different countries/regions
      • Discussion Forum
    • Robsense SwarmLink
      • Specifications (according to the manufacturer)
      • EasySwarm
    • SiK Radio v2
      • Overview
      • Features
      • Status LEDs
      • Connecting the radios
      • Configuring using the Mission Planner
      • Expected range
      • Improving the range
      • Support for different countries/regions
      • 3DR Radio Discussion Forum
    • UAVCast 3G/4G Cellular
    • XBee
      • Where to Buy
      • Configuration
      • Connecting to the Ground Station
    • Telemetry Radio Regional Regulations
      • Support for different countries/regions
    • SiK Radio configuration
      • Overview
    • SiK Radio advanced configuration
      • Monitoring the link quality
      • Diagnosing range problems
      • Serial and air rates ‘one byte form’
      • Choosing the air data rate
      • Error correction
      • MAVLink framing
      • MAVLink reporting
      • Power levels
      • Using the AT command set
      • Available frequency ranges
      • DUTY_CYCLE setting
      • Low latency mode
      • Listen Before Talk (LBT)
      • Upgrading radio firmware
      • Using a FTDI-to-USB cable to configure SiK radios
      • Forcing bootloader mode
      • Technical Details
    • SiK Radio v1
      • Overview
      • Connecting the radio
    • Repeater for Wireless Ground Station Connections
      • Overview
      • Components
      • Setup
  • Video
    • Hex HereLink
    • SkyViper video
    • Wifi Broadcast
• Traditional Helicopters
  • Suggested Parts List
    • Electronics including flight controller
    • RC helicopter frame
    • 8-channel Transmitter / Receiver
    • Use of electric and engine governors
    • Digital servos
    • Batteries
  • Loading the Firmware
  • Mounting the Pixhawk
  • Connecting and Calibration
    • Flight Controller Info
    • Overview of servo, and RX connection
      • RC Calibration
      • Compass Calibration
      • Accelerometer Calibration
  • ArduPilot Helicopter Ground School
    • Video 1 - Helicopter Parameters
    • Video 2 - Head and Servo Setup
    • Video 3 - Throttle Setup for Electric Helicopters
    • Video 4 - Throttle Curves, Piston and Turbine Engines
  • Pre-Flight Testing
    • Test leaning the helicopter in Stabilize mode
    • Test the transmitter in Stabilize mode
  • Traditional Helicopter – Tuning
    • General ArduCopter Flight Control Law Description
    • Initial Setup of Pitch and Roll Tuning Parameters
    • Tuning the Yaw Axis (Rudder)
    • Setting VFF and ACCEL_MAX for Desired Pitch and Roll Response
    • Tuning the D and P gain
    • Setting the I gain, IMAX, and ILMI
  • Advanced Tuning for Hover Trim, Loiter Flight Mode and Waypoint Flying
    • Hover Trim
    • Adjusting I-gains For High-Speed Autonomous Flight
• Tricopter
  • Copter 3.5 (and higher)
  • Copter 3.4.x
  • Copter 3.3.x
  • Copter 3.2.1 (and earlier)
• SingleCopter and CoaxCopter
  • Mounting and Connecting the flight controller
  • Loading the Firmware
    • Setting up the flaps
    • Testing the flap movement
    • Video of the first ArduPilot powered SingleCopter
• HeliQuads
  • Where to Buy
  • Connecting and Configuring
  • Videos
• SkyRocket
  • Where to Buy
  • Discussion
  • Toy Mode
  • Hardware
  • More Info
    • Videos
    • Hardware
      • Skyviper Teardown Pictures
    • Throw Mode
    • Using other Ground Stations
    • Uploading Software
      • Uploading alternative firmware
• Solo
  • Overview
    • Life After 3DR
    • Hardware Requirements
    • Resources
  • Upgrade Process
    • Preparation
    • Instructions
  • FIRST FLIGHT
    • Solo/Solex App Settings
    • Go Airborne
  • ArduCopter Parameters
  • Further Information
    • 3DR Solo - Initial ArduCopter Install Using Mission Planner & WinSCP
    • 3DR Solo - Initial ArduCopter Install Using Solex
    • 3DR Solo - Smart Battery Calibration
• Reference Frames
  • Hexsoon EDU450
    • Parts List
    • Connection and Setup
  • AmovLab P200
    • Parts List
    • Connection and Setup
• Use-Cases and Applications
  • 3d Mapping
    • Overview
    • Equipment you will need
    • Sample Mission
    • Recommended Desktop 3d mapping software
    • Sharing your model
    • Additional resources and Examples
  • Web Apps
  • First Person View (FPV)
    • Recommended parts
    • Connection diagram
    • Minim OSD setup through mission planner
    • Integrated OSD
    • User Videos / Blogs
    • Safety Warnings Relating Specifically to FPV Flight
    • Government/Local Regulations
  • Multi-Vehicle Flying
    • Equipment you will need
    • Pre-Flight Setup
    • Controlling the vehicles
  • Non-GPS Positioning Systems.
    • MarvelMind Beacons
      • Required Hardware
      • Marvelmind Settings
      • Connecting to a flight controller
      • Ground Testing
      • DataFlash logging
    • Optical Flow
      • Cheerson CX-OF
      • HereFlow
      • PX4FLOW
      • OpenMV
      • ADNS3080 Mouse Sensor (no longer supported)
    • OptiTrack motion capture system
      • Required hardware
      • Motion capture system setup
      • Required softwares
      • Prepare the drone
      • Configuration the drone
      • Send data to the drone
      • Ground testing
      • Flight testing
    • Pozyx Beacons
      • Required Hardware
      • Placing the anchors
      • Preparing the tag
      • Configuration through the Ground Station
      • Ground Testing
      • Flight testing
      • DataFlash logging
      • User videos
    • Vicon Positioning System
      • Overview
      • Hardware Setup
      • Software Setup
      • pyvicon
      • pymavlink
      • MAVProxy Setup
      • Connecting
      • Key Parameters
      • Starting Vicon
      • Checking Orientations
      • Test Flight
      • Tuning
      • Circle Mode
    • Visual Odometry with OpenKai and ZED
      • Required Hardware
      • Setup
      • Configuration through the Ground Station
      • Ground Testing
      • Flight testing
      • DataFlash logging
    • Visual Odometry with VIO tracking camera
      • Video
      • Hardware Requirements
      • System Overview
      • Install librealsense and pyrealsense2
      • Configure ArduPilot
      • Python Packages Installation
      • How to run
      • Verification before testing
      • Ground Test
      • Flight Test
      • Indoor and Outdoor Experiments
      • DataFlash logging
      • Autorun at boot
  • Indoor Flying Guidelines
    • Overview
    • Stabilize
    • Altitude Hold
    • Sonar
    • Safe Indoor Flying Dos
    • Safe Indoor Flying Don’ts
• Antenna Tracking
  • Mission Planner Antenna Tracking
    • Overview
    • Parts
      • Body
      • Antenna
      • Servo
      • Servo Control
      • Battery
      • Battery low-voltage warning device
      • Video Rx and Tx
      • Tripod
    • Picture gallery
    • Connecting the parts
    • Basic use
    • Advanced use
    • Miscellaneous notes
  • Antenna Design Overview
    • Antenna fundamentals
    • Antenna radiation is polarized
    • Resonance and matching issues
    • Understanding dB, Watts and dBm
    • Acknowledgements
• Simulation
• Appendix
  • Acknowledgments
  • Advanced user tools (downloads)
    • Tools
      • Tarot Gimbal firmware
      • Copter Firmware
      • Rover Firmware
      • 3DR PPM Encoder V3 Manual
      • USB Driver for Pixhawk Boards
      • 3DR-uBlox configuration file
      • APM2 / Ublox passthrough
      • ArduCAM OSD Config (For MinimOSD’s Firmware v2.0)
      • ArduCopter APM 1.0 Firmware
      • ArduCopter APM 2.x Firmware
      • ArduPPM Encoder 3DR Manual v2.3.16.pdf
      • ArduPPM v2.3.16 ATMega32U2 firmware for APM 2.x (recommended APM2.x)
      • ArduPPM v2.3.16 ATMega328p firmware for APM1.x Copter and standalone PPM encoder.
      • ArduPPM v2.3.16 ATMega328p firmware for APM1.x Plane and standalone PPM encoder.
      • ArduPPM v2.3.16 ATMega32U2 firmware for APM 2.x
      • MediaTek GPS firmware update and utility
      • MinimOSD Firmware v2.0
      • MinimOSD Firmware v2.2 (Beta) - New Flight Modes
      • OpticalFlow test sketch / APM2
      • PX4Flow-KLT
      • USB Driver for APM 2
    • License
    • Safety
  • Commercial Support
    • How to get added to this list
  • Contact Us
    • Support
    • Development
    • Facebook
    • YouTube
    • DroneKit
  • Developer tools (downloads)
    • Tools
      • Odroid Ubuntu 14.04 hostapd
      • Arduino code to test an airspeed sensor
      • Arduino 1.0.3 with modifications required for ArduPilot (Mac OS X)
      • ArduPilot-Arduino-1.0.3-windows.zip
      • CrossTrack demo (flash version)
      • Data dump of three attitude solutions
      • Declination Lookup - Test EMM
      • mavproxybeta1.msi
      • mavproxyBetaNoNeworkTest.msi
      • Serial port test program
    • License
    • Safety
  • Donating to ArduPilot
    • Support Merchandise
  • Firmware (downloads)
    • Firmware
      • ArduCopter APM 2.x Firmware
      • ArduCopter APM 1.0 Firmware
    • Bootloader
    • APM2.x Autopilot
    • License
    • Safety
  • Glossary
  • History of ArduPilot
  • Partners
  • Partners Program
    • Why a Partners Program
    • How does my company become a partner?
    • What do I get for becoming an ArduPilot Partner?
    • How are collected funds spent?
    • I’m not a company, but I love your stuff, how can I help?
    • I want a new feature, do I have to be a partner to get it?
  • Ready-To-Use vehicles
    • Vehicles from Partners
    • Vehicles from Non-Partners
  • Stores
  • Top Contributors
    • Collaboration with other projects
  • Training Centers
    • Australia
      • Victorian UAS Training
    • Japan
      • Drone Japan
    • How to get added to this list
  • Wiki Editing Guide
    • Making a Quick Edit
    • Infrastructure Overview
    • Setting Up the Editing Environment
      • Fork and Clone the Wiki
      • Setup with Vagrant
      • Build the Wiki
      • Check the Results
      • RST rendering on Windows
      • RST rendering on Linux
    • Submitting Changes
      • How to get changes approved
    • Style Guide
      • Creating a new page
      • Working with common pages
      • Code
    • Archiving and Deleting pages
      • Deleting wiki pages
    • License
    • Translating wiki pages
    • FAQ - Why are my changes not published?
  • Archived Topics
    • Loading ChibiOS firmware onto Pixhawk
      • Downloading the beta firmware
      • Uploading as Custom Firmware
      • Testing
    • NAVIO+ Overview
      • Specifications
    • APM 2.x
      • APM 2.5
      • APM 2.6
      • Using the APM 2.5/2.6 Enclosure
      • Not using the APM Enclosure
      • Powering the APM2
      • Explanation of solder jumper options on the bottom of the board
      • Analog input pins
      • Digital output pins
    • PX4FMU
      • Pixhawk (FMUv2) and PX4FMU (FMUv1)
      • The PX4FMU/PX4IO (FMUv1) Flight Management System Includes:
      • Detailed Description
      • PX4FMU Connector diagram
      • Analog and digital pins
      • Copter wiring (diagram and instructions)
    • PX4IO
      • The Bottom of the PX4IO Board
      • The Top of the PX4IO Board
      • A Breif Description of the PX4IO Board
      • The PX4IO Board Connector pin assignments
      • The PX4IO Board Stacks On Top of the PX4-FMU board
    • Qualcomm Snapdragon Flight Kit
      • Overview
      • Specifications
      • Connector pin assignments
      • ESC PWM Output
      • Logging
      • Record and display live video
      • Additional information
    • Open Camera Control Board
      • Overview
      • Port Mapping
      • USB Connector Types
      • Computer Wiring - Table Tests and Firmware Uploading
      • Flight Control Wiring - Aerial Photography
      • Contact Closure - Example: Canon XTi
      • MAVLink Detailed
    • VR Gimbal Controller (3-Axis Open Source)
      • Overview
      • Connecting the VRGimbal to the Pixhawk
      • Operation
      • Configuring the gimbal
      • Set-up through the mission planner
      • Updating the gimbal software
      • Common Problems
      • Other Open Source Alternatives
    • Tarot Brushless Gimbal
      • Connecting to the Flight Controller
      • Operation
      • Configuring the Gimbal
      • Set-up through the Ground Station
    • External GPS AP2.x
      • Testing
    • GPS Module (External)
      • Tips on mounting the GPS module
    • External Compass (Magnetometer)
      • Overview
      • Connecting to the APM 2.5
      • Connecting to the APM2.0
      • Setup through the Mission Planner
    • Recording and Playing Back Missions
    • Using Xbee radios for telemetry with APM
      • Hooking up your Xbee wireless modules
      • Wiring it up
      • On the ground side
      • Setting up the Xbee modules
      • For Non-PC users
      • Testing the connection
      • Test code
      • Unbricking an Xbee
    • Quick Start for RTFs
      • Install Mission Planner
      • Connect RC receiver
      • Attach propellers
      • Pre-flight information
      • Next steps
    • HIL Quad Simulator
      • What you need
      • How to make it work
      • For those that want to start FlightGear themselves
    • Traditional Helicopter Simulator – TradHeliHIL
      • What you need
      • How to make it work
    • Installing the PX4FMU on a QuadCopter
      • Overview
      • PX4-FMU Only Wiring Diagram for QuadCopters using a PPM-SUM receiver
      • Wiring the PX4FMU Board to Your QuadCopter
      • PX4-FMU Only Wiring Schematic for QuadCopters using a PPM-SUM receiver
      • Wiring your Motors for X or + mode configuration
      • Using a Standard RC Radio Receiver with an 8 channel PPM Encoder
      • There are Several Radio systems that support PPM-Sum or S-Bus directly
    • GPS Failsafe
      • Overview
      • Video
    • Archived: Traditional Helicopter – Tuning with Copter 3.3 and earlier
      • PID Tuning
      • Rudder Tuning
      • Acro Mode Tuning
      • Stabilization Mode Tuning
      • Throttle Tuning
      • Aerobatics in Acro Mode
    • Hoverthings Flip Sport Quadcopter (detailed build)
      • Why a FLIP Sport?
      • What to get
      • Assembling the frame
      • Installing the Pixhawk flight controller
      • Installing the PX4FMU/PX4IO flight controller
      • Final assembly
      • Setup and additions
    • DJI F330 FlameWheel QuadCopter
      • The DJI F330 FlameWheel is inexpensive, sturdy and small.
      • The DJI F450 Flamewheel is an excellent larger alternative to the F330
      • Components required in addition to the Flamewheel ARF kit
      • Frame and Motor Assembly
      • ESC Installation and Soldering the Power Distribution Board
      • Reduced Vibration Installation of the Flight Control Board
      • Getting Ready to Fly
    • Build Your Own Multicopter
      • There are Lots of Ways you Can Put Together a MultiCopter
      • Chinese Imports Good Deal / Bad Deal?
      • Inexpensive, Ready To Fly Nano, Micro or Small QuadCopter
      • All Inclusive Kit
      • Almost Ready to Fly
      • Frame Kit
      • Scratch Built
      • Brand Name Ready to Fly
      • Which Approach is Right for You
    • Advanced MultiCopter Design
      • There are several popular frame layouts for MultiCopters
      • Motors, propellers and ESCs
      • The MultiCopter Frame
      • Specific Building Examples and Techinques
      • Links To Specific MultiCopter Builds
      • A Commercial MultiCopter Exhibiting Advanced Design Concepts
      • Conclusion and Additional Design Considerations
    • Improving the Capabilities of Your Multicopter
      • Copter Upgrading Goals
      • Receiver with 2 Satellites
      • FPV Transmitter Improvements:
      • Camera Gimbal Mount
      • FPV Camera Improvements
      • Summary:
    • PDF Guides
    • Copter Project News
    • Troubleshooting
      • I can’t get the motors to run and/or can’t arm the ESCs
      • My APM 2 is locking up
      • Copter tilts/flips over or wobbles crazily when I try to take off.
      • My overpowered copter rockets into the air can’t be brought down unless I cut the throttle
      • My copter motors spin but the copter wont take off (or motors may not spin at all)
      • My radio setup isn’t reading the RC channels right or hangs
      • My Copter isn’t as stable as I’d like or doesn’t Loiter/Hold Altitude/Navigate reliably
      • My Copter flies okay, but it tends to tilt one way or another
      • My Copter Moves In a Direction even though the Stick is Centered
      • The quad always wants to yaw to the right or left when I take off
      • The quad always wants to yaw when I pitch or roll
      • My copter flies well, but then dips a motor arm in a fidgety manner while hovering
      • One of my motors started shaking and then burned out!
      • The APM board works when it’s plugged into the USB, but not when it’s powered by the RC rail (ESC/Lipo)
      • In the “raw sensor view” of the Mission Planner, the Z accelerometer reading is always 1000, not 0, when it’s on the bench
      • I can’t connect with the Mission Planner over Xbee
      • I can’t connect with the Mission Planner with the 3DR Radios
      • I’m having trouble connecting via MAVLink over USB
      • Copter ESCs keep beeping
      • I’m using a MediaTek GPS, and although the module’s blue lock LED goes solid, APM is not showing a lock or I’m getting “No GPS” on the Mission Planner display
      • I’m not getting GPS lock at all
      • I want to load the code in Arduino, but I’m having trouble
      • My Copter just won’t rise/lift off
      • My Copter feels sloppy on roll or pitch axis
      • I’ve got a tricopter and I’m having trouble with the yaw
      • The Mission Planner’s HUD display moves around even though my copter is motionless
      • My copter’s is moving a lot on the Mission Planner map even though it’s sitting still in my house
      • In Alt-Hold or loiter my copter is very bouncy or takes off into the sky
      • My copter slowly rises or descends when I enable Alt-Hold or Loiter
      • Mission planner displays enormous “Distance to Home” or “Dist to WP”
      • Mission Planner displays Altitude of -21 million or NaN appearing in Advanced Parameter list
• Full Table of Contents