Complete Parameter List¶

This is a complete list of the parameters which can be set (e.g. via the MAVLink protocol) to control vehicle behaviour. They are stored in persistent storage on the vehicle.

This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.

ArduCopter Parameters¶

SYSID_SW_MREV: Eeprom format version number¶

Note: This parameter is for advanced users

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

ReadOnly
True

SYSID_THISMAV: MAVLink system ID of this vehicle¶

Note: This parameter is for advanced users

Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network

Range
1 - 255

SYSID_MYGCS: My ground station number¶

Note: This parameter is for advanced users

Allows restricting radio overrides to only come from my ground station

Values

Value	Meaning
255	Mission Planner and DroidPlanner
252	AP Planner 2

PILOT_THR_FILT: Throttle filter cutoff¶

Note: This parameter is for advanced users

Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable

Range	Increment	Units
0 - 10	.5	hertz

PILOT_TKOFF_ALT: Pilot takeoff altitude¶

Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.

Range	Increment	Units
0.0 - 1000.0	10	centimeters

PILOT_THR_BHV: Throttle stick behavior¶

Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to “1” so motor feedback when landed starts from mid-stick instead of bottom of stick.

Bitmask

Values

Bit	Meaning
0	Feedback from mid stick
1	High throttle cancels landing
2	Disarm on land detection

Value	Meaning
0	None
1	Feedback from mid stick
2	High throttle cancels landing
4	Disarm on land detection

TELEM_DELAY: Telemetry startup delay¶

Note: This parameter is for advanced users

The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up

Range	Increment	Units
0 - 30	1	seconds

GCS_PID_MASK: GCS PID tuning mask¶

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

Bitmask

Values

Bit	Meaning
0	Roll
1	Pitch
2	Yaw
3	AccelZ

Value	Meaning
0	None
1	Roll
2	Pitch
4	Yaw
8	AccelZ

RTL_ALT: RTL Altitude¶

The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude.

Range	Increment	Units
200 - 8000	1	centimeters

RTL_CONE_SLOPE: RTL cone slope¶

Defines a cone above home which determines maximum climb

Range

Values

Increment

0.5 - 10.0

Value	Meaning
0	Disabled
1	Shallow
3	Steep

.1

RTL_SPEED: RTL speed¶

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.

Range	Increment	Units
0 - 2000	50	centimeters per second

RTL_ALT_FINAL: RTL Final Altitude¶

This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.

Range	Increment	Units
-1 - 1000	1	centimeters

RTL_CLIMB_MIN: RTL minimum climb¶

The vehicle will climb this many cm during the initial climb portion of the RTL

Range	Increment	Units
0 - 3000	10	centimeters

RTL_LOIT_TIME: RTL loiter time¶

Time (in milliseconds) to loiter above home before beginning final descent

Range	Increment	Units
0 - 60000	1000	milliseconds

RNGFND_GAIN: Rangefinder gain¶

Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter

Range	Increment
0.01 - 2.0	0.01

FS_GCS_ENABLE: Ground Station Failsafe Enable¶

Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. NB. The GCS Failsafe is only active when RC_OVERRIDE is being used to control the vehicle.

Values

Value	Meaning
0	Disabled
1	Enabled always RTL
2	Enabled Continue with Mission in Auto Mode
3	Enabled always SmartRTL or RTL
4	Enabled always SmartRTL or Land

GPS_HDOP_GOOD: GPS Hdop Good¶

Note: This parameter is for advanced users

GPS Hdop value at or below this value represent a good position. Used for pre-arm checks

Range
100 - 900

SUPER_SIMPLE: Super Simple Mode¶

Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode

Values

Value	Meaning
0	Disabled
1	Mode1
2	Mode2
3	Mode1+2
4	Mode3
5	Mode1+3
6	Mode2+3
7	Mode1+2+3
8	Mode4
9	Mode1+4
10	Mode2+4
11	Mode1+2+4
12	Mode3+4
13	Mode1+3+4
14	Mode2+3+4
15	Mode1+2+3+4
16	Mode5
17	Mode1+5
18	Mode2+5
19	Mode1+2+5
20	Mode3+5
21	Mode1+3+5
22	Mode2+3+5
23	Mode1+2+3+5
24	Mode4+5
25	Mode1+4+5
26	Mode2+4+5
27	Mode1+2+4+5
28	Mode3+4+5
29	Mode1+3+4+5
30	Mode2+3+4+5
31	Mode1+2+3+4+5
32	Mode6
33	Mode1+6
34	Mode2+6
35	Mode1+2+6
36	Mode3+6
37	Mode1+3+6
38	Mode2+3+6
39	Mode1+2+3+6
40	Mode4+6
41	Mode1+4+6
42	Mode2+4+6
43	Mode1+2+4+6
44	Mode3+4+6
45	Mode1+3+4+6
46	Mode2+3+4+6
47	Mode1+2+3+4+6
48	Mode5+6
49	Mode1+5+6
50	Mode2+5+6
51	Mode1+2+5+6
52	Mode3+5+6
53	Mode1+3+5+6
54	Mode2+3+5+6
55	Mode1+2+3+5+6
56	Mode4+5+6
57	Mode1+4+5+6
58	Mode2+4+5+6
59	Mode1+2+4+5+6
60	Mode3+4+5+6
61	Mode1+3+4+5+6
62	Mode2+3+4+5+6
63	Mode1+2+3+4+5+6

WP_YAW_BEHAVIOR: Yaw behaviour during missions¶

Determines how the autopilot controls the yaw during missions and RTL

Values

Value	Meaning
0	Never change yaw
1	Face next waypoint
2	Face next waypoint except RTL
3	Face along GPS course

LAND_SPEED: Land speed¶

The descent speed for the final stage of landing in cm/s

Range	Increment	Units
30 - 200	10	centimeters per second

LAND_SPEED_HIGH: Land speed high¶

The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used

Range	Increment	Units
0 - 500	10	centimeters per second

PILOT_SPEED_UP: Pilot maximum vertical speed ascending¶

The maximum vertical ascending velocity the pilot may request in cm/s

Range	Increment	Units
50 - 500	10	centimeters per second

PILOT_ACCEL_Z: Pilot vertical acceleration¶

The vertical acceleration used when pilot is controlling the altitude

Range	Increment	Units
50 - 500	10	centimeters per square second

FS_THR_ENABLE: Throttle Failsafe Enable¶

The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel

Values

Value	Meaning
0	Disabled
1	Enabled always RTL
2	Enabled Continue with Mission in Auto Mode
3	Enabled always Land
4	Enabled always SmartRTL or RTL
5	Enabled always SmartRTL or Land

FS_THR_VALUE: Throttle Failsafe Value¶

The PWM level in microseconds on channel 3 below which throttle failsafe triggers

Range	Increment	Units
925 - 1100	1	PWM in microseconds

THR_DZ: Throttle deadzone¶

The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes

Range	Increment	Units
0 - 300	1	PWM in microseconds

FLTMODE1: Flight Mode 1¶

Flight mode when Channel 5 pwm is <= 1230

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag

FLTMODE2: Flight Mode 2¶

Flight mode when Channel 5 pwm is >1230, <= 1360

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag

FLTMODE3: Flight Mode 3¶

Flight mode when Channel 5 pwm is >1360, <= 1490

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag

FLTMODE4: Flight Mode 4¶

Flight mode when Channel 5 pwm is >1490, <= 1620

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag

FLTMODE5: Flight Mode 5¶

Flight mode when Channel 5 pwm is >1620, <= 1749

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag

FLTMODE6: Flight Mode 6¶

Flight mode when Channel 5 pwm is >=1750

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	Smart_RTL
22	FlowHold
23	Follow
24	ZigZag

FLTMODE_CH: Flightmode channel¶

Note: This parameter is for advanced users

RC Channel to use for flight mode control

Values

Value	Meaning
0	Disabled
5	Channel5
6	Channel6
7	Channel7
8	Channel8

SIMPLE: Simple mode bitmask¶

Note: This parameter is for advanced users

Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)

LOG_BITMASK: Log bitmask¶

4 byte bitmap of log types to enable

Bitmask

Values

Bit	Meaning
0	ATTITUDE_FAST
1	ATTITUDE_MED
2	GPS
3	PM
4	CTUN
5	NTUN
6	RCIN
7	IMU
8	CMD
9	CURRENT
10	RCOUT
11	OPTFLOW
12	PID
13	COMPASS
14	INAV
15	CAMERA
17	MOTBATT
18	IMU_FAST
19	IMU_RAW

Value	Meaning
830	Default
894	Default+RCIN
958	Default+IMU
1854	Default+Motors
-6146	NearlyAll-AC315
45054	NearlyAll
131071	All+FastATT
262142	All+MotBatt
393214	All+FastIMU
397310	All+FastIMU+PID
655358	All+FullIMU
0	Disabled

ESC_CALIBRATION: ESC Calibration¶

Note: This parameter is for advanced users

Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.

Values

Value	Meaning
0	Normal Start-up
1	Start-up in ESC Calibration mode if throttle high
2	Start-up in ESC Calibration mode regardless of throttle
3	Start-up and automatically calibrate ESCs
9	Disabled

TUNE: Channel 6 Tuning¶

Controls which parameters (normally PID gains) are being tuned with transmitter’s channel 6 knob

Values

Value	Meaning
0	None
1	Stab Roll/Pitch kP
4	Rate Roll/Pitch kP
5	Rate Roll/Pitch kI
21	Rate Roll/Pitch kD
3	Stab Yaw kP
6	Rate Yaw kP
26	Rate Yaw kD
56	Rate Yaw Filter
55	Motor Yaw Headroom
14	AltHold kP
7	Throttle Rate kP
34	Throttle Accel kP
35	Throttle Accel kI
36	Throttle Accel kD
12	Loiter Pos kP
22	Velocity XY kP
28	Velocity XY kI
10	WP Speed
25	Acro RollPitch kP
40	Acro Yaw kP
45	RC Feel
13	Heli Ext Gyro
38	Declination
39	Circle Rate
41	RangeFinder Gain
46	Rate Pitch kP
47	Rate Pitch kI
48	Rate Pitch kD
49	Rate Roll kP
50	Rate Roll kI
51	Rate Roll kD
52	Rate Pitch FF
53	Rate Roll FF
54	Rate Yaw FF
57	Winch

FRAME_TYPE: Frame Type (+, X, V, etc)¶

Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.

Values

RebootRequired

Value	Meaning
0	Plus
1	X
2	V
3	H
4	V-Tail
5	A-Tail
10	Y6B
11	Y6F
12	BetaFlightX
13	DJIX
14	ClockwiseX
15	I

True

DISARM_DELAY: Disarm delay¶

Note: This parameter is for advanced users

Delay before automatic disarm in seconds. A value of zero disables auto disarm.

Range	Units
0 - 127	seconds

ANGLE_MAX: Angle Max¶

Note: This parameter is for advanced users

Maximum lean angle in all flight modes

Range	Units
1000 - 8000	centidegrees

PHLD_BRAKE_RATE: PosHold braking rate¶

Note: This parameter is for advanced users

PosHold flight mode’s rotation rate during braking in deg/sec

Range	Units
4 - 12	degrees per second

PHLD_BRAKE_ANGLE: PosHold braking angle max¶

Note: This parameter is for advanced users

PosHold flight mode’s max lean angle during braking in centi-degrees

Range	Units
2000 - 4500	centidegrees

LAND_REPOSITION: Land repositioning¶

Note: This parameter is for advanced users

Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.

Values

Value	Meaning
0	No repositioning
1	Repositioning

FS_EKF_ACTION: EKF Failsafe Action¶

Note: This parameter is for advanced users

Controls the action that will be taken when an EKF failsafe is invoked

Values

Value	Meaning
1	Land
2	AltHold
3	Land even in Stabilize

FS_EKF_THRESH: EKF failsafe variance threshold¶

Note: This parameter is for advanced users

Allows setting the maximum acceptable compass and velocity variance

Values
0.6:Strict, 0.8:Default, 1.0:Relaxed

FS_CRASH_CHECK: Crash check enable¶

Note: This parameter is for advanced users

This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.

Values

Value	Meaning
0	Disabled
1	Enabled

RC_SPEED: ESC Update Speed¶

Note: This parameter is for advanced users

This is the speed in Hertz that your ESCs will receive updates

Range	Increment	Units
50 - 490	1	hertz

ACRO_RP_P: Acro Roll and Pitch P gain¶

Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.

Range
1 - 10

ACRO_YAW_P: Acro Yaw P gain¶

Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.

Range
1 - 10

ACRO_BAL_ROLL: Acro Balance Roll¶

Note: This parameter is for advanced users

rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude.

Range	Increment
0 - 3	0.1

ACRO_BAL_PITCH: Acro Balance Pitch¶

Note: This parameter is for advanced users

rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude.

Range	Increment
0 - 3	0.1

ACRO_TRAINER: Acro Trainer¶

Note: This parameter is for advanced users

Type of trainer used in acro mode

Values

Value	Meaning
0	Disabled
1	Leveling
2	Leveling and Limited

ACRO_RP_EXPO: Acro Roll/Pitch Expo¶

Note: This parameter is for advanced users

Acro roll/pitch Expo to allow faster rotation when stick at edges

Range

Values

-0.5 - 1.0

Value	Meaning
0	Disabled
0.1	Very Low
0.2	Low
0.3	Medium
0.4	High
0.5	Very High

THROW_MOT_START: Start motors before throwing is detected¶

Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw.

Values

Value	Meaning
0	Stopped
1	Running

TERRAIN_FOLLOW: Terrain Following use control¶

This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft. In RTL the RTL_ALT will be considered a height above the terrain. In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home). This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.

Values

Value	Meaning
0	Do Not Use in RTL and Land
1	Use in RTL and Land

THROW_NEXTMODE: Throw mode’s follow up mode¶

Vehicle will switch to this mode after the throw is successfully completed. Default is to stay in throw mode (18)

Values

Value	Meaning
3	Auto
4	Guided
5	LOITER
6	RTL
9	Land
17	Brake
18	Throw

THROW_TYPE: Type of Type¶

Used by THROW mode. Specifies whether Copter is thrown upward or dropped.

Values

Value	Meaning
0	Upward Throw
1	Drop

GND_EFFECT_COMP: Ground Effect Compensation Enable/Disable¶

Note: This parameter is for advanced users

Ground Effect Compensation Enable/Disable

Values

Value	Meaning
0	Disabled
1	Enabled

DEV_OPTIONS: Development options¶

Note: This parameter is for advanced users

Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning

Bitmask

Bit	Meaning
0	ADSBMavlinkProcessing
1	DevOptionVFR_HUDRelativeAlt

ACRO_Y_EXPO: Acro Yaw Expo¶

Note: This parameter is for advanced users

Acro yaw expo to allow faster rotation when stick at edges

Range

Values

-0.5 - 1.0

Value	Meaning
0	Disabled
0.1	Very Low
0.2	Low
0.3	Medium
0.4	High
0.5	Very High

ACRO_THR_MID: Acro Thr Mid¶

Note: This parameter is for advanced users

Acro Throttle Mid

Range
0 - 1

SYSID_ENFORCE: GCS sysid enforcement¶

Note: This parameter is for advanced users

This controls whether packets from other than the expected GCS system ID will be accepted

Values

Value	Meaning
0	NotEnforced
1	Enforced

FRAME_CLASS: Frame Class¶

Controls major frame class for multicopter component

Values

RebootRequired

Value	Meaning
0	Undefined
1	Quad
2	Hexa
3	Octa
4	OctaQuad
5	Y6
6	Heli
7	Tri
8	SingleCopter
9	CoaxCopter
10	BiCopter
11	Heli_Dual
12	DodecaHexa
13	HeliQuad

True

PILOT_SPEED_DN: Pilot maximum vertical speed descending¶

The maximum vertical descending velocity the pilot may request in cm/s

Range	Increment	Units
50 - 500	10	centimeters per second

LAND_ALT_LOW: Land alt low¶

Note: This parameter is for advanced users

Altitude during Landing at which vehicle slows to LAND_SPEED

Range	Increment	Units
100 - 10000	10	centimeters

TUNE_MIN: Tuning minimum¶

Minimum value that the parameter currently being tuned with the transmitter’s channel 6 knob will be set to

TUNE_MAX: Tuning maximum¶

Maximum value that the parameter currently being tuned with the transmitter’s channel 6 knob will be set to

CH7_OPT: Channel 7 option¶

Select which function is performed when CH7 is above 1800 pwm

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Object Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl

CH8_OPT: Channel 8 option¶

Select which function is performed when CH8 is above 1800 pwm

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Object Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl

CH9_OPT: Channel 9 option¶

Select which function is performed when CH9 is above 1800 pwm

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Object Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl

CH10_OPT: Channel 10 option¶

Select which function is performed when CH10 is above 1800 pwm

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Object Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl

CH11_OPT: Channel 11 option¶

Select which function is performed when CH11 is above 1800 pwm

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Object Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl

CH12_OPT: Channel 12 option¶

Select which function is performed when CH12 is above 1800 pwm

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Object Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl

TUNE_LOW: Tuning minimum¶

The minimum value that will be applied to the parameter currently being tuned with the transmitter’s channel 6 knob

Range
0 - 32767

TUNE_HIGH: Tuning maximum¶

The maximum value that will be applied to the parameter currently being tuned with the transmitter’s channel 6 knob

Range
0 - 32767

ADSB_ Parameters¶

ADSB_ENABLE: Enable ADSB¶

Enable ADS-B

Values

Value	Meaning
0	Disabled
1	Enabled

ADSB_LIST_MAX: ADSB vehicle list size¶

Note: This parameter is for advanced users

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

Range
1 - 100

ADSB_LIST_RADIUS: ADSB vehicle list radius filter¶

Note: This parameter is for advanced users

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

Range	Units
0 - 100000	meters

ADSB_ICAO_ID: ICAO_ID vehicle identification number¶

Note: This parameter is for advanced users

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

Range
-1 - 16777215

ADSB_EMIT_TYPE: Emitter type¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	NoInfo
1	Light
2	Small
3	Large
4	HighVortexlarge
5	Heavy
6	HighlyManuv
7	Rotocraft
8	RESERVED
9	Glider
10	LightAir
11	Parachute
12	UltraLight
13	RESERVED
14	UAV
15	Space
16	RESERVED
17	EmergencySurface
18	ServiceSurface
19	PointObstacle

ADSB_LEN_WIDTH: Aircraft length and width¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	NO_DATA
1	L15W23
2	L25W28P5
3	L25W34
4	L35W33
5	L35W38
6	L45W39P5
7	L45W45
8	L55W45
9	L55W52
10	L65W59P5
11	L65W67
12	L75W72P5
13	L75W80
14	L85W80
15	L85W90

ADSB_OFFSET_LAT: GPS antenna lateral offset¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	NoData
1	Left2m
2	Left4m
3	Left6m
4	Center
5	Right2m
6	Right4m
7	Right6m

ADSB_OFFSET_LON: GPS antenna longitudinal offset¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	NO_DATA
1	AppliedBySensor

ADSB_RF_SELECT: Transceiver RF selection¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Rx-Only
2	Tx-Only
3	Rx and Tx Enabled

ADSB_SQUAWK: Squawk code¶

Note: This parameter is for advanced users

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

Range	Units
0 - 7777	octal

ADSB_RF_CAPABLE: RF capabilities¶

Note: This parameter is for advanced users

Describes your hardware RF In/Out capabilities.

Bitmask

Values

Bit	Meaning
0	UAT_in
1	1090ES_in
2	UAT_out
3	1090ES_out

Value	Meaning
0	Unknown
1	Rx UAT only
3	Rx UAT and 1090ES
7	Rx&Tx UAT and 1090ES

ADSB_LIST_ALT: ADSB vehicle list altitude filter¶

Note: This parameter is for advanced users

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

Range	Units
0 - 32767	meters

ADSB_ICAO_SPECL: ICAO_ID of special vehicle¶

Note: This parameter is for advanced users

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

ADSB_LOG: ADS-B logging¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	no logging
1	log only special ID
2	log all

AFS_ Parameters¶

AFS_ENABLE: Enable Advanced Failsafe¶

Note: This parameter is for advanced users

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

AFS_MAN_PIN: Manual Pin¶

Note: This parameter is for advanced users

This sets a digital output pin to set high when in manual mode

AFS_HB_PIN: Heartbeat Pin¶

Note: This parameter is for advanced users

This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination.

Values

Value	Meaning
-1	Disabled
49	BB Blue GP0 pin 4
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6
57	BB Blue GP0 pin 3
113	BB Blue GP0 pin 6
116	BB Blue GP0 pin 5

AFS_WP_COMMS: Comms Waypoint¶

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

AFS_GPS_LOSS: GPS Loss Waypoint¶

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

AFS_TERMINATE: Force Terminate¶

Note: This parameter is for advanced users

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

AFS_TERM_ACTION: Terminate action¶

Note: This parameter is for advanced users

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

AFS_TERM_PIN: Terminate Pin¶

Note: This parameter is for advanced users

This sets a digital output pin to set high on flight termination

Values

Value	Meaning
-1	Disabled
49	BB Blue GP0 pin 4
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6
57	BB Blue GP0 pin 3
113	BB Blue GP0 pin 6
116	BB Blue GP0 pin 5

AFS_AMSL_LIMIT: AMSL limit¶

Note: This parameter is for advanced users

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

Units
meters

AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit¶

Note: This parameter is for advanced users

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

Units
meters

AFS_QNH_PRESSURE: QNH pressure¶

Note: This parameter is for advanced users

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

Units
millibar

AFS_MAX_GPS_LOSS: Maximum number of GPS loss events¶

Note: This parameter is for advanced users

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

AFS_MAX_COM_LOSS: Maximum number of comms loss events¶

Note: This parameter is for advanced users

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

AFS_GEOFENCE: Enable geofence Advanced Failsafe¶

Note: This parameter is for advanced users

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

AFS_RC: Enable RC Advanced Failsafe¶

Note: This parameter is for advanced users

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

AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes¶

Note: This parameter is for advanced users

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

AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously¶

Note: This parameter is for advanced users

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

AFS_RC_FAIL_TIME: RC failure time¶

Note: This parameter is for advanced users

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

Units
seconds

AFS_MAX_RANGE: Max allowed range¶

Note: This parameter is for advanced users

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

Units
kilometers

AHRS_ Parameters¶

AHRS_GPS_GAIN: AHRS GPS gain¶

Note: This parameter is for advanced users

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

Range	Increment
0.0 - 1.0	.01

AHRS_GPS_USE: AHRS use GPS for navigation¶

Note: This parameter is for advanced users

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won’t be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available.

Values

Value	Meaning
0	Disabled
1	Enabled

AHRS_YAW_P: Yaw P¶

Note: This parameter is for advanced users

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

Range	Increment
0.1 - 0.4	.01

AHRS_RP_P: AHRS RP_P¶

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Range	Increment
0.1 - 0.4	.01

AHRS_WIND_MAX: Maximum wind¶

Note: This parameter is for advanced users

This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is.

Range	Increment	Units
0 - 127	1	meters per second

AHRS_TRIM_X: AHRS Trim Roll¶

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

Range	Increment	Units
-0.1745 - +0.1745	0.01	radians

AHRS_TRIM_Y: AHRS Trim Pitch¶

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

Range	Increment	Units
-0.1745 - +0.1745	0.01	radians

AHRS_TRIM_Z: AHRS Trim Yaw¶

Note: This parameter is for advanced users

Not Used

Range	Increment	Units
-0.1745 - +0.1745	0.01	radians

AHRS_ORIENTATION: Board Orientation¶

Note: This parameter is for advanced users

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Roll180Yaw45
10	Roll180Yaw90
11	Roll180Yaw135
12	Pitch180
13	Roll180Yaw225
14	Roll180Yaw270
15	Roll180Yaw315
16	Roll90
17	Roll90Yaw45
18	Roll90Yaw90
19	Roll90Yaw135
20	Roll270
21	Roll270Yaw45
22	Roll270Yaw90
23	Roll270Yaw135
24	Pitch90
25	Pitch270
26	Pitch180Yaw90
27	Pitch180Yaw270
28	Roll90Pitch90
29	Roll180Pitch90
30	Roll270Pitch90
31	Roll90Pitch180
32	Roll270Pitch180
33	Roll90Pitch270
34	Roll180Pitch270
35	Roll270Pitch270
36	Roll90Pitch180Yaw90
37	Roll90Yaw270
38	Yaw293Pitch68Roll180
39	Pitch315
40	Roll90Pitch315
100	Custom

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient¶

Note: This parameter is for advanced users

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

Range	Increment
0.001 - 0.5	.01

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites¶

Note: This parameter is for advanced users

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

Range	Increment
0 - 10	1

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
2	Enable EKF2
3	Enable EKF3

AHRS_CUSTOM_ROLL: Board orientation roll offset¶

Note: This parameter is for advanced users

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

Range	Increment	Units
-180 - 180	1	degrees

AHRS_CUSTOM_PIT: Board orientation pitch offset¶

Note: This parameter is for advanced users

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

Range	Increment	Units
-180 - 180	1	degrees

AHRS_CUSTOM_YAW: Board orientation yaw offset¶

Note: This parameter is for advanced users

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

Range	Increment	Units
-180 - 180	1	degrees

ARMING_ Parameters¶

ARMING_REQUIRE: Require Arming Motors¶

Note: This parameter is for advanced users

Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure.

Values

Value	Meaning
0	Disabled
1	THR_MIN PWM when disarmed
2	0 PWM when disarmed

ARMING_ACCTHRESH: Accelerometer error threshold¶

Note: This parameter is for advanced users

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

Range	Units
0.25 - 3.0	meters per square second

ARMING_RUDDER: Arming with Rudder enable/disable¶

Note: This parameter is for advanced users

Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)

Values

Value	Meaning
0	Disabled
1	ArmingOnly
2	ArmOrDisarm

ARMING_MIS_ITEMS: Required mission items¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Land
1	VTOL Land
2	DO_LAND_START
3	Takeoff
4	VTOL Takeoff
5	Rallypoint

ARMING_CHECK: Arm Checks to Peform (bitmask)¶

Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. For most users it is recommended that you set this to 1 to enable all checks.

Bitmask

Values

Bit	Meaning
0	All
1	Barometer
2	Compass
3	GPS lock
4	INS
5	Parameters
6	RC Channels
7	Board voltage
8	Battery Level
9	Airspeed
10	Logging Available
11	Hardware safety switch
12	GPS Configuration
13	System
14	Mission
15	Rangefinder

Value	Meaning
0	None
1	All
2	Barometer
4	Compass
8	GPS Lock
16	INS(INertial Sensors - accels & gyros)
32	Parameters(unused)
64	RC Channels
128	Board voltage
256	Battery Level
512	Airspeed
1024	LoggingAvailable
2048	Hardware safety switch
4096	GPS configuration
8192	System

ATC_ Parameters¶

ATC_SLEW_YAW: Yaw target slew rate¶

Note: This parameter is for advanced users

Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes

Range	Increment	Units
500 - 18000	100	centidegrees per second

ATC_ACCEL_Y_MAX: Acceleration Max for Yaw¶

Note: This parameter is for advanced users

Maximum acceleration in yaw axis

Range

Values

Increment

Units

0 - 72000

Value	Meaning
0	Disabled
9000	VerySlow
18000	Slow
36000	Medium
54000	Fast

1000

centidegrees per square second

ATC_RATE_FF_ENAB: Rate Feedforward Enable¶

Note: This parameter is for advanced users

Controls whether body-frame rate feedfoward is enabled or disabled

Values

Value	Meaning
0	Disabled
1	Enabled

ATC_ACCEL_R_MAX: Acceleration Max for Roll¶

Note: This parameter is for advanced users

Maximum acceleration in roll axis

Range

Values

Increment

Units

0 - 180000

Value	Meaning
0	Disabled
30000	VerySlow
72000	Slow
108000	Medium
162000	Fast

1000

centidegrees per square second

ATC_ACCEL_P_MAX: Acceleration Max for Pitch¶

Note: This parameter is for advanced users

Maximum acceleration in pitch axis

Range

Values

Increment

Units

0 - 180000

Value	Meaning
0	Disabled
30000	VerySlow
72000	Slow
108000	Medium
162000	Fast

1000

centidegrees per square second

ATC_ANGLE_BOOST: Angle Boost¶

Note: This parameter is for advanced users

Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude

Values

Value	Meaning
0	Disabled
1	Enabled

ATC_ANG_RLL_P: Roll axis angle controller P gain¶

Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate

Range
0.0 - 12.000

ATC_ANG_PIT_P: Pitch axis angle controller P gain¶

Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate

Range
0.0 - 12.000

ATC_ANG_YAW_P: Yaw axis angle controller P gain¶

Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate

Range
0.0 - 6.000

ATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant¶

Note: This parameter is for advanced users

Angle Limit (to maintain altitude) Time Constant

Range
0.5 - 10.0

ATC_RATE_R_MAX: Angular Velocity Max for Roll¶

Note: This parameter is for advanced users

Maximum angular velocity in roll axis

Range

Values

Increment

Units

0 - 1080

Value	Meaning
0	Disabled
360	Slow
720	Medium
1080	Fast

1

degrees per second

ATC_RATE_P_MAX: Angular Velocity Max for Pitch¶

Note: This parameter is for advanced users

Maximum angular velocity in pitch axis

Range

Values

Increment

Units

0 - 1080

Value	Meaning
0	Disabled
360	Slow
720	Medium
1080	Fast

1

degrees per second

ATC_RATE_Y_MAX: Angular Velocity Max for Yaw¶

Note: This parameter is for advanced users

Maximum angular velocity in yaw axis

Range

Values

Increment

Units

0 - 1080

Value	Meaning
0	Disabled
360	Slow
720	Medium
1080	Fast

1

degrees per second

ATC_INPUT_TC: Attitude control input time constant¶

Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response

Range	Values	Increment	Units
0 - 1	0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp	0.01	seconds

ATC_RAT_RLL_P (AC_AttitudeControl_Multi): Roll axis rate controller P gain¶

Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output

Range	Increment
0.01 - 0.5	0.005

ATC_RAT_RLL_I (AC_AttitudeControl_Multi): Roll axis rate controller I gain¶

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

Range	Increment
0.01 - 2.0	0.01

ATC_RAT_RLL_IMAX (AC_AttitudeControl_Multi): Roll axis rate controller I gain maximum¶

Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Range	Increment	Units
0 - 1	0.01	percent

ATC_RAT_RLL_D (AC_AttitudeControl_Multi): Roll axis rate controller D gain¶

Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

Range	Increment
0.0 - 0.05	0.001

ATC_RAT_RLL_FF (AC_AttitudeControl_Multi): Roll axis rate controller feed forward¶

Roll axis rate controller feed forward

Range	Increment
0 - 0.5	0.001

ATC_RAT_RLL_FLTT: Roll axis rate controller target frequency in Hz¶

Roll axis rate controller target frequency in Hz

Range	Increment	Units
1 - 50	1	hertz

ATC_RAT_RLL_FLTE: Roll axis rate controller error frequency in Hz¶

Roll axis rate controller error frequency in Hz

Range	Increment	Units
1 - 100	1	hertz

ATC_RAT_RLL_FLTD: Roll axis rate controller derivative frequency in Hz¶

Roll axis rate controller derivative frequency in Hz

Range	Increment	Units
1 - 100	1	hertz

ATC_RAT_PIT_P (AC_AttitudeControl_Multi): Pitch axis rate controller P gain¶

Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output

Range	Increment
0.01 - 0.50	0.005

ATC_RAT_PIT_I (AC_AttitudeControl_Multi): Pitch axis rate controller I gain¶

Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate

Range	Increment
0.01 - 2.0	0.01

ATC_RAT_PIT_IMAX (AC_AttitudeControl_Multi): Pitch axis rate controller I gain maximum¶

Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Range	Increment	Units
0 - 1	0.01	percent

ATC_RAT_PIT_D (AC_AttitudeControl_Multi): Pitch axis rate controller D gain¶

Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate

Range	Increment
0.0 - 0.05	0.001

ATC_RAT_PIT_FF (AC_AttitudeControl_Multi): Pitch axis rate controller feed forward¶

Pitch axis rate controller feed forward

Range	Increment
0 - 0.5	0.001

ATC_RAT_PIT_FLTT: Pitch axis rate controller target frequency in Hz¶

Pitch axis rate controller target frequency in Hz

Range	Increment	Units
1 - 50	1	hertz

ATC_RAT_PIT_FLTE: Pitch axis rate controller error frequency in Hz¶

Pitch axis rate controller error frequency in Hz

Range	Increment	Units
1 - 100	1	hertz

ATC_RAT_PIT_FLTD: Pitch axis rate controller derivative frequency in Hz¶

Pitch axis rate controller derivative frequency in Hz

Range	Increment	Units
1 - 100	1	hertz

ATC_RAT_YAW_P (AC_AttitudeControl_Multi): Yaw axis rate controller P gain¶

Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output

Range	Increment
0.10 - 2.50	0.005

ATC_RAT_YAW_I (AC_AttitudeControl_Multi): Yaw axis rate controller I gain¶

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

Range	Increment
0.010 - 1.0	0.01

ATC_RAT_YAW_IMAX (AC_AttitudeControl_Multi): Yaw axis rate controller I gain maximum¶

Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Range	Increment	Units
0 - 1	0.01	percent

ATC_RAT_YAW_D (AC_AttitudeControl_Multi): Yaw axis rate controller D gain¶

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

Range	Increment
0.000 - 0.02	0.001

ATC_RAT_YAW_FF (AC_AttitudeControl_Multi): Yaw axis rate controller feed forward¶

Yaw axis rate controller feed forward

Range	Increment
0 - 0.5	0.001

ATC_RAT_YAW_FLTT: Yaw axis rate controller target frequency in Hz¶

Yaw axis rate controller target frequency in Hz

Range	Increment	Units
1 - 5	1	hertz

ATC_RAT_YAW_FLTE: Yaw axis rate controller error frequency in Hz¶

Yaw axis rate controller error frequency in Hz

Range	Increment	Units
1 - 10	1	hertz

ATC_RAT_YAW_FLTD: Yaw axis rate controller derivative frequency in Hz¶

Yaw axis rate controller derivative frequency in Hz

Range	Increment	Units
1 - 20	1	hertz

ATC_THR_MIX_MIN: Throttle Mix Minimum¶

Note: This parameter is for advanced users

Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)

Range
0.1 - 0.25

ATC_THR_MIX_MAX: Throttle Mix Maximum¶

Note: This parameter is for advanced users

Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)

Range
0.5 - 0.9

ATC_THR_MIX_MAN: Throttle Mix Manual¶

Note: This parameter is for advanced users

Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)

Range
0.1 - 0.9

ATC_RAT_RLL_FILT (AC_AttitudeControl_Multi): Roll axis rate controller input frequency in Hz¶

Roll axis rate controller input frequency in Hz

Range	Increment	Units
1 - 100	1	hertz

ATC_RAT_PIT_FILT (AC_AttitudeControl_Multi): Pitch axis rate controller input frequency in Hz¶

Pitch axis rate controller input frequency in Hz

Range	Increment	Units
1 - 100	1	hertz

ATC_RAT_YAW_FILT (AC_AttitudeControl_Multi): Yaw axis rate controller input frequency in Hz¶

Yaw axis rate controller input frequency in Hz

Range	Increment	Units
1 - 10	1	hertz

ATC_HOVR_ROL_TRM: Hover Roll Trim¶

Note: This parameter is for advanced users

Trim the hover roll angle to counter tail rotor thrust in a hover

Range	Units
0 - 1000	centidegrees

ATC_RAT_RLL_P (AC_AttitudeControl_Heli): Roll axis rate controller P gain¶

Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output

Range	Increment
0.08 - 0.35	0.005

ATC_RAT_RLL_I (AC_AttitudeControl_Heli): Roll axis rate controller I gain¶

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

Range	Increment
0.01 - 0.6	0.01

ATC_RAT_RLL_IMAX (AC_AttitudeControl_Heli): Roll axis rate controller I gain maximum¶

Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Range	Increment
0 - 1	0.01

ATC_RAT_RLL_D (AC_AttitudeControl_Heli): Roll axis rate controller D gain¶

Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

Range	Increment
0.001 - 0.03	0.001

ATC_RAT_RLL_FF (AC_AttitudeControl_Heli): Roll axis rate controller feed forward¶

Roll axis rate controller feed forward

Range	Increment
0 - 0.5	0.001

ATC_RAT_RLL_FILT (AC_AttitudeControl_Heli): Roll axis rate controller input frequency in Hz¶

Roll axis rate controller input frequency in Hz

Range	Increment	Units
1 - 20	1	hertz

ATC_RAT_PIT_P (AC_AttitudeControl_Heli): Pitch axis rate controller P gain¶

Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output

Range	Increment
0.08 - 0.35	0.005

ATC_RAT_PIT_I (AC_AttitudeControl_Heli): Pitch axis rate controller I gain¶

Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate

Range	Increment
0.01 - 0.6	0.01

ATC_RAT_PIT_IMAX (AC_AttitudeControl_Heli): Pitch axis rate controller I gain maximum¶

Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Range	Increment
0 - 1	0.01

ATC_RAT_PIT_D (AC_AttitudeControl_Heli): Pitch axis rate controller D gain¶

Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate

Range	Increment
0.001 - 0.03	0.001

ATC_RAT_PIT_FF (AC_AttitudeControl_Heli): Pitch axis rate controller feed forward¶

Pitch axis rate controller feed forward

Range	Increment
0 - 0.5	0.001

ATC_RAT_PIT_FILT (AC_AttitudeControl_Heli): Pitch axis rate controller input frequency in Hz¶

Pitch axis rate controller input frequency in Hz

Range	Increment	Units
1 - 20	1	hertz

ATC_RAT_YAW_P (AC_AttitudeControl_Heli): Yaw axis rate controller P gain¶

Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output

Range	Increment
0.180 - 0.60	0.005

ATC_RAT_YAW_I (AC_AttitudeControl_Heli): Yaw axis rate controller I gain¶

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

Range	Increment
0.01 - 0.06	0.01

ATC_RAT_YAW_IMAX (AC_AttitudeControl_Heli): Yaw axis rate controller I gain maximum¶

Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Range	Increment
0 - 1	0.01

ATC_RAT_YAW_D (AC_AttitudeControl_Heli): Yaw axis rate controller D gain¶

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

Range	Increment
0.000 - 0.02	0.001

ATC_RAT_YAW_FF (AC_AttitudeControl_Heli): Yaw axis rate controller feed forward¶

Yaw axis rate controller feed forward

Range	Increment
0 - 0.5	0.001

ATC_RAT_YAW_FILT (AC_AttitudeControl_Heli): Yaw axis rate controller input frequency in Hz¶

Yaw axis rate controller input frequency in Hz

Range	Increment	Units
1 - 20	1	hertz

ATC_PIRO_COMP: Piro Comp Enable¶

Note: This parameter is for advanced users

Pirouette compensation enabled

Values

Value	Meaning
0	Disabled
1	Enabled

AUTOTUNE_ Parameters¶

AUTOTUNE_AXES: Autotune axis bitmask¶

1-byte bitmap of axes to autotune

Bitmask

Values

Bit	Meaning
0	Roll
1	Pitch
2	Yaw

Value	Meaning
7	All
1	Roll Only
2	Pitch Only
4	Yaw Only
3	Roll and Pitch
5	Roll and Yaw
6	Pitch and Yaw

AUTOTUNE_AGGR: Autotune aggressiveness¶

Autotune aggressiveness. Defines the bounce back used to detect size of the D term.

Range
0.05 - 0.10

AUTOTUNE_MIN_D: AutoTune minimum D¶

Defines the minimum D gain

Range
0.001 - 0.006

AVD_ Parameters¶

AVD_ENABLE: Enable Avoidance using ADSB¶

Note: This parameter is for advanced users

Enable Avoidance using ADSB

Values

Value	Meaning
0	Disabled
1	Enabled

AVD_F_RCVRY: Recovery behaviour after a fail event¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Remain in AVOID_ADSB
1	Resume previous flight mode
2	RTL
3	Resume if AUTO else Loiter

AVD_OBS_MAX: Maximum number of obstacles to track¶

Note: This parameter is for advanced users

Maximum number of obstacles to track

AVD_W_TIME: Time Horizon Warn¶

Note: This parameter is for advanced users

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

Units
seconds

AVD_F_TIME: Time Horizon Fail¶

Note: This parameter is for advanced users

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

Units
seconds

AVD_W_DIST_XY: Distance Warn XY¶

Note: This parameter is for advanced users

Closest allowed projected distance before W_ACTION is undertaken

Units
meters

AVD_F_DIST_XY: Distance Fail XY¶

Note: This parameter is for advanced users

Closest allowed projected distance before F_ACTION is undertaken

Units
meters

AVD_W_DIST_Z: Distance Warn Z¶

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_W is undertaken

Units
meters

AVD_F_DIST_Z: Distance Fail Z¶

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_F is undertaken

Units
meters

AVD_F_ALT_MIN: ADS-B avoidance minimum altitude¶

Note: This parameter is for advanced users

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

Units
meters

AVOID_ Parameters¶

AVOID_ENABLE: Avoidance control enable/disable¶

Enabled/disable avoidance input sources

Bitmask

Values

Bit	Meaning
0	UseFence
1	UseProximitySensor
2	UseBeaconFence

Value	Meaning
0	None
1	UseFence
2	UseProximitySensor
3	UseFence and UseProximitySensor
4	UseBeaconFence
7	All

AVOID_ANGLE_MAX: Avoidance max lean angle in non-GPS flight modes¶

Max lean angle used to avoid obstacles while in non-GPS modes

Range	Units
0 - 4500	centidegrees

AVOID_DIST_MAX: Avoidance distance maximum in non-GPS flight modes¶

Distance from object at which obstacle avoidance will begin in non-GPS modes

Range	Units
1 - 30	meters

AVOID_MARGIN: Avoidance distance margin in GPS modes¶

Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes

Range	Units
1 - 10	meters

AVOID_BEHAVE: Avoidance behaviour¶

Avoidance behaviour (slide or stop)

Values

Value	Meaning
0	Slide
1	Stop

BATT2_ Parameters¶

BATT2_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

Values

RebootRequired

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Maxell
8	UAVCAN-BatteryInfo
9	BLHeli ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM

True

BATT2_VOLT_PIN: Battery Voltage sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13	Pixhawk2_PM2
14	CubeOrange
13	CubeOrange_PM2
100	PX4-v1

True

BATT2_CURR_PIN: Battery Current sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14	Pixhawk2_PM2
15	CubeOrange
4	CubeOrange_PM2
101	PX4-v1

True

BATT2_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT2_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT2_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT2_WATT_MAX: Maximum allowed power (Watts)¶

Note: This parameter is for advanced users

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

Increment	Units
1	watt

BATT2_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Range	Increment	Units
0 - 120	1	seconds

BATT2_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT2_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT2_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT2_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT2_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT2_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT2_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT2_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT3_ Parameters¶

BATT3_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

Values

RebootRequired

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Maxell
8	UAVCAN-BatteryInfo
9	BLHeli ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM

True

BATT3_VOLT_PIN: Battery Voltage sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13	Pixhawk2_PM2
14	CubeOrange
13	CubeOrange_PM2
100	PX4-v1

True

BATT3_CURR_PIN: Battery Current sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14	Pixhawk2_PM2
15	CubeOrange
4	CubeOrange_PM2
101	PX4-v1

True

BATT3_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT3_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT3_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT3_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT3_WATT_MAX: Maximum allowed power (Watts)¶

Note: This parameter is for advanced users

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

Increment	Units
1	watt

BATT3_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT3_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Range	Increment	Units
0 - 120	1	seconds

BATT3_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT3_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT3_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT3_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT3_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT3_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT3_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT3_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT3_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT4_ Parameters¶

BATT4_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

Values

RebootRequired

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Maxell
8	UAVCAN-BatteryInfo
9	BLHeli ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM

True

BATT4_VOLT_PIN: Battery Voltage sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13	Pixhawk2_PM2
14	CubeOrange
13	CubeOrange_PM2
100	PX4-v1

True

BATT4_CURR_PIN: Battery Current sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14	Pixhawk2_PM2
15	CubeOrange
4	CubeOrange_PM2
101	PX4-v1

True

BATT4_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT4_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT4_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT4_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT4_WATT_MAX: Maximum allowed power (Watts)¶

Note: This parameter is for advanced users

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

Increment	Units
1	watt

BATT4_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT4_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Range	Increment	Units
0 - 120	1	seconds

BATT4_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT4_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT4_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT4_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT4_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT4_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT4_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT4_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT4_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT5_ Parameters¶

BATT5_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

Values

RebootRequired

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Maxell
8	UAVCAN-BatteryInfo
9	BLHeli ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM

True

BATT5_VOLT_PIN: Battery Voltage sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13	Pixhawk2_PM2
14	CubeOrange
13	CubeOrange_PM2
100	PX4-v1

True

BATT5_CURR_PIN: Battery Current sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14	Pixhawk2_PM2
15	CubeOrange
4	CubeOrange_PM2
101	PX4-v1

True

BATT5_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT5_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT5_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT5_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT5_WATT_MAX: Maximum allowed power (Watts)¶

Note: This parameter is for advanced users

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

Increment	Units
1	watt

BATT5_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT5_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Range	Increment	Units
0 - 120	1	seconds

BATT5_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT5_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT5_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT5_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT5_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT5_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT5_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT5_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT5_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT6_ Parameters¶

BATT6_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

Values

RebootRequired

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Maxell
8	UAVCAN-BatteryInfo
9	BLHeli ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM

True

BATT6_VOLT_PIN: Battery Voltage sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13	Pixhawk2_PM2
14	CubeOrange
13	CubeOrange_PM2
100	PX4-v1

True

BATT6_CURR_PIN: Battery Current sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14	Pixhawk2_PM2
15	CubeOrange
4	CubeOrange_PM2
101	PX4-v1

True

BATT6_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT6_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT6_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT6_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT6_WATT_MAX: Maximum allowed power (Watts)¶

Note: This parameter is for advanced users

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

Increment	Units
1	watt

BATT6_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT6_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Range	Increment	Units
0 - 120	1	seconds

BATT6_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT6_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT6_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT6_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT6_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT6_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT6_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT6_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT6_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT7_ Parameters¶

BATT7_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

Values

RebootRequired

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Maxell
8	UAVCAN-BatteryInfo
9	BLHeli ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM

True

BATT7_VOLT_PIN: Battery Voltage sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13	Pixhawk2_PM2
14	CubeOrange
13	CubeOrange_PM2
100	PX4-v1

True

BATT7_CURR_PIN: Battery Current sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14	Pixhawk2_PM2
15	CubeOrange
4	CubeOrange_PM2
101	PX4-v1

True

BATT7_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT7_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT7_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT7_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT7_WATT_MAX: Maximum allowed power (Watts)¶

Note: This parameter is for advanced users

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

Increment	Units
1	watt

BATT7_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT7_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Range	Increment	Units
0 - 120	1	seconds

BATT7_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT7_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT7_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT7_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT7_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT7_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT7_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT7_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT7_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT8_ Parameters¶

BATT8_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

Values

RebootRequired

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Maxell
8	UAVCAN-BatteryInfo
9	BLHeli ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM

True

BATT8_VOLT_PIN: Battery Voltage sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13	Pixhawk2_PM2
14	CubeOrange
13	CubeOrange_PM2
100	PX4-v1

True

BATT8_CURR_PIN: Battery Current sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14	Pixhawk2_PM2
15	CubeOrange
4	CubeOrange_PM2
101	PX4-v1

True

BATT8_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT8_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT8_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT8_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT8_WATT_MAX: Maximum allowed power (Watts)¶

Note: This parameter is for advanced users

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

Increment	Units
1	watt

BATT8_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT8_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Range	Increment	Units
0 - 120	1	seconds

BATT8_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT8_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT8_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT8_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT8_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT8_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT8_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT8_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT8_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT9_ Parameters¶

BATT9_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

Values

RebootRequired

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Maxell
8	UAVCAN-BatteryInfo
9	BLHeli ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM

True

BATT9_VOLT_PIN: Battery Voltage sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13	Pixhawk2_PM2
14	CubeOrange
13	CubeOrange_PM2
100	PX4-v1

True

BATT9_CURR_PIN: Battery Current sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14	Pixhawk2_PM2
15	CubeOrange
4	CubeOrange_PM2
101	PX4-v1

True

BATT9_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT9_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT9_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT9_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT9_WATT_MAX: Maximum allowed power (Watts)¶

Note: This parameter is for advanced users

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

Increment	Units
1	watt

BATT9_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT9_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Range	Increment	Units
0 - 120	1	seconds

BATT9_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT9_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT9_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT9_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT9_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT9_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT9_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT9_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT9_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT_ Parameters¶

BATT_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

Values

RebootRequired

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Maxell
8	UAVCAN-BatteryInfo
9	BLHeli ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM

True

BATT_VOLT_PIN: Battery Voltage sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13	Pixhawk2_PM2
14	CubeOrange
13	CubeOrange_PM2
100	PX4-v1

True

BATT_CURR_PIN: Battery Current sensing pin¶

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

Values

RebootRequired

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14	Pixhawk2_PM2
15	CubeOrange
4	CubeOrange_PM2
101	PX4-v1

True

BATT_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT_WATT_MAX: Maximum allowed power (Watts)¶

Note: This parameter is for advanced users

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

Increment	Units
1	watt

BATT_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Range	Increment	Units
0 - 120	1	seconds

BATT_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	Land
2	RTL
3	SmartRTL or RTL
4	SmartRTL or Land
5	Terminate

BATT_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BCN Parameters¶

BCN_TYPE: Beacon based position estimation device type¶

Note: This parameter is for advanced users

What type of beacon based position estimation device is connected

Values

Value	Meaning
0	None
1	Pozyx
2	Marvelmind
10	SITL

BCN_LATITUDE: Beacon origin’s latitude¶

Note: This parameter is for advanced users

Beacon origin’s latitude

Range	Increment	Units
-90 - 90	0.000001	degrees

BCN_LONGITUDE: Beacon origin’s longitude¶

Note: This parameter is for advanced users

Beacon origin’s longitude

Range	Increment	Units
-180 - 180	0.000001	degrees

BCN_ALT: Beacon origin’s altitude above sealevel in meters¶

Note: This parameter is for advanced users

Beacon origin’s altitude above sealevel in meters

Range	Increment	Units
0 - 10000	1	meters

BCN_ORIENT_YAW: Beacon systems rotation from north in degrees¶

Note: This parameter is for advanced users

Beacon systems rotation from north in degrees

Range	Increment	Units
-180 - +180	1	degrees

BRD_ Parameters¶

BRD_PWM_COUNT: Auxiliary pin config¶

Note: This parameter is for advanced users

Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO

Values

RebootRequired

Value	Meaning
0	No PWMs
1	One PWMs
2	Two PWMs
3	Three PWMs
4	Four PWMs
5	Five PWMs
6	Six PWMs
7	Seven PWMs
8	Eight PWMs

True

BRD_SER1_RTSCTS: Serial 1 flow control¶

Note: This parameter is for advanced users

Enable flow control on serial 1 (telemetry 1) on Pixhawk. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.

Values

RebootRequired

Value	Meaning
0	Disabled
1	Enabled
2	Auto

True

BRD_SER2_RTSCTS: Serial 2 flow control¶

Note: This parameter is for advanced users

Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

Values

RebootRequired

Value	Meaning
0	Disabled
1	Enabled
2	Auto

True

BRD_SAFETYENABLE: Enable use of safety arming switch¶

This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.

Values

RebootRequired

Value	Meaning
0	Disabled
1	Enabled

True

BRD_SBUS_OUT: SBUS output rate¶

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz

Values

RebootRequired

Value	Meaning
0	Disabled
1	50Hz
2	75Hz
3	100Hz
4	150Hz
5	200Hz
6	250Hz
7	300Hz

True

BRD_SERIAL_NUM: User-defined serial number¶

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

Range
-32768 - 32767

BRD_SAFETY_MASK: Channels which ignore the safety switch state¶

Note: This parameter is for advanced users

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

Bitmask

Values

RebootRequired

Bit	Meaning
0	Ch1
1	Ch2
2	Ch3
3	Ch4
4	Ch5
5	Ch6
6	Ch7
7	Ch8
8	Ch9
9	Ch10
10	Ch11
11	Ch12
12	Ch13
13	Ch14

Value	Meaning
0	Disabled
1	Enabled

True

BRD_IMU_TARGTEMP: Target IMU temperature¶

Note: This parameter is for advanced users

This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour

Range	Units
-1 - 80	degrees Celsius

BRD_TYPE: Board type¶

Note: This parameter is for advanced users

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

Values

RebootRequired

Value	Meaning
0	AUTO
1	PX4V1
2	Pixhawk
3	Cube/Pixhawk2
4	Pixracer
5	PixhawkMini
6	Pixhawk2Slim
7	VRBrain 5.1
8	VRBrain 5.2
9	VR Micro Brain 5.1
10	VR Micro Brain 5.2
11	VRBrain Core 1.0
12	VRBrain 5.4
13	Intel Aero FC
20	AUAV2.1

True

BRD_IO_ENABLE: Enable IO co-processor¶

Note: This parameter is for advanced users

This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled

Values

RebootRequired

Value	Meaning
0	Disabled
1	Enabled

True

BRD_SAFETYOPTION: Options for safety button behavior¶

This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed

Bitmask

Bit	Meaning
0	ActiveForSafetyEnable
1	ActiveForSafetyDisable
2	ActiveWhenArmed
3	Force safety on when the aircraft disarms

BRD_VBUS_MIN: Autopilot board voltage requirement¶

Note: This parameter is for advanced users

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

Range	Increment	Units
4.0 - 5.5	0.1	volt

BRD_VSERVO_MIN: Servo voltage requirement¶

Note: This parameter is for advanced users

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

Range	Increment	Units
3.3 - 12.0	0.1	volt

BRD_SD_SLOWDOWN: microSD slowdown¶

Note: This parameter is for advanced users

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

Range	Increment
0 - 32	1

BRD_PWM_VOLT_SEL: Set PWM Out Voltage¶

Note: This parameter is for advanced users

This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.

Values

Value	Meaning
0	3.3V
1	5V

BRD_OPTIONS: Board options¶

Note: This parameter is for advanced users

Board specific option flags

Bitmask

Bit	Meaning
0	Enable hardware watchdog

BRD_BOOT_DELAY: Boot delay¶

Note: This parameter is for advanced users

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

Range	Units
0 - 10000	milliseconds

BRD_RADIO Parameters¶

BRD_RADIO_TYPE: Set type of direct attached radio¶

This enables support for direct attached radio receivers

Values

Value	Meaning
0	None
1	CYRF6936
2	CC2500
3	BK2425

BRD_RADIO_PROT: protocol¶

Note: This parameter is for advanced users

Select air protocol

Values

Value	Meaning
0	Auto
1	DSM2
2	DSMX

BRD_RADIO_DEBUG: debug level¶

Note: This parameter is for advanced users

radio debug level

Range
0 - 4

BRD_RADIO_DISCRC: disable receive CRC¶

Note: This parameter is for advanced users

disable receive CRC (for debug)

Values

Value	Meaning
0	NotDisabled
1	Disabled

BRD_RADIO_SIGCH: RSSI signal strength¶

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_PPSCH: Packet rate channel¶

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TELEM: Enable telemetry¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

BRD_RADIO_TXPOW: Telemetry Transmit power¶

Note: This parameter is for advanced users

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

Range
1 - 8

BRD_RADIO_FCCTST: Put radio into FCC test mode¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	MinChannel
2	MidChannel
3	MaxChannel
4	MinChannelCW
5	MidChannelCW
6	MaxChannelCW

BRD_RADIO_STKMD: Stick input mode¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
1	Mode1
2	Mode2

BRD_RADIO_TESTCH: Set radio to factory test channel¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	TestChan1
2	TestChan2
3	TestChan3
4	TestChan4
5	TestChan5
6	TestChan6
7	TestChan7
8	TestChan8

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter¶

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Range
0 - 16

BRD_RADIO_TPPSCH: Telemetry PPS channel¶

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TXMAX: Transmitter transmit power¶

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Range
1 - 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range
0 - 40

BRD_RADIO_ABTIME: Auto-bind time¶

Note: This parameter is for advanced users

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

Range
0 - 120

BRD_RADIO_ABLVL: Auto-bind level¶

Note: This parameter is for advanced users

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

Range
0 - 31

BRD_RTC Parameters¶

BRD_RTC_TYPES: Allowed sources of RTC time¶

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Bitmask

Bit	Meaning
0	GPS
1	MAVLINK_SYSTEM_TIME
2	HW

BTN_ Parameters¶

BTN_ENABLE: Enable button reporting¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

BTN_PIN1: First button Pin¶

Digital pin number for first button input.

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_PIN2: Second button Pin¶

Digital pin number for second button input.

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_PIN3: Third button Pin¶

Digital pin number for third button input.

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_PIN4: Fourth button Pin¶

Digital pin number for fourth button input.

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_REPORT_SEND: Report send time¶

The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.

Range
0 - 3600

CAM_ Parameters¶

CAM_TRIGG_TYPE: Camera shutter (trigger) type¶

how to trigger the camera to take a picture

Values

Value	Meaning
0	Servo
1	Relay

CAM_DURATION: Duration that shutter is held open¶

How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)

Range	Units
0 - 50	deciseconds

CAM_SERVO_ON: Servo ON PWM value¶

PWM value in microseconds to move servo to when shutter is activated

Range	Units
1000 - 2000	PWM in microseconds

CAM_SERVO_OFF: Servo OFF PWM value¶

PWM value in microseconds to move servo to when shutter is deactivated

Range	Units
1000 - 2000	PWM in microseconds

CAM_TRIGG_DIST: Camera trigger distance¶

Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.

Range	Units
0 - 1000	meters

CAM_RELAY_ON: Relay ON value¶

This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera

Values

Value	Meaning
0	Low
1	High

CAM_MIN_INTERVAL: Minimum time between photos¶

Postpone shooting if previous picture was taken less than preset time(ms) ago.

Range	Units
0 - 10000	milliseconds

CAM_MAX_ROLL: Maximum photo roll angle.¶

Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).

Range	Units
0 - 180	degrees

CAM_FEEDBACK_PIN: Camera feedback pin¶

pin number to use for save accurate camera feedback messages. If set to -1 then don’t use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option.

Values

RebootRequired

Value	Meaning
-1	Disabled
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

True

CAM_FEEDBACK_POL: Camera feedback pin polarity¶

Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low

Values

Value	Meaning
0	TriggerLow
1	TriggerHigh

CAM_AUTO_ONLY: Distance-trigging in AUTO mode only¶

When enabled, trigging by distance is done in AUTO mode only.

Values

Value	Meaning
0	Always
1	Only when in AUTO

CAM_TYPE: Type of camera (0: None, 1: BMMCC)¶

Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.

Values

Value	Meaning
0	Default
1	BMMCC

CAN_D1_ Parameters¶

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver¶

Note: This parameter is for advanced users

Enabling this option starts selected protocol that will use this virtual driver

Values

RebootRequired

Value	Meaning
0	Disabled
1	UAVCAN
2	KDECAN
3	ToshibaCAN

True

CAN_D1_KDE_ Parameters¶

CAN_D1_KDE_NPOLE: Number of motor poles¶

Sets the number of motor poles to calculate the correct RPM value

CAN_D1_UC_ Parameters¶

CAN_D1_UC_NODE: UAVCAN node that is used for this network¶

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a servo command over UAVCAN

Bitmask
0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_D1_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN¶

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN

Bitmask
0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CAN_D1_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_D2_ Parameters¶

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver¶

Note: This parameter is for advanced users

Enabling this option starts selected protocol that will use this virtual driver

Values

RebootRequired

Value	Meaning
0	Disabled
1	UAVCAN
2	KDECAN
3	ToshibaCAN

True

CAN_D2_KDE_ Parameters¶

CAN_D2_KDE_NPOLE: Number of motor poles¶

Sets the number of motor poles to calculate the correct RPM value

CAN_D2_UC_ Parameters¶

CAN_D2_UC_NODE: UAVCAN node that is used for this network¶

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a servo command over UAVCAN

Bitmask
0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_D2_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN¶

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN

Bitmask
0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CAN_D2_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_D3_ Parameters¶

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver¶

Note: This parameter is for advanced users

Enabling this option starts selected protocol that will use this virtual driver

Values

RebootRequired

Value	Meaning
0	Disabled
1	UAVCAN
2	KDECAN
3	ToshibaCAN

True

CAN_D3_KDE_ Parameters¶

CAN_D3_KDE_NPOLE: Number of motor poles¶

Sets the number of motor poles to calculate the correct RPM value

CAN_D3_UC_ Parameters¶

CAN_D3_UC_NODE: UAVCAN node that is used for this network¶

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a servo command over UAVCAN

Bitmask
0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_D3_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN¶

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN

Bitmask
0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CAN_D3_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_P1_ Parameters¶

CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface¶

Enabling this option enables use of CAN buses.

Values

RebootRequired

Value	Meaning
0	Disabled
1	First driver
2	Second driver

True

CAN_P1_BITRATE: Bitrate of CAN interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P1_DEBUG: Level of debug for CAN devices¶

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values

Value	Meaning
0	Disabled
1	Major messages
2	All messages

CAN_P2_ Parameters¶

CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface¶

Enabling this option enables use of CAN buses.

Values

RebootRequired

Value	Meaning
0	Disabled
1	First driver
2	Second driver

True

CAN_P2_BITRATE: Bitrate of CAN interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P2_DEBUG: Level of debug for CAN devices¶

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values

Value	Meaning
0	Disabled
1	Major messages
2	All messages

CAN_P3_ Parameters¶

CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface¶

Enabling this option enables use of CAN buses.

Values

RebootRequired

Value	Meaning
0	Disabled
1	First driver
2	Second driver

True

CAN_P3_BITRATE: Bitrate of CAN interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P3_DEBUG: Level of debug for CAN devices¶

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values

Value	Meaning
0	Disabled
1	Major messages
2	All messages

CAN_SLCAN_ Parameters¶

CAN_SLCAN_CPORT: SLCAN Route¶

CAN Driver ID to be routed to SLCAN, 0 means no routing

Values

RebootRequired

Value	Meaning
0	Disabled
1	First driver
2	Second driver

True

CAN_SLCAN_SERNUM: SLCAN Serial Port¶

Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details

Values

Value	Meaning
-1	Disabled
0	Serial0
1	Serial1
2	Serial2
3	Serial3
4	Serial4
5	Serial5
6	Serial6

CAN_SLCAN_TIMOUT: SLCAN Timeout¶

Duration of inactivity after which SLCAN is switched back to original protocol in seconds.

Range
0 - 32767

CHUTE_ Parameters¶

CHUTE_ENABLED: Parachute release enabled or disabled¶

Parachute release enabled or disabled

Values

Value	Meaning
0	Disabled
1	Enabled

CHUTE_TYPE: Parachute release mechanism type (relay or servo)¶

Parachute release mechanism type (relay or servo)

Values

Value	Meaning
0	First Relay
1	Second Relay
2	Third Relay
3	Fourth Relay
10	Servo

CHUTE_SERVO_ON: Parachute Servo ON PWM value¶

Parachute Servo PWM value in microseconds when parachute is released

Range	Increment	Units
1000 - 2000	1	PWM in microseconds

CHUTE_SERVO_OFF: Servo OFF PWM value¶

Parachute Servo PWM value in microseconds when parachute is not released

Range	Increment	Units
1000 - 2000	1	PWM in microseconds

CHUTE_ALT_MIN: Parachute min altitude in meters above home¶

Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.

Range	Increment	Units
0 - 32000	1	meters

CHUTE_DELAY_MS: Parachute release delay¶

Delay in millseconds between motor stop and chute release

Range	Increment	Units
0 - 5000	1	milliseconds

CHUTE_CRT_SINK: Critical sink speed rate in m/s to trigger emergency parachute¶

Release parachute when critical sink rate is reached

Range	Increment	Units
0 - 15	1	meters per second

CIRCLE_ Parameters¶

CIRCLE_RADIUS: Circle Radius¶

Defines the radius of the circle the vehicle will fly when in Circle flight mode

Range	Increment	Units
0 - 10000	100	centimeters

CIRCLE_RATE: Circle rate¶

Circle mode’s turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise

Range	Increment	Units
-90 - 90	1	degrees per second

COMPASS_ Parameters¶

COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

Offset to be added to the compass x-axis values to compensate for metal in the frame

Range	Increment	Units
-400 - 400	1	milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

Offset to be added to the compass y-axis values to compensate for metal in the frame

Range	Increment	Units
-400 - 400	1	milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

Offset to be added to the compass z-axis values to compensate for metal in the frame

Range	Increment	Units
-400 - 400	1	milligauss

COMPASS_DEC: Compass declination¶

An angle to compensate between the true north and magnetic north

Range	Increment	Units
-3.142 - 3.142	0.01	radians

COMPASS_LEARN: Learn compass offsets automatically¶

Note: This parameter is for advanced users

Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.

Values

Value	Meaning
0	Disabled
1	Internal-Learning
2	EKF-Learning
3	InFlight-Learning

COMPASS_USE: Use compass for yaw¶

Note: This parameter is for advanced users

Enable or disable the use of the compass (instead of the GPS) for determining heading

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_AUTODEC: Auto Declination¶

Note: This parameter is for advanced users

Enable or disable the automatic calculation of the declination based on gps location

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_MOTCT: Motor interference compensation type¶

Note: This parameter is for advanced users

Set motor interference compensation type to disabled, throttle or current. Do not change manually.

Values

Value	Meaning
0	Disabled
1	Use Throttle
2	Use Current

COMPASS_MOT_X: Motor interference compensation for body frame X axis¶

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass’s x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Range	Increment	Units
-1000 - 1000	1	milligauss per ampere

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis¶

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass’s y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Range	Increment	Units
-1000 - 1000	1	milligauss per ampere

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis¶

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass’s z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Range	Increment	Units
-1000 - 1000	1	milligauss per ampere

COMPASS_ORIENT: Compass orientation¶

Note: This parameter is for advanced users

The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Roll180Yaw45
10	Roll180Yaw90
11	Roll180Yaw135
12	Pitch180
13	Roll180Yaw225
14	Roll180Yaw270
15	Roll180Yaw315
16	Roll90
17	Roll90Yaw45
18	Roll90Yaw90
19	Roll90Yaw135
20	Roll270
21	Roll270Yaw45
22	Roll270Yaw90
23	Roll270Yaw135
24	Pitch90
25	Pitch270
26	Pitch180Yaw90
27	Pitch180Yaw270
28	Roll90Pitch90
29	Roll180Pitch90
30	Roll270Pitch90
31	Roll90Pitch180
32	Roll270Pitch180
33	Roll90Pitch270
34	Roll180Pitch270
35	Roll270Pitch270
36	Roll90Pitch180Yaw90
37	Roll90Yaw270
38	Yaw293Pitch68Roll180
39	Pitch315
40	Roll90Pitch315

COMPASS_EXTERNAL: Compass is attached via an external cable¶

Note: This parameter is for advanced users

Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

Offset to be added to compass2’s x-axis values to compensate for metal in the frame

Range	Increment	Units
-400 - 400	1	milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

Offset to be added to compass2’s y-axis values to compensate for metal in the frame

Range	Increment	Units
-400 - 400	1	milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

Offset to be added to compass2’s z-axis values to compensate for metal in the frame

Range	Increment	Units
-400 - 400	1	milligauss

COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis¶

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2’s x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Range	Increment	Units
-1000 - 1000	1	milligauss per ampere

COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis¶

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2’s y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Range	Increment	Units
-1000 - 1000	1	milligauss per ampere

COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis¶

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2’s z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Range	Increment	Units
-1000 - 1000	1	milligauss per ampere

COMPASS_PRIMARY: Choose primary compass¶

Note: This parameter is for advanced users

If more than one compass is available, this selects which compass is the primary. When external compasses are connected, they will be ordered first. NOTE: If no external compass is attached, this parameter is ignored.

Values

Value	Meaning
0	FirstCompass
1	SecondCompass
2	ThirdCompass

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

Offset to be added to compass3’s x-axis values to compensate for metal in the frame

Range	Increment	Units
-400 - 400	1	milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

Offset to be added to compass3’s y-axis values to compensate for metal in the frame

Range	Increment	Units
-400 - 400	1	milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

Offset to be added to compass3’s z-axis values to compensate for metal in the frame

Range	Increment	Units
-400 - 400	1	milligauss

COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis¶

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3’s x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Range	Increment	Units
-1000 - 1000	1	milligauss per ampere

COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis¶

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3’s y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Range	Increment	Units
-1000 - 1000	1	milligauss per ampere

COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis¶

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3’s z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Range	Increment	Units
-1000 - 1000	1	milligauss per ampere

COMPASS_DEV_ID: Compass device id¶

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID2: Compass2 device id¶

Note: This parameter is for advanced users

Second compass’s device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID3: Compass3 device id¶

Note: This parameter is for advanced users

Third compass’s device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_USE2: Compass2 used for yaw¶

Note: This parameter is for advanced users

Enable or disable the second compass for determining heading.

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_ORIENT2: Compass2 orientation¶

Note: This parameter is for advanced users

The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Roll180Yaw45
10	Roll180Yaw90
11	Roll180Yaw135
12	Pitch180
13	Roll180Yaw225
14	Roll180Yaw270
15	Roll180Yaw315
16	Roll90
17	Roll90Yaw45
18	Roll90Yaw90
19	Roll90Yaw135
20	Roll270
21	Roll270Yaw45
22	Roll270Yaw90
23	Roll270Yaw135
24	Pitch90
25	Pitch270
26	Pitch180Yaw90
27	Pitch180Yaw270
28	Roll90Pitch90
29	Roll180Pitch90
30	Roll270Pitch90
31	Roll90Pitch180
32	Roll270Pitch180
33	Roll90Pitch270
34	Roll180Pitch270
35	Roll270Pitch270
36	Roll90Pitch180Yaw90
37	Roll90Yaw270
38	Yaw293Pitch68Roll180
39	Pitch315
40	Roll90Pitch315

COMPASS_EXTERN2: Compass2 is attached via an external cable¶

Note: This parameter is for advanced users

Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_USE3: Compass3 used for yaw¶

Note: This parameter is for advanced users

Enable or disable the third compass for determining heading.

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_ORIENT3: Compass3 orientation¶

Note: This parameter is for advanced users

The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Roll180Yaw45
10	Roll180Yaw90
11	Roll180Yaw135
12	Pitch180
13	Roll180Yaw225
14	Roll180Yaw270
15	Roll180Yaw315
16	Roll90
17	Roll90Yaw45
18	Roll90Yaw90
19	Roll90Yaw135
20	Roll270
21	Roll270Yaw45
22	Roll270Yaw90
23	Roll270Yaw135
24	Pitch90
25	Pitch270
26	Pitch180Yaw90
27	Pitch180Yaw270
28	Roll90Pitch90
29	Roll180Pitch90
30	Roll270Pitch90
31	Roll90Pitch180
32	Roll270Pitch180
33	Roll90Pitch270
34	Roll180Pitch270
35	Roll270Pitch270
36	Roll90Pitch180Yaw90
37	Roll90Yaw270
38	Yaw293Pitch68Roll180
39	Pitch315
40	Roll90Pitch315

COMPASS_EXTERN3: Compass3 is attached via an external cable¶

Note: This parameter is for advanced users

Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component¶

Note: This parameter is for advanced users

DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA_Y: Compass soft-iron diagonal Y component¶

Note: This parameter is for advanced users

DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA_Z: Compass soft-iron diagonal Z component¶

Note: This parameter is for advanced users

DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI_X: Compass soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component¶

Note: This parameter is for advanced users

DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component¶

Note: This parameter is for advanced users

DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component¶

Note: This parameter is for advanced users

DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component¶

Note: This parameter is for advanced users

DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component¶

Note: This parameter is for advanced users

DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component¶

Note: This parameter is for advanced users

DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_CAL_FIT: Compass calibration fitness¶

Note: This parameter is for advanced users

This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.

Range

Values

Increment

4 - 32

Value	Meaning
4	Very Strict
8	Strict
16	Default
32	Relaxed

0.1

COMPASS_OFFS_MAX: Compass maximum offset¶

Note: This parameter is for advanced users

This sets the maximum allowed compass offset in calibration and arming checks

Range	Increment
500 - 3000	1

COMPASS_TYPEMASK: Compass disable driver type mask¶

Note: This parameter is for advanced users

This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup

Bitmask

Bit	Meaning
0	HMC5883
1	LSM303D
2	AK8963
3	BMM150
4	LSM9DS1
5	LIS3MDL
6	AK09916
7	IST8310
8	ICM20948
9	MMC3416
11	UAVCAN
12	QMC5883
14	MAG3110
15	IST8308

COMPASS_FLTR_RNG: Range in which sample is accepted¶

This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

Range	Increment	Units
0 - 100	1	percent

COMPASS_AUTO_ROT: Automatically check orientation¶

When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.

Values

Value	Meaning
0	Disabled
1	CheckOnly
2	CheckAndFix

COMPASS_EXP_DID: Compass device id expected¶

Note: This parameter is for advanced users

The expected value of COMPASS_DEV_ID, used by arming checks. Setting this to -1 means “don’t care.”

COMPASS_EXP_DID2: Compass2 device id expected¶

Note: This parameter is for advanced users

The expected value of COMPASS_DEV_ID2, used by arming checks. Setting this to -1 means “don’t care.”

COMPASS_EXP_DID3: Compass3 device id expected¶

Note: This parameter is for advanced users

The expected value of COMPASS_DEV_ID3, used by arming checks. Setting this to -1 means “don’t care.”

COMPASS_ENABLE: Enable Compass¶

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_PMOT Parameters¶

COMPASS_PMOT_EN: per-motor compass correction enable¶

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_PMOT_EXP: per-motor exponential correction¶

Note: This parameter is for advanced users

This is the exponential correction for the power output of the motor for per-motor compass correction

Range	Increment
0 - 2	0.01

COMPASS_PMOT1_X: Compass per-motor1 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor4

EK2_ Parameters¶

EK2_ENABLE: Enable EKF2¶

Note: This parameter is for advanced users

This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.

Values

RebootRequired

Value	Meaning
0	Disabled
1	Enabled

True

EK2_GPS_TYPE: GPS mode control¶

Note: This parameter is for advanced users

This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.

Values

Value	Meaning
0	GPS 3D Vel and 2D Pos
1	GPS 2D vel and 2D pos
2	GPS 2D pos
3	No GPS

EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)¶

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

Range	Increment	Units
0.05 - 5.0	0.05	meters per second

EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)¶

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

Range	Increment	Units
0.05 - 5.0	0.05	meters per second

EK2_VEL_I_GATE: GPS velocity innovation gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)¶

Note: This parameter is for advanced users

This sets the GPS horizontal position or external navigation system position observation noise. Increasing it reduces the weighting of GPS horizontal position or external navigation system position measurements.

Range	Increment	Units
0.1 - 10.0	0.1	meters

EK2_POS_I_GATE: GPS position measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK2_GLITCH_RAD: GPS glitch radius gate size (m)¶

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.

Range	Increment	Units
10 - 100	5	meters

EK2_ALT_SOURCE: Primary altitude sensor source¶

Note: This parameter is for advanced users

Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use “1” for terrain following. NOTE: the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.

Values

RebootRequired

Value	Meaning
0	Use Baro
1	Use Range Finder
2	Use GPS
3	Use Range Beacon

True

EK2_ALT_M_NSE: Altitude measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.

Range	Increment	Units
0.1 - 10.0	0.1	meters

EK2_HGT_I_GATE: Height measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK2_HGT_DELAY: Height measurement delay (msec)¶

Note: This parameter is for advanced users

This is the number of msec that the Height measurements lag behind the inertial measurements.

Range	Increment	Units	RebootRequired
0 - 250	10	milliseconds	True

EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)¶

Note: This parameter is for advanced users

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

Range	Increment	Units
0.01 - 0.5	0.01	gauss

EK2_MAG_CAL: Magnetometer default fusion mode¶

Note: This parameter is for advanced users

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter.

Values

Value	Meaning
0	When flying
1	When manoeuvring
2	Never
3	After first climb yaw reset
4	Always

EK2_MAG_I_GATE: Magnetometer measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)¶

Note: This parameter is for advanced users

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

Range	Increment	Units
0.5 - 5.0	0.1	meters per second

EK2_EAS_I_GATE: Airspeed measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK2_RNG_M_NSE: Range finder measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

Range	Increment	Units
0.1 - 10.0	0.1	meters

EK2_RNG_I_GATE: Range finder measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK2_MAX_FLOW: Maximum valid optical flow rate¶

Note: This parameter is for advanced users

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

Range	Increment	Units
1.0 - 4.0	0.1	radians per second

EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)¶

Note: This parameter is for advanced users

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

Range	Increment	Units
0.05 - 1.0	0.05	radians per second

EK2_FLOW_I_GATE: Optical Flow measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK2_FLOW_DELAY: Optical Flow measurement delay (msec)¶

Note: This parameter is for advanced users

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

Range	Increment	Units	RebootRequired
0 - 127	10	milliseconds	True

EK2_GYRO_P_NSE: Rate gyro noise (rad/s)¶

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

Range	Increment	Units
0.0001 - 0.1	0.0001	radians per second

EK2_ACC_P_NSE: Accelerometer noise (m/s^2)¶

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

Range	Increment	Units
0.01 - 1.0	0.01	meters per square second

EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)¶

Note: This parameter is for advanced users

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

Range	Units
0.00001 - 0.001	radians per square second

EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)¶

Note: This parameter is for advanced users

This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.

Range	Units
0.000001 - 0.001	hertz

EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)¶

Note: This parameter is for advanced users

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

Range	Units
0.00001 - 0.005	meters per cubic second

EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)¶

Note: This parameter is for advanced users

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

Range	Increment	Units
0.01 - 1.0	0.1	meters per square second

EK2_WIND_PSCALE: Height rate to wind process noise scaler¶

Note: This parameter is for advanced users

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

Range	Increment
0.0 - 1.0	0.1

EK2_GPS_CHECK: GPS preflight check¶

Note: This parameter is for advanced users

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

Bitmask

Bit	Meaning
0	NSats
1	HDoP
2	speed error
3	position error
4	yaw error
5	pos drift
6	vert speed
7	horiz speed

EK2_IMU_MASK: Bitmask of active IMUs¶

Note: This parameter is for advanced users

1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU’s can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.

Bitmask

RebootRequired

Bit	Meaning
0	FirstIMU
1	SecondIMU
2	ThirdIMU
3	FourthIMU
4	FifthIMU
5	SixthIMU

True

EK2_CHECK_SCALE: GPS accuracy check scaler (%)¶

Note: This parameter is for advanced users

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

Range	Units
50 - 200	percent

EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)¶

Note: This parameter is for advanced users

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

Range	Units
0.5 - 50.0	meters

EK2_LOG_MASK: EKF sensor logging IMU mask¶

Note: This parameter is for advanced users

This sets the IMU mask of sensors to do full logging for

Bitmask

RebootRequired

Bit	Meaning
0	FirstIMU
1	SecondIMU
2	ThirdIMU
3	FourthIMU
4	FifthIMU
5	SixthIMU

True

EK2_YAW_M_NSE: Yaw measurement noise (rad)¶

Note: This parameter is for advanced users

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

Range	Increment	Units
0.05 - 1.0	0.05	radians

EK2_YAW_I_GATE: Yaw measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)¶

Note: This parameter is for advanced users

Sets the time constant of the output complementary filter/predictor in centi-seconds.

Range	Increment	Units
10 - 50	5	centiseconds

EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)¶

Note: This parameter is for advanced users

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

Range	Units
0.00001 - 0.01	gauss per second

EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)¶

Note: This parameter is for advanced users

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

Range	Units
0.00001 - 0.01	gauss per second

EK2_RNG_USE_HGT: Range finder switch height percentage¶

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK2_ALT_SOURCE is not set to range finder. This is not for terrain following.

Range	Increment	Units
-1 - 70	1	percent

EK2_TERR_GRAD: Maximum terrain gradient¶

Note: This parameter is for advanced users

Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.

Range	Increment
0 - 0.2	0.01

EK2_BCN_M_NSE: Range beacon measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

Range	Increment	Units
0.1 - 10.0	0.1	meters

EK2_BCN_I_GTE: Range beacon measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK2_BCN_DELAY: Range beacon measurement delay (msec)¶

Note: This parameter is for advanced users

This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

Range	Increment	Units	RebootRequired
0 - 127	10	milliseconds	True

EK2_RNG_USE_SPD: Range finder max ground speed¶

Note: This parameter is for advanced users

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

Range	Increment	Units
2.0 - 6.0	0.5	meters per second

EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion¶

Note: This parameter is for advanced users

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

Bitmask

RebootRequired

Bit	Meaning
0	FirstEKF
1	SecondEKF
2	ThirdEKF
3	FourthEKF
4	FifthEKF
5	SixthEKF

True

EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction¶

Note: This parameter is for advanced users

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

Bitmask

RebootRequired

Bit	Meaning
0	Correct when using Baro height
1	Correct when using range finder height
2	Apply corrections to local position

True

EK2_EXTNAV_DELAY: external navigation system measurement delay (msec)¶

Note: This parameter is for advanced users

This is the number of msec that the external navigation system measurements lag behind the inertial measurements.

Range	Increment	Units	RebootRequired
0 - 127	1	milliseconds	True

EK2_FLOW_USE: Optical flow use bitmask¶

Note: This parameter is for advanced users

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

Values

RebootRequired

Value	Meaning
0	None
1	Navigation
2	Terrain

True

EK2_MAG_EF_LIM: EarthField error limit¶

Note: This parameter is for advanced users

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

Range	Units
0 - 500	milligauss

EK3_ Parameters¶

EK3_ENABLE: Enable EKF3¶

Note: This parameter is for advanced users

This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.

Values

RebootRequired

Value	Meaning
0	Disabled
1	Enabled

True

EK3_GPS_TYPE: GPS mode control¶

Note: This parameter is for advanced users

This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.

Values

Value	Meaning
0	GPS 3D Vel and 2D Pos
1	GPS 2D vel and 2D pos
2	GPS 2D pos
3	No GPS

EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)¶

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

Range	Increment	Units
0.05 - 5.0	0.05	meters per second

EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)¶

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

Range	Increment	Units
0.05 - 5.0	0.05	meters per second

EK3_VEL_I_GATE: GPS velocity innovation gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)¶

Note: This parameter is for advanced users

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

Range	Increment	Units
0.1 - 10.0	0.1	meters

EK3_POS_I_GATE: GPS position measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK3_GLITCH_RAD: GPS glitch radius gate size (m)¶

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.

Range	Increment	Units
10 - 100	5	meters

EK3_ALT_SOURCE: Primary altitude sensor source¶

Note: This parameter is for advanced users

Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use “1” for terrain following. NOTE: the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.

Values

RebootRequired

Value	Meaning
0	Use Baro
1	Use Range Finder
2	Use GPS
3	Use Range Beacon

True

EK3_ALT_M_NSE: Altitude measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.

Range	Increment	Units
0.1 - 10.0	0.1	meters

EK3_HGT_I_GATE: Height measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK3_HGT_DELAY: Height measurement delay (msec)¶

Note: This parameter is for advanced users

This is the number of msec that the Height measurements lag behind the inertial measurements.

Range	Increment	Units	RebootRequired
0 - 250	10	milliseconds	True

EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)¶

Note: This parameter is for advanced users

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

Range	Increment	Units
0.01 - 0.5	0.01	gauss

EK3_MAG_CAL: Magnetometer default fusion mode¶

Note: This parameter is for advanced users

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter.

Values

RebootRequired

Value	Meaning
0	When flying
1	When manoeuvring
2	Never
3	After first climb yaw reset
4	Always
5	Use external yaw sensor

True

EK3_MAG_I_GATE: Magnetometer measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)¶

Note: This parameter is for advanced users

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

Range	Increment	Units
0.5 - 5.0	0.1	meters per second

EK3_EAS_I_GATE: Airspeed measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK3_RNG_M_NSE: Range finder measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

Range	Increment	Units
0.1 - 10.0	0.1	meters

EK3_RNG_I_GATE: Range finder measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK3_MAX_FLOW: Maximum valid optical flow rate¶

Note: This parameter is for advanced users

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

Range	Increment	Units
1.0 - 4.0	0.1	radians per second

EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)¶

Note: This parameter is for advanced users

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

Range	Increment	Units
0.05 - 1.0	0.05	radians per second

EK3_FLOW_I_GATE: Optical Flow measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK3_FLOW_DELAY: Optical Flow measurement delay (msec)¶

Note: This parameter is for advanced users

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

Range	Increment	Units	RebootRequired
0 - 250	10	milliseconds	True

EK3_GYRO_P_NSE: Rate gyro noise (rad/s)¶

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

Range	Increment	Units
0.0001 - 0.1	0.0001	radians per second

EK3_ACC_P_NSE: Accelerometer noise (m/s^2)¶

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

Range	Increment	Units
0.01 - 1.0	0.01	meters per square second

EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)¶

Note: This parameter is for advanced users

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

Range	Units
0.00001 - 0.001	radians per square second

EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)¶

Note: This parameter is for advanced users

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

Range	Units
0.00001 - 0.005	meters per cubic second

EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)¶

Note: This parameter is for advanced users

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

Range	Increment	Units
0.01 - 1.0	0.1	meters per square second

EK3_WIND_PSCALE: Height rate to wind process noise scaler¶

Note: This parameter is for advanced users

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

Range	Increment
0.0 - 1.0	0.1

EK3_GPS_CHECK: GPS preflight check¶

Note: This parameter is for advanced users

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

Bitmask

Bit	Meaning
0	NSats
1	HDoP
2	speed error
3	position error
4	yaw error
5	pos drift
6	vert speed
7	horiz speed

EK3_IMU_MASK: Bitmask of active IMUs¶

Note: This parameter is for advanced users

1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU’s can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.

Bitmask

RebootRequired

Bit	Meaning
0	FirstIMU
1	SecondIMU
2	ThirdIMU
3	FourthIMU
4	FifthIMU
5	SixthIMU

True

EK3_CHECK_SCALE: GPS accuracy check scaler (%)¶

Note: This parameter is for advanced users

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

Range	Units
50 - 200	percent

EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)¶

Note: This parameter is for advanced users

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

Range	Units
0.5 - 50.0	meters

EK3_LOG_MASK: EKF sensor logging IMU mask¶

Note: This parameter is for advanced users

This sets the IMU mask of sensors to do full logging for

Bitmask

RebootRequired

Bit	Meaning
0	FirstIMU
1	SecondIMU
2	ThirdIMU
3	FourthIMU
4	FifthIMU
5	SixthIMU

True

EK3_YAW_M_NSE: Yaw measurement noise (rad)¶

Note: This parameter is for advanced users

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

Range	Increment	Units
0.05 - 1.0	0.05	radians

EK3_YAW_I_GATE: Yaw measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)¶

Note: This parameter is for advanced users

Sets the time constant of the output complementary filter/predictor in centi-seconds.

Range	Increment	Units
10 - 50	5	centiseconds

EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)¶

Note: This parameter is for advanced users

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

Range	Units
0.00001 - 0.01	gauss per second

EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)¶

Note: This parameter is for advanced users

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

Range	Units
0.00001 - 0.01	gauss per second

EK3_RNG_USE_HGT: Range finder switch height percentage¶

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK3_ALT_SOURCE is not set to range finder. This is not for terrain following.

Range	Increment	Units
-1 - 70	1	percent

EK3_TERR_GRAD: Maximum terrain gradient¶

Note: This parameter is for advanced users

Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference

Range	Increment
0 - 0.2	0.01

EK3_BCN_M_NSE: Range beacon measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

Range	Increment	Units
0.1 - 10.0	0.1	meters

EK3_BCN_I_GTE: Range beacon measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Range	Increment
100 - 1000	25

EK3_BCN_DELAY: Range beacon measurement delay (msec)¶

Note: This parameter is for advanced users

This is the number of msec that the range beacon measurements lag behind the inertial measurements.

Range	Increment	Units	RebootRequired
0 - 250	10	milliseconds	True

EK3_RNG_USE_SPD: Range finder max ground speed¶

Note: This parameter is for advanced users

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

Range	Increment	Units
2.0 - 6.0	0.5	meters per second

EK3_ACC_BIAS_LIM: Accelerometer bias limit¶

Note: This parameter is for advanced users

The accelerometer bias state will be limited to +- this value

Range	Increment	Units
0.5 - 2.5	0.1	meters per square second

EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion¶

Note: This parameter is for advanced users

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

Bitmask

RebootRequired

Bit	Meaning
0	FirstEKF
1	SecondEKF
2	ThirdEKF
3	FourthEKF
4	FifthEKF
5	SixthEKF

True

EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction¶

Note: This parameter is for advanced users

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

Bitmask

RebootRequired

Bit	Meaning
0	Correct when using Baro height
1	Correct when using range finder height
2	Apply corrections to local position

True

EK3_VIS_VERR_MIN: Visual odometry minimum velocity error¶

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

Range	Increment	Units
0.05 - 0.5	0.05	meters per second

EK3_VIS_VERR_MAX: Visual odometry maximum velocity error¶

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

Range	Increment	Units
0.5 - 5.0	0.1	meters per second

EK3_WENC_VERR: Wheel odometry velocity error¶

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.

Range	Increment	Units
0.01 - 1.0	0.1	meters per second

EK3_FLOW_USE: Optical flow use bitmask¶

Note: This parameter is for advanced users

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

Values

RebootRequired

Value	Meaning
0	None
1	Navigation
2	Terrain

True

FENCE_ Parameters¶

FENCE_ENABLE: Fence enable/disable¶

Allows you to enable (1) or disable (0) the fence functionality

Values

Value	Meaning
0	Disabled
1	Enabled

FENCE_TYPE: Fence Type¶

Enabled fence types held as bitmask

Bitmask

Values

Bit	Meaning
0	Altitude
1	Circle
2	Polygon

Value	Meaning
0	None
1	Altitude
2	Circle
3	Altitude and Circle
4	Polygon
5	Altitude and Polygon
6	Circle and Polygon
7	All

FENCE_ACTION: Fence Action¶

What action should be taken when fence is breached

Values

Value	Meaning
0	Report Only
1	RTL or Land
2	Always Land
3	SmartRTL or RTL or Land
4	Brake or Land

FENCE_ALT_MAX: Fence Maximum Altitude¶

Maximum altitude allowed before geofence triggers

Range	Increment	Units
10 - 1000	1	meters

FENCE_RADIUS: Circular Fence Radius¶

Circle fence radius which when breached will cause an RTL

Range	Units
30 - 10000	meters

FENCE_MARGIN: Fence Margin¶

Distance that autopilot’s should maintain from the fence to avoid a breach

Range	Units
1 - 10	meters

FENCE_TOTAL: Fence polygon point total¶

Number of polygon points saved in eeprom (do not update manually)

Range
1 - 20

FENCE_ALT_MIN: Fence Minimum Altitude¶

Minimum altitude allowed before geofence triggers

Range	Increment	Units
-100 - 100	1	meters

FHLD Parameters¶

FHLD_XY_P: FlowHold P gain¶

Note: This parameter is for advanced users

FlowHold (horizontal) P gain.

Range	Increment
0.1 - 6.0	0.1

FHLD_XY_I: FlowHold I gain¶

Note: This parameter is for advanced users

FlowHold (horizontal) I gain

Range	Increment
0.02 - 1.00	0.01

FHLD_XY_IMAX: FlowHold Integrator Max¶

Note: This parameter is for advanced users

FlowHold (horizontal) integrator maximum

Range	Increment	Units
0 - 4500	10	centidegrees

FHLD_XY_FILT_HZ: FlowHold filter on input to control¶

Note: This parameter is for advanced users

FlowHold (horizontal) filter on input to control

Range	Units
0 - 100	hertz

FHLD_FLOW_MAX: FlowHold Flow Rate Max¶

Controls maximum apparent flow rate in flowhold

Range
0.1 - 2.5

FHLD_FILT_HZ: FlowHold Filter Frequency¶

Filter frequency for flow data

Range	Units
1 - 100	hertz

FHLD_QUAL_MIN: FlowHold Flow quality minimum¶

Minimum flow quality to use flow position hold

Range
0 - 255

FHLD_BRAKE_RATE: FlowHold Braking rate¶

Controls deceleration rate on stick release

Range	Units
1 - 30	degrees per second

FLOW Parameters¶

FLOW_TYPE: Optical flow sensor type¶

Optical flow sensor type

Values

RebootRequired

Value	Meaning
0	None
1	PX4Flow
2	Pixart
3	Bebop
4	CXOF
5	MAVLink
6	UAVCAN

True

FLOW_FXSCALER: X axis optical flow scale factor correction¶

This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.

Range	Increment
-200 - +200	1

FLOW_FYSCALER: Y axis optical flow scale factor correction¶

This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.

Range	Increment
-200 - +200	1

FLOW_ORIENT_YAW: Flow sensor yaw alignment¶

Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.

Range	Increment
-18000 - +18000	1

FLOW_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.

Range	Units
-10 - 10	meters

FLOW_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.

Range	Units
-10 - 10	meters

FLOW_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.

Range	Units
-10 - 10	meters

FLOW_ADDR: Address on the bus¶

Note: This parameter is for advanced users

This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.

Range
0 - 127

FLOW_ENABLE: Optical flow enable/disable¶

Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow

Values

Value	Meaning
0	Disabled
1	Enabled

FOLL Parameters¶

FOLL_ENABLE: Follow enable/disable¶

Enabled/disable following a target

Values

Value	Meaning
0	Disabled
1	Enabled

FOLL_SYSID: Follow target’s mavlink system id¶

Follow target’s mavlink system id

Range
0 - 255

FOLL_DIST_MAX: Follow distance maximum¶

Follow distance maximum. targets further than this will be ignored

Range	Units
1 - 1000	meters

FOLL_OFS_TYPE: Follow offset type¶

Follow offset type

Values

Value	Meaning
0	North-East-Down
1	Relative to lead vehicle heading

FOLL_OFS_X: Follow offsets in meters north/forward¶

Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE

Range	Increment	Units
-100 - 100	1	meters

FOLL_OFS_Y: Follow offsets in meters east/right¶

Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE

Range	Increment	Units
-100 - 100	1	meters

FOLL_OFS_Z: Follow offsets in meters down¶

Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle

Range	Increment	Units
-100 - 100	1	meters

FOLL_YAW_BEHAVE: Follow yaw behaviour¶

Follow yaw behaviour

Values

Value	Meaning
0	None
1	Face Lead Vehicle
2	Same as Lead vehicle
3	Direction of Flight

FOLL_POS_P: Follow position error P gain¶

Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

Range	Increment
0.01 - 1.00	0.01

FOLL_ALT_TYPE: Follow altitude type¶

Follow altitude type

Values

Value	Meaning
0	absolute
1	relative

GND_ Parameters¶

GND_ABS_PRESS: Absolute Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

ReadOnly	Volatile	Increment	Units
True	True	1	pascal

GND_TEMP: ground temperature¶

Note: This parameter is for advanced users

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

Volatile	Increment	Units
True	1	degrees Celsius

GND_ALT_OFFSET: altitude offset¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	meters

GND_PRIMARY: Primary barometer¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	FirstBaro
1	2ndBaro
2	3rdBaro

GND_EXT_BUS: External baro bus¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
-1	Disabled
0	Bus0
1	Bus1

GND_SPEC_GRAV: Specific Gravity (For water depth measurement)¶

This sets the specific gravity of the fluid when flying an underwater ROV.

Values
1.0:Freshwater,1.024:Saltwater

GND_ABS_PRESS2: Absolute Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

ReadOnly	Volatile	Increment	Units
True	True	1	pascal

GND_ABS_PRESS3: Absolute Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

ReadOnly	Volatile	Increment	Units
True	True	1	pascal

GND_FLTR_RNG: Range in which sample is accepted¶

This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

Range	Increment	Units
0 - 100	1	percent

GND_PROBE_EXT: External barometers to probe¶

Note: This parameter is for advanced users

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

Bitmask

Values

Bit	Meaning
0	BMP085
1	BMP280
2	MS5611
3	MS5607
4	MS5637
5	FBM320
6	DPS280
7	LPS25H
8	Keller
10	MS5837
11	BMP388

Value	Meaning
1	BMP085
2	BMP280
4	MS5611
8	MS5607
16	MS5637
32	FBM320
64	DPS280
128	LPS25H
256	Keller
512	MS5837
1024	BMP388

GPS_ Parameters¶

GPS_TYPE: GPS type¶

Note: This parameter is for advanced users

GPS type

Values

RebootRequired

Value	Meaning
0	None
1	AUTO
2	uBlox
3	MTK
4	MTK19
5	NMEA
6	SiRF
7	HIL
8	SwiftNav
9	UAVCAN
10	SBF
11	GSOF
13	ERB
14	MAV
15	NOVA
16	HemisphereNMEA

True

GPS_TYPE2: 2nd GPS type¶

Note: This parameter is for advanced users

GPS type of 2nd GPS

Values

RebootRequired

Value	Meaning
0	None
1	AUTO
2	uBlox
3	MTK
4	MTK19
5	NMEA
6	SiRF
7	HIL
8	SwiftNav
9	UAVCAN
10	SBF
11	GSOF
13	ERB
14	MAV
15	NOVA
16	HemisphereNMEA

True

GPS_NAVFILTER: Navigation filter setting¶

Note: This parameter is for advanced users

Navigation filter engine setting

Values

Value	Meaning
0	Portable
2	Stationary
3	Pedestrian
4	Automotive
5	Sea
6	Airborne1G
7	Airborne2G
8	Airborne4G

GPS_AUTO_SWITCH: Automatic Switchover Setting¶

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock

Values

Value	Meaning
0	Disabled
1	UseBest
2	Blend
3	UseSecond

GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS¶

Note: This parameter is for advanced users

Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.

Values

RebootRequired

Value	Meaning
0	Any
50	FloatRTK
100	IntegerRTK

True

GPS_SBAS_MODE: SBAS Mode¶

Note: This parameter is for advanced users

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.

Values

Value	Meaning
0	Disabled
1	Enabled
2	NoChange

GPS_MIN_ELEV: Minimum elevation¶

Note: This parameter is for advanced users

This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.

Range	Units
-100 - 90	degrees

GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets¶

Note: This parameter is for advanced users

The GGS can send raw serial packets to inject data to multiple GPSes.

Values

Value	Meaning
0	send to first GPS
1	send to 2nd GPS
127	send to all

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask¶

Note: This parameter is for advanced users

Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged

Values

Value	Meaning
0	None (0x0000)
-1	All (0xFFFF)
-256	External only (0xFF00)

GPS_RAW_DATA: Raw data logging¶

Note: This parameter is for advanced users

Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment’s SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming

Values

RebootRequired

Value	Meaning
0	Ignore
1	Always log
2	Stop logging when disarmed (SBF only)
5	Only log every five samples (uBlox only)

True

GPS_GNSS_MODE: GNSS system configuration¶

Note: This parameter is for advanced users

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

Bitmask

Values

Bit	Meaning
0	GPS
1	SBAS
2	Galileo
3	Beidou
4	IMES
5	QZSS
6	GLOSNASS

Value	Meaning
0	Leave as currently configured
1	GPS-NoSBAS
3	GPS+SBAS
4	Galileo-NoSBAS
6	Galileo+SBAS
8	Beidou
51	GPS+IMES+QZSS+SBAS (Japan Only)
64	GLONASS
66	GLONASS+SBAS
67	GPS+GLONASS+SBAS

GPS_SAVE_CFG: Save GPS configuration¶

Note: This parameter is for advanced users

Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.

Values

Value	Meaning
0	Do not save config
1	Save config
2	Save only when needed

GPS_GNSS_MODE2: GNSS system configuration¶

Note: This parameter is for advanced users

Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)

Bitmask

Values

Bit	Meaning
0	GPS
1	SBAS
2	Galileo
3	Beidou
4	IMES
5	QZSS
6	GLOSNASS

Value	Meaning
0	Leave as currently configured
1	GPS-NoSBAS
3	GPS+SBAS
4	Galileo-NoSBAS
6	Galileo+SBAS
8	Beidou
51	GPS+IMES+QZSS+SBAS (Japan Only)
64	GLONASS
66	GLONASS+SBAS
67	GPS+GLONASS+SBAS

GPS_AUTO_CONFIG: Automatic GPS configuration¶

Note: This parameter is for advanced users

Controls if the autopilot should automatically configure the GPS based on the parameters and default settings

Values

Value	Meaning
0	Disables automatic configuration
1	Enable automatic configuration

GPS_RATE_MS: GPS update rate in milliseconds¶

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed

Range

Values

Units

50 - 200

Value	Meaning
100	10Hz
125	8Hz
200	5Hz

milliseconds

GPS_RATE_MS2: GPS 2 update rate in milliseconds¶

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed

Range

Values

Units

50 - 200

Value	Meaning
100	10Hz
125	8Hz
200	5Hz

milliseconds

GPS_POS1_X: Antenna X position offset¶

Note: This parameter is for advanced users

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Range	Units
-10 - 10	meters

GPS_POS1_Y: Antenna Y position offset¶

Note: This parameter is for advanced users

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Range	Units
-10 - 10	meters

GPS_POS1_Z: Antenna Z position offset¶

Note: This parameter is for advanced users

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Range	Units
-10 - 10	meters

GPS_POS2_X: Antenna X position offset¶

Note: This parameter is for advanced users

X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Range	Units
-10 - 10	meters

GPS_POS2_Y: Antenna Y position offset¶

Note: This parameter is for advanced users

Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Range	Units
-10 - 10	meters

GPS_POS2_Z: Antenna Z position offset¶

Note: This parameter is for advanced users

Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Range	Units
-10 - 10	meters

GPS_DELAY_MS: GPS delay in milliseconds¶

Note: This parameter is for advanced users

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

Range	Units	RebootRequired
0 - 250	milliseconds	True

GPS_DELAY_MS2: GPS 2 delay in milliseconds¶

Note: This parameter is for advanced users

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

Range	Units	RebootRequired
0 - 250	milliseconds	True

GPS_BLEND_MASK: Multi GPS Blending Mask¶

Note: This parameter is for advanced users

Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2

Bitmask

Bit	Meaning
0	Horiz Pos
1	Vert Pos
2	Speed

GPS_BLEND_TC: Blending time constant¶

Note: This parameter is for advanced users

Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.

Range	Units
5.0 - 30.0	seconds

GRIP_ Parameters¶

GRIP_ENABLE: Gripper Enable/Disable¶

Gripper enable/disable

Values

Value	Meaning
0	Disabled
1	Enabled

GRIP_TYPE: Gripper Type¶

Gripper enable/disable

Values

Value	Meaning
0	None
1	Servo
2	EPM

GRIP_GRAB: Gripper Grab PWM¶

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

Range	Units
1000 - 2000	PWM in microseconds

GRIP_RELEASE: Gripper Release PWM¶

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Range	Units
1000 - 2000	PWM in microseconds

GRIP_NEUTRAL: Neutral PWM¶

Note: This parameter is for advanced users

PWM value in microseconds sent to grabber when not grabbing or releasing

Range	Units
1000 - 2000	PWM in microseconds

GRIP_REGRAB: Gripper Regrab interval¶

Note: This parameter is for advanced users

Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable

Range	Units
0 - 255	seconds

GRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID¶

Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface

Range
0 - 255

H_ Parameters¶

H_TAIL_TYPE: Tail Type¶

Tail type selection. Simpler yaw controller used if external gyro is selected

Values

Value	Meaning
0	Servo only
1	Servo with ExtGyro
2	DirectDrive VarPitch
3	DirectDrive FixedPitch

H_GYR_GAIN: External Gyro Gain¶

PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro

Range	Increment	Units
0 - 1000	1	PWM in microseconds

H_COLYAW: Collective-Yaw Mixing¶

Note: This parameter is for advanced users

Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.

Range	Increment
-10 - 10	0.1

H_FLYBAR_MODE: Flybar Mode Selector¶

Flybar present or not. Affects attitude controller used during ACRO flight mode

Values

Value	Meaning
0	NoFlybar
1	Flybar

H_TAIL_SPEED: Direct Drive VarPitch Tail ESC speed¶

Direct Drive VarPitch Tail ESC speed in PWM microseconds. Only used when TailType is DirectDrive VarPitch

Range	Increment	Units
0 - 1000	1	PWM in microseconds

H_GYR_GAIN_ACRO: External Gyro Gain for ACRO¶

PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN

Range	Increment	Units
0 - 1000	1	PWM in microseconds

H_SW_TYPE (AP_MotorsHeli_Single): Swashplate 1 Type¶

H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don’t use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR

Values

Value	Meaning
0	H3 Generic
1	H1 non-CPPM
2	H3_140
3	H3_120
4	H4_90
5	H4_45

H_SW_COL_DIR (AP_MotorsHeli_Single): Swashplate 1 Collective Control Direction¶

Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed

Values

Value	Meaning
0	Normal
1	Reversed

H_SW_LIN_SVO (AP_MotorsHeli_Single): Linearize Swashplate 1 Servo Mechanical Throw¶

This linearizes the swashplate 1 servo’s mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

Values

Value	Meaning
0	Disabled
1	Enabled

H_SW_H3_ENABLE (AP_MotorsHeli_Single): Swashplate 1 Enable Generic H3 Settings¶

Note: This parameter is for advanced users

Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually.

Values

Value	Meaning
0	Disabled
1	Enabled

H_SW_H3_SV1_POS (AP_MotorsHeli_Single): Swashplate 1 Servo 1 Position¶

Note: This parameter is for advanced users

Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW_H3_SV2_POS (AP_MotorsHeli_Single): Swashplate 1 Servo 2 Position¶

Note: This parameter is for advanced users

Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW_H3_PHANG (AP_MotorsHeli_Single): Swashplate 1 Phase Angle Compensation¶

Note: This parameter is for advanced users

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

Range	Increment	Units
-30 - 30	1	degrees

H_DUAL_MODE: Dual Mode¶

Sets the dual mode of the heli, either as tandem or as transverse.

Values

Value	Meaning
0	Longitudinal
1	Transverse

H_DCP_SCALER: Differential-Collective-Pitch Scaler¶

Scaling factor applied to the differential-collective-pitch

Range
0 - 1

H_DCP_YAW: Differential-Collective-Pitch Yaw Mixing¶

Feed-forward compensation to automatically add yaw input when differential collective pitch is applied.

Range	Increment
-10 - 10	0.1

H_YAW_SCALER: Scaler for yaw mixing¶

Scaler for mixing yaw into roll or pitch.

Range	Increment
-10 - 10	0.1

H_COL2_MIN: Collective Pitch Minimum for rear swashplate¶

Lowest possible servo position in PWM microseconds for the rear swashplate

Range	Increment	Units
1000 - 2000	1	PWM in microseconds

H_COL2_MAX: Collective Pitch Maximum for rear swashplate¶

Highest possible servo position in PWM microseconds for the rear swashplate

Range	Increment	Units
1000 - 2000	1	PWM in microseconds

H_COL2_MID: Collective Pitch Mid-Point for rear swashplate¶

Swash servo position in PWM microseconds corresponding to zero collective pitch for the rear swashplate (or zero lift for Asymmetrical blades)

Range	Increment	Units
1000 - 2000	1	PWM in microseconds

H_SW_TYPE (AP_MotorsHeli_Dual): Swashplate 1 Type¶

H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don’t use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR

Values

Value	Meaning
0	H3 Generic
1	H1 non-CPPM
2	H3_140
3	H3_120
4	H4_90
5	H4_45

H_SW_COL_DIR (AP_MotorsHeli_Dual): Swashplate 1 Collective Control Direction¶

Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed

Values

Value	Meaning
0	Normal
1	Reversed

H_SW_LIN_SVO (AP_MotorsHeli_Dual): Linearize Swashplate 1 Servo Mechanical Throw¶

This linearizes the swashplate 1 servo’s mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

Values

Value	Meaning
0	Disabled
1	Enabled

H_SW_H3_ENABLE (AP_MotorsHeli_Dual): Swashplate 1 Enable Generic H3 Settings¶

Note: This parameter is for advanced users

Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually.

Values

Value	Meaning
0	Disabled
1	Enabled

H_SW_H3_SV1_POS (AP_MotorsHeli_Dual): Swashplate 1 Servo 1 Position¶

Note: This parameter is for advanced users

Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW_H3_SV2_POS (AP_MotorsHeli_Dual): Swashplate 1 Servo 2 Position¶

Note: This parameter is for advanced users

Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW_H3_PHANG (AP_MotorsHeli_Dual): Swashplate 1 Phase Angle Compensation¶

Note: This parameter is for advanced users

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

Range	Increment	Units
-30 - 30	1	degrees

H_SW2_TYPE: Swashplate 2 Type¶

H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don’t use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR

Values

Value	Meaning
0	H3 Generic
1	H1 non-CPPM
2	H3_140
3	H3_120
4	H4_90
5	H4_45

H_SW2_COL_DIR: Swashplate 2 Collective Control Direction¶

Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed

Values

Value	Meaning
0	Normal
1	Reversed

H_SW2_LIN_SVO: Linearize Swashplate 2 Servo Mechanical Throw¶

This linearizes the swashplate 2 servo’s mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

Values

Value	Meaning
0	Disabled
1	Enabled

H_SW2_H3_ENABLE: Swashplate 2 Enable Generic H3 Settings¶

Note: This parameter is for advanced users

Automatically set when H3 generic swash type is selected for swashplate 2. Do not set manually.

Values

Value	Meaning
0	Disabled
1	Enabled

H_SW2_H3_SV1_POS: Swashplate 2 Servo 1 Position¶

Note: This parameter is for advanced users

Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW2_H3_SV2_POS: Swashplate 2 Servo 2 Position¶

Note: This parameter is for advanced users

Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW2_H3_PHANG: Swashplate 2 Phase Angle Compensation¶

Note: This parameter is for advanced users

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

Range	Increment	Units
-30 - 30	1	degrees

H_COL_MIN: Collective Pitch Minimum¶

Lowest possible servo position in PWM microseconds for the swashplate

Range	Increment	Units
1000 - 2000	1	PWM in microseconds

H_COL_MAX: Collective Pitch Maximum¶

Highest possible servo position in PWM microseconds for the swashplate

Range	Increment	Units
1000 - 2000	1	PWM in microseconds

H_COL_MID: Collective Pitch Mid-Point¶

Swash servo position in PWM microseconds corresponding to zero collective pitch (or zero lift for Asymmetrical blades)

Range	Increment	Units
1000 - 2000	1	PWM in microseconds

H_SV_MAN: Manual Servo Mode¶

Manual servo override for swash set-up. Do not set this manually!

Values

Value	Meaning
0	Disabled
1	Passthrough
2	Max collective
3	Mid collective
4	Min collective

H_CYC_MAX: Cyclic Pitch Angle Max¶

Note: This parameter is for advanced users

Maximum pitch angle of the swash plate

Range	Increment	Units
0 - 18000	100	centidegrees

H_SV_TEST: Boot-up Servo Test Cycles¶

Number of cycles to run servo test on boot-up

Range	Increment
0 - 10	1

H_RSC_ Parameters¶

H_RSC_SETPOINT: External Motor Governor Setpoint¶

Throttle (HeliRSC Servo) output in percent to the external motor governor when motor interlock enabled (throttle hold off).

Range	Increment	Units
0 - 100	1	percent

H_RSC_MODE: Rotor Speed Control Mode¶

Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled (throttle hold off). RC Passthrough sends the input from the RC Motor Interlock channel as throttle output. External Gov SetPoint sends the RSC SetPoint parameter value as throttle output. Throttle Curve uses the 5 point throttle curve to determine throttle output based on the collective output. Governor is ArduCopter’s built-in governor that uses the throttle curve for a feed forward throttle command to determine throttle output.

Values

Value	Meaning
1	RC Passthrough
2	External Gov SetPoint
3	Throttle Curve
4	Governor

H_RSC_RAMP_TIME: RSC Throttle Output Ramp Time¶

Time in seconds for throttle output (HeliRSC servo) to ramp from ground idle (RSC_IDLE) to flight idle throttle setting when motor interlock is enabled (throttle hold off).

Range	Units
0 - 60	seconds

H_RSC_RUNUP_TIME: Rotor Runup Time¶

Actual time in seconds for the main rotor to reach full speed after motor interlock is enabled (throttle hold off). Must be at least one second longer than the Throttle Ramp Time that is set with RSC_RAMP_TIME.

Range	Units
0 - 60	seconds

H_RSC_CRITICAL: Critical Rotor Speed¶

Percentage of normal rotor speed where flight is no longer possible. However currently the rotor runup/rundown is estimated using the RSC_RUNUP_TIME parameter. Estimated rotor speed increases/decreases between 0 (rotor stopped) to 1 (rotor at normal speed) in the RSC_RUNUP_TIME in seconds. This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds. So if you had a 10 second runup time then set RSC_CRITICAL to 70%.

Range	Increment	Units
0 - 100	1	percent

H_RSC_IDLE: RSC Throttle Output at Idle¶

Throttle output (HeliRSC Servo) in percent while armed but motor interlock is disabled (throttle hold on). FOR COMBUSTION ENGINES. Sets the engine ground idle throttle percentage with clutch disengaged. This must be set to zero for electric helicopters under most situations. If the ESC has an autorotation window this can be set to keep the autorotation window open in the ESC. Consult the operating manual for your ESC to set it properly for this purpose

Range	Increment	Units
0 - 50	1	percent

H_RSC_SLEWRATE: RSC Throttle Output Slew Rate¶

This controls the maximum rate at which the throttle output (HeliRSC servo) can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate.

Range	Increment
0 - 500	10

H_RSC_THRCRV_0: RSC Throttle Output at 0% collective¶

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 0 percent collective is defined by H_COL_MIN. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to -2 degree of pitch.

Range	Increment	Units
0 - 100	1	percent

H_RSC_THRCRV_25: RSC Throttle Output at 25% collective¶

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 25% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 25% of 12 degrees is 3 degrees, so this setting would correspond to +1 degree of pitch.

Range	Increment	Units
0 - 100	1	percent

H_RSC_THRCRV_50: RSC Throttle Output at 50% collective¶

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 50% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 50% of 12 degrees is 6 degrees, so this setting would correspond to +4 degree of pitch.

Range	Increment	Units
0 - 100	1	percent

H_RSC_THRCRV_75: RSC Throttle Output at 75% collective¶

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 75% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 75% of 12 degrees is 9 degrees, so this setting would correspond to +7 degree of pitch.

Range	Increment	Units
0 - 100	1	percent

H_RSC_THRCRV_100: RSC Throttle Output at 100% collective¶

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to +10 degree of pitch.

Range	Increment	Units
0 - 100	1	percent

H_RSC_GOV_SETPNT: Main Rotor Governor RPM Setpoint¶

Main rotor rpm setting that governor maintains when engaged. Set to the rotor rpm your helicopter runs in flight. When a speed sensor is installed the rotor governor maintains this speed. For governor operation this should be set 10 rpm higher than the actual desired headspeed to allow for governor droop

Range	Increment	Units
800 - 3500	10	Revolutions Per Minute

H_RSC_GOV_DISGAG: Throttle Percentage for Governor Disengage¶

Percentage of throttle where the governor will disengage to allow return to flight idle power. Typically should be set to the same value as flight idle throttle (the very lowest throttle setting on the throttle curve). The governor disengage can be disabled by setting this value to zero and using the pull-down from the governor TCGAIN to reduce power to flight idle with the collective at it’s lowest throttle setting on the throttle curve.

Range	Increment	Units
0 - 50	1	percent

H_RSC_GOV_DROOP: Governor Droop Response Setting¶

Governor droop response under load, normal settings of 0-100%. Higher value is quicker response but may cause surging. Setting to zero disables the governor. Adjust this to be as aggressive as possible without getting surging or over-run on headspeed when the governor engages. Setting over 100% is allowable for some two-stage turbine engines to provide scheduling of the gas generator for proper torque response of the N2 spool

Range	Increment	Units
0 - 150	1	percent

H_RSC_GOV_TCGAIN: Governor Throttle Curve Gain¶

Percentage of throttle curve gain in governor output. This provides a type of feedforward response to sudden loading or unloading of the engine. If headspeed drops excessively during sudden heavy load, increase the throttle curve gain. If the governor runs with excessive droop more than 15 rpm lower than the speed setting, increase this setting until the governor runs at 8-10 rpm droop from the speed setting. The throttle curve must be properly tuned to fly the helicopter without the governor for this setting to work properly.

Range	Increment	Units
50 - 100	1	percent

H_RSC_GOV_RANGE: Governor Operational Range¶

RPM range +/- governor rpm reference setting where governor is operational. If speed sensor fails or rpm falls outside of this range, the governor will disengage and return to throttle curve. Recommended range is 100

Range	Increment	Units
50 - 200	10	Revolutions Per Minute

IM_ Parameters¶

IM_STAB_COL_1: Stabilize Mode Collective Point 1¶

Helicopter’s minimum collective pitch setting at zero throttle input in Stabilize mode

Range	Increment	Units
0 - 500	1	decipercent

IM_STAB_COL_2: Stabilize Mode Collective Point 2¶

Helicopter’s collective pitch setting at mid-low throttle input in Stabilize mode

Range	Increment	Units
0 - 500	1	decipercent

IM_STAB_COL_3: Stabilize Mode Collective Point 3¶

Helicopter’s collective pitch setting at mid-high throttle input in Stabilize mode

Range	Increment	Units
500 - 1000	1	decipercent

IM_STAB_COL_4: Stabilize Mode Collective Point 4¶

Helicopter’s maximum collective pitch setting at full throttle input in Stabilize mode

Range	Increment	Units
500 - 1000	1	decipercent

IM_ACRO_COL_EXP: Acro Mode Collective Expo¶

Note: This parameter is for advanced users

Used to soften collective pitch inputs near center point in Acro mode.

Values

Value	Meaning
0	Disabled
0.1	Very Low
0.2	Low
0.3	Medium
0.4	High
0.5	Very High

INS_ Parameters¶

INS_GYROFFS_X: Gyro offsets of X axis¶

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYROFFS_Y: Gyro offsets of Y axis¶

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYROFFS_Z: Gyro offsets of Z axis¶

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR2OFFS_X: Gyro2 offsets of X axis¶

Note: This parameter is for advanced users

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR2OFFS_Y: Gyro2 offsets of Y axis¶

Note: This parameter is for advanced users

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR2OFFS_Z: Gyro2 offsets of Z axis¶

Note: This parameter is for advanced users

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR3OFFS_X: Gyro3 offsets of X axis¶

Note: This parameter is for advanced users

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR3OFFS_Y: Gyro3 offsets of Y axis¶

Note: This parameter is for advanced users

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR3OFFS_Z: Gyro3 offsets of Z axis¶

Note: This parameter is for advanced users

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_ACCSCAL_X: Accelerometer scaling of X axis¶

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCSCAL_Y: Accelerometer scaling of Y axis¶

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCSCAL_Z: Accelerometer scaling of Z axis¶

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCOFFS_X: Accelerometer offsets of X axis¶

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACCOFFS_Y: Accelerometer offsets of Y axis¶

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACCOFFS_Z: Accelerometer offsets of Z axis¶

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC2SCAL_X: Accelerometer2 scaling of X axis¶

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis¶

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis¶

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2OFFS_X: Accelerometer2 offsets of X axis¶

Note: This parameter is for advanced users

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis¶

Note: This parameter is for advanced users

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis¶

Note: This parameter is for advanced users

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC3SCAL_X: Accelerometer3 scaling of X axis¶

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis¶

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis¶

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3OFFS_X: Accelerometer3 offsets of X axis¶

Note: This parameter is for advanced users

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis¶

Note: This parameter is for advanced users

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis¶

Note: This parameter is for advanced users

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_GYRO_FILTER: Gyro filter cutoff frequency¶

Note: This parameter is for advanced users

Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

Range	Units
0 - 256	hertz

INS_ACCEL_FILTER: Accel filter cutoff frequency¶

Note: This parameter is for advanced users

Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

Range	Units
0 - 256	hertz

INS_USE: Use first IMU for attitude, velocity and position estimates¶

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values

Value	Meaning
0	Disabled
1	Enabled

INS_USE2: Use second IMU for attitude, velocity and position estimates¶

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

Values

Value	Meaning
0	Disabled
1	Enabled

INS_USE3: Use third IMU for attitude, velocity and position estimates¶

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

Values

Value	Meaning
0	Disabled
1	Enabled

INS_STILL_THRESH: Stillness threshold for detecting if we are moving¶

Note: This parameter is for advanced users

Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5

Range
0.05 - 50

INS_GYR_CAL: Gyro Calibration scheme¶

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

Values

Value	Meaning
0	Never
1	Start-up only

INS_TRIM_OPTION: Accel cal trim option¶

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

Values

Value	Meaning
0	Don’t adjust the trims
1	Assume first orientation was level
2	Assume ACC_BODYFIX is perfectly aligned to the vehicle

INS_ACC_BODYFIX: Body-fixed accelerometer¶

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

Values

Value	Meaning
1	IMU 1
2	IMU 2
3	IMU 3

INS_POS1_X: IMU accelerometer X position¶

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS1_Y: IMU accelerometer Y position¶

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS1_Z: IMU accelerometer Z position¶

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS2_X: IMU accelerometer X position¶

Note: This parameter is for advanced users

X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS2_Y: IMU accelerometer Y position¶

Note: This parameter is for advanced users

Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS2_Z: IMU accelerometer Z position¶

Note: This parameter is for advanced users

Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS3_X: IMU accelerometer X position¶

Note: This parameter is for advanced users

X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS3_Y: IMU accelerometer Y position¶

Note: This parameter is for advanced users

Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS3_Z: IMU accelerometer Z position¶

Note: This parameter is for advanced users

Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_GYR_ID: Gyro ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS_GYR2_ID: Gyro2 ID¶

Note: This parameter is for advanced users

Gyro2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_GYR3_ID: Gyro3 ID¶

Note: This parameter is for advanced users

Gyro3 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_ACC_ID: Accelerometer ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC2_ID: Accelerometer2 ID¶

Note: This parameter is for advanced users

Accelerometer2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_ACC3_ID: Accelerometer3 ID¶

Note: This parameter is for advanced users

Accelerometer3 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_FAST_SAMPLE: Fast sampling mask¶

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

Bitmask

Values

Bit	Meaning
0	FirstIMU
1	SecondIMU
2	ThirdIMU

Value	Meaning
1	FirstIMUOnly
3	FirstAndSecondIMU

INS_ENABLE_MASK: IMU enable mask¶

Note: This parameter is for advanced users

Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs

Bitmask

Values

Bit	Meaning
0	FirstIMU
1	SecondIMU
2	ThirdIMU

Value	Meaning
1	FirstIMUOnly
3	FirstAndSecondIMU
7	FirstSecondAndThirdIMU
127	AllIMUs

INS_HNTCH_ Parameters¶

INS_HNTCH_ENABLE: Harmonic Notch Filter enable¶

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values

Value	Meaning
0	Disabled
1	Enabled

INS_HNTCH_FREQ: Harmonic Notch Filter base frequency¶

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz

Range	Units
10 - 400	hertz

INS_HNTCH_BW: Harmonic Notch Filter bandwidth¶

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz

Range	Units
5 - 100	hertz

INS_HNTCH_ATT: Harmonic Notch Filter attenuation¶

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB

Range	Units
5 - 30	decibel

INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics¶

Note: This parameter is for advanced users

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time

Bitmask

RebootRequired

Bit	Meaning
0	1st harmonic
1	2nd harmonic
2	3rd harmonic
3	4th hamronic
4	5th harmonic
5	6th harmonic
6	7th harmonic
7	8th harmonic

True

INS_HNTCH_REF: Harmonic Notch Filter reference value¶

Note: This parameter is for advanced users

Reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter

Range	RebootRequired
0.1 - 0.9	True

INS_LOG_ Parameters¶

INS_LOG_BAT_CNT: sample count per batch¶

Note: This parameter is for advanced users

Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.

Increment	RebootRequired
32	True

INS_LOG_BAT_MASK: Sensor Bitmask¶

Note: This parameter is for advanced users

Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.

Bitmask

Values

RebootRequired

Bit	Meaning
0	IMU1
1	IMU2
2	IMU3

Value	Meaning
0	None
1	First IMU
255	All

True

INS_LOG_BAT_OPT: Batch Logging Options Mask¶

Note: This parameter is for advanced users

Options for the BatchSampler

Bitmask

Bit	Meaning
0	Sensor-Rate Logging (sample at full sensor rate seen by AP)
1	Sample post-filtering

INS_LOG_BAT_LGIN: logging interval¶

Interval between pushing samples to the AP_Logger log

Increment	Units
10	milliseconds

INS_LOG_BAT_LGCT: logging count¶

Number of samples to push to count every INS_LOG_BAT_LGIN

Increment
1

INS_NOTCH_ Parameters¶

INS_NOTCH_ENABLE: Enable¶

Note: This parameter is for advanced users

Enable notch filter

Values

Value	Meaning
0	Disabled
1	Enabled

INS_NOTCH_ATT: Attenuation¶

Note: This parameter is for advanced users

Notch attenuation in dB

Range	Units
5 - 30	decibel

INS_NOTCH_FREQ: Frequency¶

Note: This parameter is for advanced users

Notch center frequency in Hz

Range	Units
10 - 400	hertz

INS_NOTCH_BW: Bandwidth¶

Note: This parameter is for advanced users

Notch bandwidth in Hz

Range	Units
5 - 100	hertz

LGR_ Parameters¶

LGR_STARTUP: Landing Gear Startup position¶

Landing Gear Startup behaviour control

Values

Value	Meaning
0	WaitForPilotInput
1	Retract
2	Deploy

LGR_DEPLOY_PIN: Chassis deployment feedback pin¶

Pin number to use for detection of gear deployment. If set to -1 feedback is disabled.

Values

RebootRequired

Value	Meaning
-1	Disabled
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

True

LGR_DEPLOY_POL: Chassis deployment feedback pin polarity¶

Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.

Values

Value	Meaning
0	Low
1	High

LGR_WOW_PIN: Weight on wheels feedback pin¶

Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled.

Values

RebootRequired

Value	Meaning
-1	Disabled
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

True

LGR_WOW_POL: Weight on wheels feedback pin polarity¶

Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.

Values

Value	Meaning
0	Low
1	High

LGR_DEPLOY_ALT: Landing gear deployment altitude¶

Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.

Range	Increment	Units
0 - 1000	1	meters

LGR_RETRACT_ALT: Landing gear retract altitude¶

Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.

Range	Increment	Units
0 - 1000	1	meters

LOG Parameters¶

LOG_BACKEND_TYPE: AP_Logger Backend Storage type¶

Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.

Bitmask

Values

Bit	Meaning
0	File
1	MAVLink
2	Block

Value	Meaning
0	None
1	File
2	MAVLink
3	File and MAVLink
4	Block
6	Block and MAVLink

LOG_FILE_BUFSIZE: Maximum AP_Logger File Backend buffer size (in kilobytes)¶

The AP_Logger_File backend uses a buffer to store data before writing to the block device. Raising this value may reduce “gaps” in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.

LOG_DISARMED: Enable logging while disarmed¶

If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues

Values

Value	Meaning
0	Disabled
1	Enabled

LOG_REPLAY: Enable logging of information needed for Replay¶

If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost

Values

Value	Meaning
0	Disabled
1	Enabled

LOG_FILE_DSRMROT: Stop logging to current file on disarm¶

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened.

Values

Value	Meaning
0	Disabled
1	Enabled

LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size¶

Note: This parameter is for advanced users

Maximum amount of memory to allocate to AP_Logger-over-mavlink

Units
kilobytes

LOG_FILE_TIMEOUT: Timeout before giving up on file writes¶

This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.

Units
seconds

LOIT_ Parameters¶

LOIT_ANG_MAX: Loiter Angle Max¶

Note: This parameter is for advanced users

Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX

Range	Increment	Units
0 - 45	1	degrees

LOIT_SPEED: Loiter Horizontal Maximum Speed¶

Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode

Range	Increment	Units
20 - 2000	50	centimeters per second

LOIT_ACC_MAX: Loiter maximum correction acceleration¶

Note: This parameter is for advanced users

Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.

Range	Increment	Units
100 - 981	1	centimeters per square second

LOIT_BRK_ACCEL: Loiter braking acceleration¶

Note: This parameter is for advanced users

Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.

Range	Increment	Units
25 - 250	1	centimeters per square second

LOIT_BRK_JERK: Loiter braking jerk¶

Note: This parameter is for advanced users

Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.

Range	Increment	Units
500 - 5000	1	centimeters per cubic second

LOIT_BRK_DELAY: Loiter brake start delay (in seconds)¶

Note: This parameter is for advanced users

Loiter brake start delay (in seconds)

Range	Increment	Units
0 - 2	0.1	seconds

MIS_ Parameters¶

MIS_TOTAL: Total mission commands¶

Note: This parameter is for advanced users

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

ReadOnly	Range	Increment
True	0 - 32766	1

MIS_RESTART: Mission Restart when entering Auto mode¶

Note: This parameter is for advanced users

Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)

Values

Value	Meaning
0	Resume Mission
1	Restart Mission

MIS_OPTIONS: Mission options bitmask¶

Note: This parameter is for advanced users

Bitmask of what options to use in missions.

Bitmask

Bit	Meaning
0	Clear Mission on reboot

MNT Parameters¶

MNT_DEFLT_MODE: Mount default operating mode¶

Mount default operating mode on startup and after control is returned from autopilot

Values

Value	Meaning
0	Retracted
1	Neutral
2	MavLink Targeting
3	RC Targeting
4	GPS Point

MNT_RETRACT_X: Mount roll angle when in retracted position¶

Mount roll angle when in retracted position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position¶

Mount tilt/pitch angle when in retracted position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position¶

Mount yaw/pan angle when in retracted position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT_NEUTRAL_X: Mount roll angle when in neutral position¶

Mount roll angle when in neutral position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position¶

Mount tilt/pitch angle when in neutral position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position¶

Mount pan/yaw angle when in neutral position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT_STAB_ROLL: Stabilize mount’s roll angle¶

enable roll stabilisation relative to Earth

Values

Value	Meaning
0	Disabled
1	Enabled

MNT_STAB_TILT: Stabilize mount’s pitch/tilt angle¶

enable tilt/pitch stabilisation relative to Earth

Values

Value	Meaning
0	Disabled
1	Enabled

MNT_STAB_PAN: Stabilize mount pan/yaw angle¶

enable pan/yaw stabilisation relative to Earth

Values

Value	Meaning
0	Disabled
1	Enabled

MNT_RC_IN_ROLL: roll RC input channel¶

0 for none, any other for the RC channel to be used to control roll movements

Values

Value	Meaning
0	Disabled
5	RC5
6	RC6
7	RC7
8	RC8
9	RC9
10	RC10
11	RC11
12	RC12

MNT_ANGMIN_ROL: Minimum roll angle¶

Minimum physical roll angular position of mount.

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT_ANGMAX_ROL: Maximum roll angle¶

Maximum physical roll angular position of the mount

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT_RC_IN_TILT: tilt (pitch) RC input channel¶

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

Values

Value	Meaning
0	Disabled
5	RC5
6	RC6
7	RC7
8	RC8
9	RC9
10	RC10
11	RC11
12	RC12

MNT_ANGMIN_TIL: Minimum tilt angle¶

Minimum physical tilt (pitch) angular position of mount.

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT_ANGMAX_TIL: Maximum tilt angle¶

Maximum physical tilt (pitch) angular position of the mount

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT_RC_IN_PAN: pan (yaw) RC input channel¶

0 for none, any other for the RC channel to be used to control pan (yaw) movements

Values

Value	Meaning
0	Disabled
5	RC5
6	RC6
7	RC7
8	RC8
9	RC9
10	RC10
11	RC11
12	RC12

MNT_ANGMIN_PAN: Minimum pan angle¶

Minimum physical pan (yaw) angular position of mount.

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT_ANGMAX_PAN: Maximum pan angle¶

Maximum physical pan (yaw) angular position of the mount

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT_JSTICK_SPD: mount joystick speed¶

0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.

Range	Increment
0 - 100	1

MNT_LEAD_RLL: Roll stabilization lead time¶

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn’t overshoot. Does nothing with pan stabilization enabled.

Range	Increment	Units
0.0 - 0.2	.005	seconds

MNT_LEAD_PTCH: Pitch stabilization lead time¶

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn’t overshoot. Does nothing with pan stabilization enabled.

Range	Increment	Units
0.0 - 0.2	.005	seconds

MNT_TYPE: Mount Type¶

Mount Type (None, Servo or MAVLink)

Values

RebootRequired

Value	Meaning
0	None
1	Servo
2	3DR Solo
3	Alexmos Serial
4	SToRM32 MAVLink
5	SToRM32 Serial

True

MNT2_DEFLT_MODE: Mount default operating mode¶

Mount default operating mode on startup and after control is returned from autopilot

Values

Value	Meaning
0	Retracted
1	Neutral
2	MavLink Targeting
3	RC Targeting
4	GPS Point

MNT2_RETRACT_X: Mount2 roll angle when in retracted position¶

Mount2 roll angle when in retracted position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position¶

Mount2 tilt/pitch angle when in retracted position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position¶

Mount2 yaw/pan angle when in retracted position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position¶

Mount2 roll angle when in neutral position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position¶

Mount2 tilt/pitch angle when in neutral position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position¶

Mount2 pan/yaw angle when in neutral position

Range	Increment	Units
-180.00 - 179.99	1	degrees

MNT2_STAB_ROLL: Stabilize Mount2’s roll angle¶

enable roll stabilisation relative to Earth

Values

Value	Meaning
0	Disabled
1	Enabled

MNT2_STAB_TILT: Stabilize Mount2’s pitch/tilt angle¶

enable tilt/pitch stabilisation relative to Earth

Values

Value	Meaning
0	Disabled
1	Enabled

MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle¶

enable pan/yaw stabilisation relative to Earth

Values

Value	Meaning
0	Disabled
1	Enabled

MNT2_RC_IN_ROLL: Mount2’s roll RC input channel¶

0 for none, any other for the RC channel to be used to control roll movements

Values

Value	Meaning
0	Disabled
5	RC5
6	RC6
7	RC7
8	RC8
9	RC9
10	RC10
11	RC11
12	RC12

MNT2_ANGMIN_ROL: Mount2’s minimum roll angle¶

Mount2’s minimum physical roll angular position

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT2_ANGMAX_ROL: Mount2’s maximum roll angle¶

Mount2’s maximum physical roll angular position

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT2_RC_IN_TILT: Mount2’s tilt (pitch) RC input channel¶

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

Values

Value	Meaning
0	Disabled
5	RC5
6	RC6
7	RC7
8	RC8
9	RC9
10	RC10
11	RC11
12	RC12

MNT2_ANGMIN_TIL: Mount2’s minimum tilt angle¶

Mount2’s minimum physical tilt (pitch) angular position

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT2_ANGMAX_TIL: Mount2’s maximum tilt angle¶

Mount2’s maximum physical tilt (pitch) angular position

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT2_RC_IN_PAN: Mount2’s pan (yaw) RC input channel¶

0 for none, any other for the RC channel to be used to control pan (yaw) movements

Values

Value	Meaning
0	Disabled
5	RC5
6	RC6
7	RC7
8	RC8
9	RC9
10	RC10
11	RC11
12	RC12

MNT2_ANGMIN_PAN: Mount2’s minimum pan angle¶

Mount2’s minimum physical pan (yaw) angular position

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT2_ANGMAX_PAN: Mount2’s maximum pan angle¶

MOunt2’s maximum physical pan (yaw) angular position

Range	Increment	Units
-18000 - 17999	1	centidegrees

MNT2_LEAD_RLL: Mount2’s Roll stabilization lead time¶

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn’t overshoot. Does nothing with pan stabilization enabled.

Range	Increment	Units
0.0 - 0.2	.005	seconds

MNT2_LEAD_PTCH: Mount2’s Pitch stabilization lead time¶

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn’t overshoot. Does nothing with pan stabilization enabled.

Range	Increment	Units
0.0 - 0.2	.005	seconds

MNT2_TYPE: Mount2 Type¶

Mount Type (None, Servo or MAVLink)

Values

Value	Meaning
0	None
1	Servo
2	3DR Solo
3	Alexmos Serial
4	SToRM32 MAVLink
5	SToRM32 Serial

MOT_ Parameters¶

MOT_YAW_HEADROOM: Matrix Yaw Min¶

Note: This parameter is for advanced users

Yaw control is given at least this pwm in microseconds range

Range	Units
0 - 500	PWM in microseconds

MOT_THST_EXPO: Thrust Curve Expo¶

Note: This parameter is for advanced users

Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)

Range
0.25 - 0.8

MOT_SPIN_MAX: Motor Spin maximum¶

Note: This parameter is for advanced users

Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range

Values
0.9:Low, 0.95:Default, 1.0:High

MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage¶

Note: This parameter is for advanced users

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.4 * cell count, 0 = Disabled

Range	Units
6 - 35	volt

MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage¶

Note: This parameter is for advanced users

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled

Range	Units
6 - 35	volt

MOT_BAT_CURR_MAX: Motor Current Max¶

Note: This parameter is for advanced users

Maximum current over which maximum throttle is limited (0 = Disabled)

Range	Units
0 - 200	ampere

MOT_PWM_TYPE: Output PWM type¶

Note: This parameter is for advanced users

This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output

Values

RebootRequired

Value	Meaning
0	Normal
1	OneShot
2	OneShot125
3	Brushed
4	DShot150
5	DShot300
6	DShot600
7	DShot1200

True

MOT_PWM_MIN: PWM output miniumum¶

Note: This parameter is for advanced users

This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN

Range	Units
0 - 2000	PWM in microseconds

MOT_PWM_MAX: PWM output maximum¶

Note: This parameter is for advanced users

This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX

Range	Units
0 - 2000	PWM in microseconds

MOT_SPIN_MIN: Motor Spin minimum¶

Note: This parameter is for advanced users

Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.

Values
0.0:Low, 0.15:Default, 0.3:High

MOT_SPIN_ARM: Motor Spin armed¶

Note: This parameter is for advanced users

Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.

Values
0.0:Low, 0.1:Default, 0.2:High

MOT_BAT_CURR_TC: Motor Current Max Time Constant¶

Note: This parameter is for advanced users

Time constant used to limit the maximum current

Range	Units
0 - 10	seconds

MOT_THST_HOVER: Thrust Hover Value¶

Note: This parameter is for advanced users

Motor thrust needed to hover expressed as a number from 0 to 1

Range
0.2 - 0.8

MOT_HOVER_LEARN: Hover Value Learning¶

Note: This parameter is for advanced users

Enable/Disable automatic learning of hover throttle

Values

Value	Meaning
0	Disabled
1	Learn
2	LearnAndSave

MOT_SAFE_DISARM: Motor PWM output disabled when disarmed¶

Note: This parameter is for advanced users

Disables motor PWM output when disarmed

Values

Value	Meaning
0	PWM enabled while disarmed
1	PWM disabled while disarmed

MOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle¶

Yaw servo’s maximum lean angle

Range	Increment	Units
5 - 80	1	degrees

MOT_SPOOL_TIME: Spool up time¶

Note: This parameter is for advanced users

Time in seconds to spool up the motors from zero to min throttle.

Range	Increment	Units
0 - 2	0.1	seconds

MOT_BOOST_SCALE: Motor boost scale¶

Note: This parameter is for advanced users

Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.

Range	Increment
0 - 5	0.1

MOT_BAT_IDX: Battery compensation index¶

Note: This parameter is for advanced users

Which battery monitor should be used for doing compensation

Values

Value	Meaning
0	First battery
1	Second battery

MOT_SLEW_UP_TIME: Output slew time for increasing throttle¶

Note: This parameter is for advanced users

Time in seconds to slew output from zero to full. For medium size copter such as a Solo, a value of 0.25 is a good starting point. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

Range	Increment	Units
0 - .5	0.001	seconds

MOT_SLEW_DN_TIME: Output slew time for decreasing throttle¶

Note: This parameter is for advanced users

Time in seconds to slew output from full to zero. For medium size copter such as a Solo, a value of 0.275 is a good starting point. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

Range	Increment	Units
0 - .5	0.001	seconds

NTF_ Parameters¶

NTF_LED_BRIGHT: LED Brightness¶

Note: This parameter is for advanced users

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

Values

Value	Meaning
0	Off
1	Low
2	Medium
3	High

NTF_BUZZ_ENABLE: Buzzer enable¶

Note: This parameter is for advanced users

Enable or disable the buzzer.

Values

Value	Meaning
0	Disable
1	Enable

NTF_LED_OVERRIDE: Specifies colour source for the RGBLed¶

Note: This parameter is for advanced users

Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially “Green” is disarmed (safe-to-approach), “Red” is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.

Values

Value	Meaning
0	Standard
1	MAVLink
2	OutbackChallenge
3	TrafficLight

NTF_DISPLAY_TYPE: Type of on-board I2C display¶

Note: This parameter is for advanced users

This sets up the type of on-board I2C display. Disabled by default.

Values

Value	Meaning
0	Disable
1	ssd1306
2	sh1106
10	SITL

NTF_OREO_THEME: OreoLED Theme¶

Note: This parameter is for advanced users

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

Values

Value	Meaning
0	Disabled
1	Aircraft
2	Rover

NTF_BUZZ_PIN: Buzzer pin¶

Note: This parameter is for advanced users

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!

Values

Value	Meaning
0	Disabled

NTF_LED_TYPES: LED Driver Types¶

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

Bitmask

Bit	Meaning
0	Build in LED
1	Internal ToshibaLED
2	External ToshibaLED
3	External PCA9685
4	Oreo LED
5	UAVCAN
6	NCP5623 External
7	NCP5623 Internal
8	NeoPixel

NTF_BUZZ_ON_LVL: Buzzer-on pin logic level¶

Note: This parameter is for advanced users

Specifies pin level that indicates buzzer should play

Values

Value	Meaning
0	LowIsOn
1	HighIsOn

NTF_BUZZ_VOLUME: Buzzer volume¶

Enable or disable the buzzer.

Range	Units
0 - 100	percent

OA_ Parameters¶

OA_TYPE: Object Avoidance Path Planning algorithm to use¶

Enabled/disable path planning around obstacles

Values

Value	Meaning
0	Disabled
1	BendyRuler
2	Dijkstra

OA_LOOKAHEAD: Object Avoidance look ahead distance maximum¶

Object Avoidance will look this many meters ahead of vehicle

Range	Increment	Units
1 - 100	1	meters

OA_MARGIN_MAX: Object Avoidance wide margin distance¶

Object Avoidance will ignore objects more than this many meters from vehicle

Range	Increment	Units
0.1 - 100	1	meters

OA_DB_ Parameters¶

OA_DB_SIZE: OADatabase maximum number of points¶

Note: This parameter is for advanced users

OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process

Range	RebootRequired
0 - 10000	True

OA_DB_EXPIRE: OADatabase item timeout¶

Note: This parameter is for advanced users

OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.

Range	Increment	Units
0 - 127	1	seconds

OA_DB_QUEUE_SIZE: OADatabase queue maximum number of points¶

Note: This parameter is for advanced users

OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.

Range	RebootRequired
1 - 200	True

OA_DB_OUTPUT: OADatabase output level¶

Note: This parameter is for advanced users

OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.

Values

Value	Meaning
0	Disabled
1	Send only HIGH importance items
2	Send HIGH and NORMAL importance items
3	Send all items

OSD Parameters¶

OSD_TYPE: OSD type¶

OSD type

Values

RebootRequired

Value	Meaning
0	None
1	MAX7456

True

OSD_CHAN: Screen switch transmitter channel¶

This sets the channel used to switch different OSD screens.

Values

Value	Meaning
0	Disable
5	Chan5
6	Chan6
7	Chan7
8	Chan8
9	Chan9
10	Chan10
11	Chan11
12	Chan12
13	Chan13
14	Chan14
15	Chan15
16	Chan16

OSD_OPTIONS: OSD Options¶

This sets options that change the display

Bitmask

Bit	Meaning
0	UseDecimalPack
1	InvertedWindPointer
2	InvertedAHRoll

OSD_FONT: OSD Font¶

This sets which OSD font to use. It is an integer from 0 to the number of fonts available

RebootRequired
True

OSD_V_OFFSET: OSD vertical offset¶

Sets vertical offset of the osd inside image

Range	RebootRequired
0 - 31	True

OSD_H_OFFSET: OSD horizontal offset¶

Sets horizontal offset of the osd inside image

Range	RebootRequired
0 - 63	True

OSD_W_RSSI: RSSI warn level (in %)¶

Set level at which RSSI item will flash

Range
0 - 99

OSD_W_NSAT: NSAT warn level¶

Set level at which NSAT item will flash

Range
1 - 30

OSD_W_BATVOLT: BAT_VOLT warn level¶

Set level at which BAT_VOLT item will flash

Range
0 - 100

OSD_UNITS: Display Units¶

Sets the units to use in displaying items

Values

Value	Meaning
0	Metric
1	Imperial
2	SI
3	Aviation

OSD_MSG_TIME: Message display duration in seconds¶

Sets message duration seconds

Range
1 - 20

OSD_ARM_SCR: Arm screen¶

Screen to be shown on Arm event. Zero to disable the feature.

Range
0 - 4

OSD_DSARM_SCR: Disarm screen¶

Screen to be shown on disarm event. Zero to disable the feature.

Range
0 - 4

OSD_FS_SCR: Failsafe screen¶

Screen to be shown on failsafe event. Zero to disable the feature.

Range
0 - 4

OSD1_ Parameters¶

OSD1_ENABLE: Enable screen¶

Enable this screen

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_CHAN_MIN: Transmitter switch screen minimum pwm¶

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD1_CHAN_MAX: Transmitter switch screen maximum pwm¶

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD1_ALTITUDE_EN: ALTITUDE_EN¶

Enables display of altitude AGL

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_ALTITUDE_X: ALTITUDE_X¶

Horizontal position on screen

Range
0 - 29

OSD1_ALTITUDE_Y: ALTITUDE_Y¶

Vertical position on screen

Range
0 - 15

OSD1_BATVOLT_EN: BATVOLT_EN¶

Displays main battery voltage

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_BATVOLT_X: BATVOLT_X¶

Horizontal position on screen

Range
0 - 29

OSD1_BATVOLT_Y: BATVOLT_Y¶

Vertical position on screen

Range
0 - 15

OSD1_RSSI_EN: RSSI_EN¶

Displays RC signal strength

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_RSSI_X: RSSI_X¶

Horizontal position on screen

Range
0 - 29

OSD1_RSSI_Y: RSSI_Y¶

Vertical position on screen

Range
0 - 15

OSD1_CURRENT_EN: CURRENT_EN¶

Displays main battery current

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_CURRENT_X: CURRENT_X¶

Horizontal position on screen

Range
0 - 29

OSD1_CURRENT_Y: CURRENT_Y¶

Vertical position on screen

Range
0 - 15

OSD1_BATUSED_EN: BATUSED_EN¶

Displays primary battery mAh consumed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_BATUSED_X: BATUSED_X¶

Horizontal position on screen

Range
0 - 29

OSD1_BATUSED_Y: BATUSED_Y¶

Vertical position on screen

Range
0 - 15

OSD1_SATS_EN: SATS_EN¶

Displays number of acquired sattelites

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_SATS_X: SATS_X¶

Horizontal position on screen

Range
0 - 29

OSD1_SATS_Y: SATS_Y¶

Vertical position on screen

Range
0 - 15

OSD1_FLTMODE_EN: FLTMODE_EN¶

Displays flight mode

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_FLTMODE_X: FLTMODE_X¶

Horizontal position on screen

Range
0 - 29

OSD1_FLTMODE_Y: FLTMODE_Y¶

Vertical position on screen

Range
0 - 15

OSD1_MESSAGE_EN: MESSAGE_EN¶

Displays Mavlink messages

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_MESSAGE_X: MESSAGE_X¶

Horizontal position on screen

Range
0 - 29

OSD1_MESSAGE_Y: MESSAGE_Y¶

Vertical position on screen

Range
0 - 15

OSD1_GSPEED_EN: GSPEED_EN¶

Displays GPS ground speed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_GSPEED_X: GSPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD1_GSPEED_Y: GSPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD1_HORIZON_EN: HORIZON_EN¶

Displays artificial horizon

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_HORIZON_X: HORIZON_X¶

Horizontal position on screen

Range
0 - 29

OSD1_HORIZON_Y: HORIZON_Y¶

Vertical position on screen

Range
0 - 15

OSD1_HOME_EN: HOME_EN¶

Displays distance and relative direction to HOME

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_HOME_X: HOME_X¶

Horizontal position on screen

Range
0 - 29

OSD1_HOME_Y: HOME_Y¶

Vertical position on screen

Range
0 - 15

OSD1_HEADING_EN: HEADING_EN¶

Displays heading

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_HEADING_X: HEADING_X¶

Horizontal position on screen

Range
0 - 29

OSD1_HEADING_Y: HEADING_Y¶

Vertical position on screen

Range
0 - 15

OSD1_THROTTLE_EN: THROTTLE_EN¶

Displays actual throttle percentage being sent to motor(s)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_THROTTLE_X: THROTTLE_X¶

Horizontal position on screen

Range
0 - 29

OSD1_THROTTLE_Y: THROTTLE_Y¶

Vertical position on screen

Range
0 - 15

OSD1_COMPASS_EN: COMPASS_EN¶

Enables display of compass rose

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_COMPASS_X: COMPASS_X¶

Horizontal position on screen

Range
0 - 29

OSD1_COMPASS_Y: COMPASS_Y¶

Vertical position on screen

Range
0 - 15

OSD1_WIND_EN: WIND_EN¶

Displays wind speed and relative direction

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_WIND_X: WIND_X¶

Horizontal position on screen

Range
0 - 29

OSD1_WIND_Y: WIND_Y¶

Vertical position on screen

Range
0 - 15

OSD1_ASPEED_EN: ASPEED_EN¶

Displays airspeed value being used by TECS (fused value)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_ASPEED_X: ASPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD1_ASPEED_Y: ASPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD1_VSPEED_EN: VSPEED_EN¶

Displays climb rate

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_VSPEED_X: VSPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD1_VSPEED_Y: VSPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD1_BLHTEMP_EN: BLHTEMP_EN¶

Displays first esc’s temp

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_BLHTEMP_X: BLHTEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD1_BLHTEMP_Y: BLHTEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD1_BLHRPM_EN: BLHRPM_EN¶

Displays first esc’s rpm

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_BLHRPM_X: BLHRPM_X¶

Horizontal position on screen

Range
0 - 29

OSD1_BLHRPM_Y: BLHRPM_Y¶

Vertical position on screen

Range
0 - 15

OSD1_BLHAMPS_EN: BLHAMPS_EN¶

Displays first esc’s current

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_BLHAMPS_X: BLHAMPS_X¶

Horizontal position on screen

Range
0 - 29

OSD1_BLHAMPS_Y: BLHAMPS_Y¶

Vertical position on screen

Range
0 - 15

OSD1_GPSLAT_EN: GPSLAT_EN¶

Displays GPS latitude

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_GPSLAT_X: GPSLAT_X¶

Horizontal position on screen

Range
0 - 29

OSD1_GPSLAT_Y: GPSLAT_Y¶

Vertical position on screen

Range
0 - 15

OSD1_GPSLONG_EN: GPSLONG_EN¶

Displays GPS longitude

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_GPSLONG_X: GPSLONG_X¶

Horizontal position on screen

Range
0 - 29

OSD1_GPSLONG_Y: GPSLONG_Y¶

Vertical position on screen

Range
0 - 15

OSD1_ROLL_EN: ROLL_EN¶

Displays degrees of roll from level

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_ROLL_X: ROLL_X¶

Horizontal position on screen

Range
0 - 29

OSD1_ROLL_Y: ROLL_Y¶

Vertical position on screen

Range
0 - 15

OSD1_PITCH_EN: PITCH_EN¶

Displays degrees of pitch from level

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_PITCH_X: PITCH_X¶

Horizontal position on screen

Range
0 - 29

OSD1_PITCH_Y: PITCH_Y¶

Vertical position on screen

Range
0 - 15

OSD1_TEMP_EN: TEMP_EN¶

Displays temperature reported by primary barometer

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_TEMP_X: TEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD1_TEMP_Y: TEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD1_HDOP_EN: HDOP_EN¶

Displays Horizontal Dilution Of Position

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_HDOP_X: HDOP_X¶

Horizontal position on screen

Range
0 - 29

OSD1_HDOP_Y: HDOP_Y¶

Vertical position on screen

Range
0 - 15

OSD1_WAYPOINT_EN: WAYPOINT_EN¶

Displays bearing and distance to next waypoint

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_WAYPOINT_X: WAYPOINT_X¶

Horizontal position on screen

Range
0 - 29

OSD1_WAYPOINT_Y: WAYPOINT_Y¶

Vertical position on screen

Range
0 - 15

OSD1_XTRACK_EN: XTRACK_EN¶

Displays crosstrack error

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_XTRACK_X: XTRACK_X¶

Horizontal position on screen

Range
0 - 29

OSD1_XTRACK_Y: XTRACK_Y¶

Vertical position on screen

Range
0 - 15

OSD1_DIST_EN: DIST_EN¶

Displays total distance flown

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_DIST_X: DIST_X¶

Horizontal position on screen

Range
0 - 29

OSD1_DIST_Y: DIST_Y¶

Vertical position on screen

Range
0 - 15

OSD1_STATS_EN: STATS_EN¶

Displays flight stats

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_STATS_X: STATS_X¶

Horizontal position on screen

Range
0 - 29

OSD1_STATS_Y: STATS_Y¶

Vertical position on screen

Range
0 - 15

OSD1_FLTIME_EN: FLTIME_EN¶

Displays total flight time

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_FLTIME_X: FLTIME_X¶

Horizontal position on screen

Range
0 - 29

OSD1_FLTIME_Y: FLTIME_Y¶

Vertical position on screen

Range
0 - 15

OSD1_CLIMBEFF_EN: CLIMBEFF_EN¶

Displays climb efficiency (climb rate/current)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_CLIMBEFF_X: CLIMBEFF_X¶

Horizontal position on screen

Range
0 - 29

OSD1_CLIMBEFF_Y: CLIMBEFF_Y¶

Vertical position on screen

Range
0 - 15

OSD1_EFF_EN: EFF_EN¶

Displays flight efficiency (mAh/km or /mi)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_EFF_X: EFF_X¶

Horizontal position on screen

Range
0 - 29

OSD1_EFF_Y: EFF_Y¶

Vertical position on screen

Range
0 - 15

OSD1_BTEMP_EN: BTEMP_EN¶

Displays temperature reported by secondary barometer

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_BTEMP_X: BTEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD1_BTEMP_Y: BTEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD1_ATEMP_EN: ATEMP_EN¶

Displays temperature reported by primary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_ATEMP_X: ATEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD1_ATEMP_Y: ATEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD1_BAT2VLT_EN: BAT2VLT_EN¶

Displays battery2 voltage

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_BAT2VLT_X: BAT2VLT_X¶

Horizontal position on screen

Range
0 - 29

OSD1_BAT2VLT_Y: BAT2VLT_Y¶

Vertical position on screen

Range
0 - 15

OSD1_BAT2USED_EN: BAT2USED_EN¶

Displays secondary battery mAh consumed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_BAT2USED_X: BAT2USED_X¶

Horizontal position on screen

Range
0 - 29

OSD1_BAT2USED_Y: BAT2USED_Y¶

Vertical position on screen

Range
0 - 15

OSD1_ASPD2_EN: ASPD2_EN¶

Displays airspeed reported directly from secondary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_ASPD2_X: ASPD2_X¶

Horizontal position on screen

Range
0 - 29

OSD1_ASPD2_Y: ASPD2_Y¶

Vertical position on screen

Range
0 - 15

OSD1_ASPD1_EN: ASPD1_EN¶

Displays airspeed reported directly from primary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD1_ASPD1_X: ASPD1_X¶

Horizontal position on screen

Range
0 - 29

OSD1_ASPD1_Y: ASPD1_Y¶

Vertical position on screen

Range
0 - 15

OSD2_ Parameters¶

OSD2_ENABLE: Enable screen¶

Enable this screen

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_CHAN_MIN: Transmitter switch screen minimum pwm¶

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD2_CHAN_MAX: Transmitter switch screen maximum pwm¶

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD2_ALTITUDE_EN: ALTITUDE_EN¶

Enables display of altitude AGL

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_ALTITUDE_X: ALTITUDE_X¶

Horizontal position on screen

Range
0 - 29

OSD2_ALTITUDE_Y: ALTITUDE_Y¶

Vertical position on screen

Range
0 - 15

OSD2_BATVOLT_EN: BATVOLT_EN¶

Displays main battery voltage

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_BATVOLT_X: BATVOLT_X¶

Horizontal position on screen

Range
0 - 29

OSD2_BATVOLT_Y: BATVOLT_Y¶

Vertical position on screen

Range
0 - 15

OSD2_RSSI_EN: RSSI_EN¶

Displays RC signal strength

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_RSSI_X: RSSI_X¶

Horizontal position on screen

Range
0 - 29

OSD2_RSSI_Y: RSSI_Y¶

Vertical position on screen

Range
0 - 15

OSD2_CURRENT_EN: CURRENT_EN¶

Displays main battery current

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_CURRENT_X: CURRENT_X¶

Horizontal position on screen

Range
0 - 29

OSD2_CURRENT_Y: CURRENT_Y¶

Vertical position on screen

Range
0 - 15

OSD2_BATUSED_EN: BATUSED_EN¶

Displays primary battery mAh consumed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_BATUSED_X: BATUSED_X¶

Horizontal position on screen

Range
0 - 29

OSD2_BATUSED_Y: BATUSED_Y¶

Vertical position on screen

Range
0 - 15

OSD2_SATS_EN: SATS_EN¶

Displays number of acquired sattelites

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_SATS_X: SATS_X¶

Horizontal position on screen

Range
0 - 29

OSD2_SATS_Y: SATS_Y¶

Vertical position on screen

Range
0 - 15

OSD2_FLTMODE_EN: FLTMODE_EN¶

Displays flight mode

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_FLTMODE_X: FLTMODE_X¶

Horizontal position on screen

Range
0 - 29

OSD2_FLTMODE_Y: FLTMODE_Y¶

Vertical position on screen

Range
0 - 15

OSD2_MESSAGE_EN: MESSAGE_EN¶

Displays Mavlink messages

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_MESSAGE_X: MESSAGE_X¶

Horizontal position on screen

Range
0 - 29

OSD2_MESSAGE_Y: MESSAGE_Y¶

Vertical position on screen

Range
0 - 15

OSD2_GSPEED_EN: GSPEED_EN¶

Displays GPS ground speed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_GSPEED_X: GSPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD2_GSPEED_Y: GSPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD2_HORIZON_EN: HORIZON_EN¶

Displays artificial horizon

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_HORIZON_X: HORIZON_X¶

Horizontal position on screen

Range
0 - 29

OSD2_HORIZON_Y: HORIZON_Y¶

Vertical position on screen

Range
0 - 15

OSD2_HOME_EN: HOME_EN¶

Displays distance and relative direction to HOME

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_HOME_X: HOME_X¶

Horizontal position on screen

Range
0 - 29

OSD2_HOME_Y: HOME_Y¶

Vertical position on screen

Range
0 - 15

OSD2_HEADING_EN: HEADING_EN¶

Displays heading

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_HEADING_X: HEADING_X¶

Horizontal position on screen

Range
0 - 29

OSD2_HEADING_Y: HEADING_Y¶

Vertical position on screen

Range
0 - 15

OSD2_THROTTLE_EN: THROTTLE_EN¶

Displays actual throttle percentage being sent to motor(s)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_THROTTLE_X: THROTTLE_X¶

Horizontal position on screen

Range
0 - 29

OSD2_THROTTLE_Y: THROTTLE_Y¶

Vertical position on screen

Range
0 - 15

OSD2_COMPASS_EN: COMPASS_EN¶

Enables display of compass rose

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_COMPASS_X: COMPASS_X¶

Horizontal position on screen

Range
0 - 29

OSD2_COMPASS_Y: COMPASS_Y¶

Vertical position on screen

Range
0 - 15

OSD2_WIND_EN: WIND_EN¶

Displays wind speed and relative direction

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_WIND_X: WIND_X¶

Horizontal position on screen

Range
0 - 29

OSD2_WIND_Y: WIND_Y¶

Vertical position on screen

Range
0 - 15

OSD2_ASPEED_EN: ASPEED_EN¶

Displays airspeed value being used by TECS (fused value)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_ASPEED_X: ASPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD2_ASPEED_Y: ASPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD2_VSPEED_EN: VSPEED_EN¶

Displays climb rate

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_VSPEED_X: VSPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD2_VSPEED_Y: VSPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD2_BLHTEMP_EN: BLHTEMP_EN¶

Displays first esc’s temp

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_BLHTEMP_X: BLHTEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD2_BLHTEMP_Y: BLHTEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD2_BLHRPM_EN: BLHRPM_EN¶

Displays first esc’s rpm

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_BLHRPM_X: BLHRPM_X¶

Horizontal position on screen

Range
0 - 29

OSD2_BLHRPM_Y: BLHRPM_Y¶

Vertical position on screen

Range
0 - 15

OSD2_BLHAMPS_EN: BLHAMPS_EN¶

Displays first esc’s current

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_BLHAMPS_X: BLHAMPS_X¶

Horizontal position on screen

Range
0 - 29

OSD2_BLHAMPS_Y: BLHAMPS_Y¶

Vertical position on screen

Range
0 - 15

OSD2_GPSLAT_EN: GPSLAT_EN¶

Displays GPS latitude

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_GPSLAT_X: GPSLAT_X¶

Horizontal position on screen

Range
0 - 29

OSD2_GPSLAT_Y: GPSLAT_Y¶

Vertical position on screen

Range
0 - 15

OSD2_GPSLONG_EN: GPSLONG_EN¶

Displays GPS longitude

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_GPSLONG_X: GPSLONG_X¶

Horizontal position on screen

Range
0 - 29

OSD2_GPSLONG_Y: GPSLONG_Y¶

Vertical position on screen

Range
0 - 15

OSD2_ROLL_EN: ROLL_EN¶

Displays degrees of roll from level

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_ROLL_X: ROLL_X¶

Horizontal position on screen

Range
0 - 29

OSD2_ROLL_Y: ROLL_Y¶

Vertical position on screen

Range
0 - 15

OSD2_PITCH_EN: PITCH_EN¶

Displays degrees of pitch from level

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_PITCH_X: PITCH_X¶

Horizontal position on screen

Range
0 - 29

OSD2_PITCH_Y: PITCH_Y¶

Vertical position on screen

Range
0 - 15

OSD2_TEMP_EN: TEMP_EN¶

Displays temperature reported by primary barometer

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_TEMP_X: TEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD2_TEMP_Y: TEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD2_HDOP_EN: HDOP_EN¶

Displays Horizontal Dilution Of Position

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_HDOP_X: HDOP_X¶

Horizontal position on screen

Range
0 - 29

OSD2_HDOP_Y: HDOP_Y¶

Vertical position on screen

Range
0 - 15

OSD2_WAYPOINT_EN: WAYPOINT_EN¶

Displays bearing and distance to next waypoint

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_WAYPOINT_X: WAYPOINT_X¶

Horizontal position on screen

Range
0 - 29

OSD2_WAYPOINT_Y: WAYPOINT_Y¶

Vertical position on screen

Range
0 - 15

OSD2_XTRACK_EN: XTRACK_EN¶

Displays crosstrack error

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_XTRACK_X: XTRACK_X¶

Horizontal position on screen

Range
0 - 29

OSD2_XTRACK_Y: XTRACK_Y¶

Vertical position on screen

Range
0 - 15

OSD2_DIST_EN: DIST_EN¶

Displays total distance flown

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_DIST_X: DIST_X¶

Horizontal position on screen

Range
0 - 29

OSD2_DIST_Y: DIST_Y¶

Vertical position on screen

Range
0 - 15

OSD2_STATS_EN: STATS_EN¶

Displays flight stats

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_STATS_X: STATS_X¶

Horizontal position on screen

Range
0 - 29

OSD2_STATS_Y: STATS_Y¶

Vertical position on screen

Range
0 - 15

OSD2_FLTIME_EN: FLTIME_EN¶

Displays total flight time

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_FLTIME_X: FLTIME_X¶

Horizontal position on screen

Range
0 - 29

OSD2_FLTIME_Y: FLTIME_Y¶

Vertical position on screen

Range
0 - 15

OSD2_CLIMBEFF_EN: CLIMBEFF_EN¶

Displays climb efficiency (climb rate/current)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_CLIMBEFF_X: CLIMBEFF_X¶

Horizontal position on screen

Range
0 - 29

OSD2_CLIMBEFF_Y: CLIMBEFF_Y¶

Vertical position on screen

Range
0 - 15

OSD2_EFF_EN: EFF_EN¶

Displays flight efficiency (mAh/km or /mi)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_EFF_X: EFF_X¶

Horizontal position on screen

Range
0 - 29

OSD2_EFF_Y: EFF_Y¶

Vertical position on screen

Range
0 - 15

OSD2_BTEMP_EN: BTEMP_EN¶

Displays temperature reported by secondary barometer

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_BTEMP_X: BTEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD2_BTEMP_Y: BTEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD2_ATEMP_EN: ATEMP_EN¶

Displays temperature reported by primary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_ATEMP_X: ATEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD2_ATEMP_Y: ATEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD2_BAT2VLT_EN: BAT2VLT_EN¶

Displays battery2 voltage

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_BAT2VLT_X: BAT2VLT_X¶

Horizontal position on screen

Range
0 - 29

OSD2_BAT2VLT_Y: BAT2VLT_Y¶

Vertical position on screen

Range
0 - 15

OSD2_BAT2USED_EN: BAT2USED_EN¶

Displays secondary battery mAh consumed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_BAT2USED_X: BAT2USED_X¶

Horizontal position on screen

Range
0 - 29

OSD2_BAT2USED_Y: BAT2USED_Y¶

Vertical position on screen

Range
0 - 15

OSD2_ASPD2_EN: ASPD2_EN¶

Displays airspeed reported directly from secondary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_ASPD2_X: ASPD2_X¶

Horizontal position on screen

Range
0 - 29

OSD2_ASPD2_Y: ASPD2_Y¶

Vertical position on screen

Range
0 - 15

OSD2_ASPD1_EN: ASPD1_EN¶

Displays airspeed reported directly from primary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD2_ASPD1_X: ASPD1_X¶

Horizontal position on screen

Range
0 - 29

OSD2_ASPD1_Y: ASPD1_Y¶

Vertical position on screen

Range
0 - 15

OSD3_ Parameters¶

OSD3_ENABLE: Enable screen¶

Enable this screen

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_CHAN_MIN: Transmitter switch screen minimum pwm¶

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD3_CHAN_MAX: Transmitter switch screen maximum pwm¶

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD3_ALTITUDE_EN: ALTITUDE_EN¶

Enables display of altitude AGL

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_ALTITUDE_X: ALTITUDE_X¶

Horizontal position on screen

Range
0 - 29

OSD3_ALTITUDE_Y: ALTITUDE_Y¶

Vertical position on screen

Range
0 - 15

OSD3_BATVOLT_EN: BATVOLT_EN¶

Displays main battery voltage

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_BATVOLT_X: BATVOLT_X¶

Horizontal position on screen

Range
0 - 29

OSD3_BATVOLT_Y: BATVOLT_Y¶

Vertical position on screen

Range
0 - 15

OSD3_RSSI_EN: RSSI_EN¶

Displays RC signal strength

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_RSSI_X: RSSI_X¶

Horizontal position on screen

Range
0 - 29

OSD3_RSSI_Y: RSSI_Y¶

Vertical position on screen

Range
0 - 15

OSD3_CURRENT_EN: CURRENT_EN¶

Displays main battery current

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_CURRENT_X: CURRENT_X¶

Horizontal position on screen

Range
0 - 29

OSD3_CURRENT_Y: CURRENT_Y¶

Vertical position on screen

Range
0 - 15

OSD3_BATUSED_EN: BATUSED_EN¶

Displays primary battery mAh consumed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_BATUSED_X: BATUSED_X¶

Horizontal position on screen

Range
0 - 29

OSD3_BATUSED_Y: BATUSED_Y¶

Vertical position on screen

Range
0 - 15

OSD3_SATS_EN: SATS_EN¶

Displays number of acquired sattelites

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_SATS_X: SATS_X¶

Horizontal position on screen

Range
0 - 29

OSD3_SATS_Y: SATS_Y¶

Vertical position on screen

Range
0 - 15

OSD3_FLTMODE_EN: FLTMODE_EN¶

Displays flight mode

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_FLTMODE_X: FLTMODE_X¶

Horizontal position on screen

Range
0 - 29

OSD3_FLTMODE_Y: FLTMODE_Y¶

Vertical position on screen

Range
0 - 15

OSD3_MESSAGE_EN: MESSAGE_EN¶

Displays Mavlink messages

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_MESSAGE_X: MESSAGE_X¶

Horizontal position on screen

Range
0 - 29

OSD3_MESSAGE_Y: MESSAGE_Y¶

Vertical position on screen

Range
0 - 15

OSD3_GSPEED_EN: GSPEED_EN¶

Displays GPS ground speed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_GSPEED_X: GSPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD3_GSPEED_Y: GSPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD3_HORIZON_EN: HORIZON_EN¶

Displays artificial horizon

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_HORIZON_X: HORIZON_X¶

Horizontal position on screen

Range
0 - 29

OSD3_HORIZON_Y: HORIZON_Y¶

Vertical position on screen

Range
0 - 15

OSD3_HOME_EN: HOME_EN¶

Displays distance and relative direction to HOME

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_HOME_X: HOME_X¶

Horizontal position on screen

Range
0 - 29

OSD3_HOME_Y: HOME_Y¶

Vertical position on screen

Range
0 - 15

OSD3_HEADING_EN: HEADING_EN¶

Displays heading

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_HEADING_X: HEADING_X¶

Horizontal position on screen

Range
0 - 29

OSD3_HEADING_Y: HEADING_Y¶

Vertical position on screen

Range
0 - 15

OSD3_THROTTLE_EN: THROTTLE_EN¶

Displays actual throttle percentage being sent to motor(s)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_THROTTLE_X: THROTTLE_X¶

Horizontal position on screen

Range
0 - 29

OSD3_THROTTLE_Y: THROTTLE_Y¶

Vertical position on screen

Range
0 - 15

OSD3_COMPASS_EN: COMPASS_EN¶

Enables display of compass rose

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_COMPASS_X: COMPASS_X¶

Horizontal position on screen

Range
0 - 29

OSD3_COMPASS_Y: COMPASS_Y¶

Vertical position on screen

Range
0 - 15

OSD3_WIND_EN: WIND_EN¶

Displays wind speed and relative direction

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_WIND_X: WIND_X¶

Horizontal position on screen

Range
0 - 29

OSD3_WIND_Y: WIND_Y¶

Vertical position on screen

Range
0 - 15

OSD3_ASPEED_EN: ASPEED_EN¶

Displays airspeed value being used by TECS (fused value)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_ASPEED_X: ASPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD3_ASPEED_Y: ASPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD3_VSPEED_EN: VSPEED_EN¶

Displays climb rate

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_VSPEED_X: VSPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD3_VSPEED_Y: VSPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD3_BLHTEMP_EN: BLHTEMP_EN¶

Displays first esc’s temp

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_BLHTEMP_X: BLHTEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD3_BLHTEMP_Y: BLHTEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD3_BLHRPM_EN: BLHRPM_EN¶

Displays first esc’s rpm

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_BLHRPM_X: BLHRPM_X¶

Horizontal position on screen

Range
0 - 29

OSD3_BLHRPM_Y: BLHRPM_Y¶

Vertical position on screen

Range
0 - 15

OSD3_BLHAMPS_EN: BLHAMPS_EN¶

Displays first esc’s current

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_BLHAMPS_X: BLHAMPS_X¶

Horizontal position on screen

Range
0 - 29

OSD3_BLHAMPS_Y: BLHAMPS_Y¶

Vertical position on screen

Range
0 - 15

OSD3_GPSLAT_EN: GPSLAT_EN¶

Displays GPS latitude

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_GPSLAT_X: GPSLAT_X¶

Horizontal position on screen

Range
0 - 29

OSD3_GPSLAT_Y: GPSLAT_Y¶

Vertical position on screen

Range
0 - 15

OSD3_GPSLONG_EN: GPSLONG_EN¶

Displays GPS longitude

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_GPSLONG_X: GPSLONG_X¶

Horizontal position on screen

Range
0 - 29

OSD3_GPSLONG_Y: GPSLONG_Y¶

Vertical position on screen

Range
0 - 15

OSD3_ROLL_EN: ROLL_EN¶

Displays degrees of roll from level

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_ROLL_X: ROLL_X¶

Horizontal position on screen

Range
0 - 29

OSD3_ROLL_Y: ROLL_Y¶

Vertical position on screen

Range
0 - 15

OSD3_PITCH_EN: PITCH_EN¶

Displays degrees of pitch from level

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_PITCH_X: PITCH_X¶

Horizontal position on screen

Range
0 - 29

OSD3_PITCH_Y: PITCH_Y¶

Vertical position on screen

Range
0 - 15

OSD3_TEMP_EN: TEMP_EN¶

Displays temperature reported by primary barometer

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_TEMP_X: TEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD3_TEMP_Y: TEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD3_HDOP_EN: HDOP_EN¶

Displays Horizontal Dilution Of Position

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_HDOP_X: HDOP_X¶

Horizontal position on screen

Range
0 - 29

OSD3_HDOP_Y: HDOP_Y¶

Vertical position on screen

Range
0 - 15

OSD3_WAYPOINT_EN: WAYPOINT_EN¶

Displays bearing and distance to next waypoint

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_WAYPOINT_X: WAYPOINT_X¶

Horizontal position on screen

Range
0 - 29

OSD3_WAYPOINT_Y: WAYPOINT_Y¶

Vertical position on screen

Range
0 - 15

OSD3_XTRACK_EN: XTRACK_EN¶

Displays crosstrack error

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_XTRACK_X: XTRACK_X¶

Horizontal position on screen

Range
0 - 29

OSD3_XTRACK_Y: XTRACK_Y¶

Vertical position on screen

Range
0 - 15

OSD3_DIST_EN: DIST_EN¶

Displays total distance flown

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_DIST_X: DIST_X¶

Horizontal position on screen

Range
0 - 29

OSD3_DIST_Y: DIST_Y¶

Vertical position on screen

Range
0 - 15

OSD3_STATS_EN: STATS_EN¶

Displays flight stats

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_STATS_X: STATS_X¶

Horizontal position on screen

Range
0 - 29

OSD3_STATS_Y: STATS_Y¶

Vertical position on screen

Range
0 - 15

OSD3_FLTIME_EN: FLTIME_EN¶

Displays total flight time

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_FLTIME_X: FLTIME_X¶

Horizontal position on screen

Range
0 - 29

OSD3_FLTIME_Y: FLTIME_Y¶

Vertical position on screen

Range
0 - 15

OSD3_CLIMBEFF_EN: CLIMBEFF_EN¶

Displays climb efficiency (climb rate/current)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_CLIMBEFF_X: CLIMBEFF_X¶

Horizontal position on screen

Range
0 - 29

OSD3_CLIMBEFF_Y: CLIMBEFF_Y¶

Vertical position on screen

Range
0 - 15

OSD3_EFF_EN: EFF_EN¶

Displays flight efficiency (mAh/km or /mi)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_EFF_X: EFF_X¶

Horizontal position on screen

Range
0 - 29

OSD3_EFF_Y: EFF_Y¶

Vertical position on screen

Range
0 - 15

OSD3_BTEMP_EN: BTEMP_EN¶

Displays temperature reported by secondary barometer

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_BTEMP_X: BTEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD3_BTEMP_Y: BTEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD3_ATEMP_EN: ATEMP_EN¶

Displays temperature reported by primary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_ATEMP_X: ATEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD3_ATEMP_Y: ATEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD3_BAT2VLT_EN: BAT2VLT_EN¶

Displays battery2 voltage

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_BAT2VLT_X: BAT2VLT_X¶

Horizontal position on screen

Range
0 - 29

OSD3_BAT2VLT_Y: BAT2VLT_Y¶

Vertical position on screen

Range
0 - 15

OSD3_BAT2USED_EN: BAT2USED_EN¶

Displays secondary battery mAh consumed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_BAT2USED_X: BAT2USED_X¶

Horizontal position on screen

Range
0 - 29

OSD3_BAT2USED_Y: BAT2USED_Y¶

Vertical position on screen

Range
0 - 15

OSD3_ASPD2_EN: ASPD2_EN¶

Displays airspeed reported directly from secondary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_ASPD2_X: ASPD2_X¶

Horizontal position on screen

Range
0 - 29

OSD3_ASPD2_Y: ASPD2_Y¶

Vertical position on screen

Range
0 - 15

OSD3_ASPD1_EN: ASPD1_EN¶

Displays airspeed reported directly from primary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD3_ASPD1_X: ASPD1_X¶

Horizontal position on screen

Range
0 - 29

OSD3_ASPD1_Y: ASPD1_Y¶

Vertical position on screen

Range
0 - 15

OSD4_ Parameters¶

OSD4_ENABLE: Enable screen¶

Enable this screen

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_CHAN_MIN: Transmitter switch screen minimum pwm¶

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD4_CHAN_MAX: Transmitter switch screen maximum pwm¶

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD4_ALTITUDE_EN: ALTITUDE_EN¶

Enables display of altitude AGL

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_ALTITUDE_X: ALTITUDE_X¶

Horizontal position on screen

Range
0 - 29

OSD4_ALTITUDE_Y: ALTITUDE_Y¶

Vertical position on screen

Range
0 - 15

OSD4_BATVOLT_EN: BATVOLT_EN¶

Displays main battery voltage

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_BATVOLT_X: BATVOLT_X¶

Horizontal position on screen

Range
0 - 29

OSD4_BATVOLT_Y: BATVOLT_Y¶

Vertical position on screen

Range
0 - 15

OSD4_RSSI_EN: RSSI_EN¶

Displays RC signal strength

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_RSSI_X: RSSI_X¶

Horizontal position on screen

Range
0 - 29

OSD4_RSSI_Y: RSSI_Y¶

Vertical position on screen

Range
0 - 15

OSD4_CURRENT_EN: CURRENT_EN¶

Displays main battery current

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_CURRENT_X: CURRENT_X¶

Horizontal position on screen

Range
0 - 29

OSD4_CURRENT_Y: CURRENT_Y¶

Vertical position on screen

Range
0 - 15

OSD4_BATUSED_EN: BATUSED_EN¶

Displays primary battery mAh consumed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_BATUSED_X: BATUSED_X¶

Horizontal position on screen

Range
0 - 29

OSD4_BATUSED_Y: BATUSED_Y¶

Vertical position on screen

Range
0 - 15

OSD4_SATS_EN: SATS_EN¶

Displays number of acquired sattelites

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_SATS_X: SATS_X¶

Horizontal position on screen

Range
0 - 29

OSD4_SATS_Y: SATS_Y¶

Vertical position on screen

Range
0 - 15

OSD4_FLTMODE_EN: FLTMODE_EN¶

Displays flight mode

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_FLTMODE_X: FLTMODE_X¶

Horizontal position on screen

Range
0 - 29

OSD4_FLTMODE_Y: FLTMODE_Y¶

Vertical position on screen

Range
0 - 15

OSD4_MESSAGE_EN: MESSAGE_EN¶

Displays Mavlink messages

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_MESSAGE_X: MESSAGE_X¶

Horizontal position on screen

Range
0 - 29

OSD4_MESSAGE_Y: MESSAGE_Y¶

Vertical position on screen

Range
0 - 15

OSD4_GSPEED_EN: GSPEED_EN¶

Displays GPS ground speed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_GSPEED_X: GSPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD4_GSPEED_Y: GSPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD4_HORIZON_EN: HORIZON_EN¶

Displays artificial horizon

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_HORIZON_X: HORIZON_X¶

Horizontal position on screen

Range
0 - 29

OSD4_HORIZON_Y: HORIZON_Y¶

Vertical position on screen

Range
0 - 15

OSD4_HOME_EN: HOME_EN¶

Displays distance and relative direction to HOME

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_HOME_X: HOME_X¶

Horizontal position on screen

Range
0 - 29

OSD4_HOME_Y: HOME_Y¶

Vertical position on screen

Range
0 - 15

OSD4_HEADING_EN: HEADING_EN¶

Displays heading

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_HEADING_X: HEADING_X¶

Horizontal position on screen

Range
0 - 29

OSD4_HEADING_Y: HEADING_Y¶

Vertical position on screen

Range
0 - 15

OSD4_THROTTLE_EN: THROTTLE_EN¶

Displays actual throttle percentage being sent to motor(s)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_THROTTLE_X: THROTTLE_X¶

Horizontal position on screen

Range
0 - 29

OSD4_THROTTLE_Y: THROTTLE_Y¶

Vertical position on screen

Range
0 - 15

OSD4_COMPASS_EN: COMPASS_EN¶

Enables display of compass rose

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_COMPASS_X: COMPASS_X¶

Horizontal position on screen

Range
0 - 29

OSD4_COMPASS_Y: COMPASS_Y¶

Vertical position on screen

Range
0 - 15

OSD4_WIND_EN: WIND_EN¶

Displays wind speed and relative direction

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_WIND_X: WIND_X¶

Horizontal position on screen

Range
0 - 29

OSD4_WIND_Y: WIND_Y¶

Vertical position on screen

Range
0 - 15

OSD4_ASPEED_EN: ASPEED_EN¶

Displays airspeed value being used by TECS (fused value)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_ASPEED_X: ASPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD4_ASPEED_Y: ASPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD4_VSPEED_EN: VSPEED_EN¶

Displays climb rate

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_VSPEED_X: VSPEED_X¶

Horizontal position on screen

Range
0 - 29

OSD4_VSPEED_Y: VSPEED_Y¶

Vertical position on screen

Range
0 - 15

OSD4_BLHTEMP_EN: BLHTEMP_EN¶

Displays first esc’s temp

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_BLHTEMP_X: BLHTEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD4_BLHTEMP_Y: BLHTEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD4_BLHRPM_EN: BLHRPM_EN¶

Displays first esc’s rpm

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_BLHRPM_X: BLHRPM_X¶

Horizontal position on screen

Range
0 - 29

OSD4_BLHRPM_Y: BLHRPM_Y¶

Vertical position on screen

Range
0 - 15

OSD4_BLHAMPS_EN: BLHAMPS_EN¶

Displays first esc’s current

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_BLHAMPS_X: BLHAMPS_X¶

Horizontal position on screen

Range
0 - 29

OSD4_BLHAMPS_Y: BLHAMPS_Y¶

Vertical position on screen

Range
0 - 15

OSD4_GPSLAT_EN: GPSLAT_EN¶

Displays GPS latitude

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_GPSLAT_X: GPSLAT_X¶

Horizontal position on screen

Range
0 - 29

OSD4_GPSLAT_Y: GPSLAT_Y¶

Vertical position on screen

Range
0 - 15

OSD4_GPSLONG_EN: GPSLONG_EN¶

Displays GPS longitude

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_GPSLONG_X: GPSLONG_X¶

Horizontal position on screen

Range
0 - 29

OSD4_GPSLONG_Y: GPSLONG_Y¶

Vertical position on screen

Range
0 - 15

OSD4_ROLL_EN: ROLL_EN¶

Displays degrees of roll from level

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_ROLL_X: ROLL_X¶

Horizontal position on screen

Range
0 - 29

OSD4_ROLL_Y: ROLL_Y¶

Vertical position on screen

Range
0 - 15

OSD4_PITCH_EN: PITCH_EN¶

Displays degrees of pitch from level

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_PITCH_X: PITCH_X¶

Horizontal position on screen

Range
0 - 29

OSD4_PITCH_Y: PITCH_Y¶

Vertical position on screen

Range
0 - 15

OSD4_TEMP_EN: TEMP_EN¶

Displays temperature reported by primary barometer

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_TEMP_X: TEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD4_TEMP_Y: TEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD4_HDOP_EN: HDOP_EN¶

Displays Horizontal Dilution Of Position

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_HDOP_X: HDOP_X¶

Horizontal position on screen

Range
0 - 29

OSD4_HDOP_Y: HDOP_Y¶

Vertical position on screen

Range
0 - 15

OSD4_WAYPOINT_EN: WAYPOINT_EN¶

Displays bearing and distance to next waypoint

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_WAYPOINT_X: WAYPOINT_X¶

Horizontal position on screen

Range
0 - 29

OSD4_WAYPOINT_Y: WAYPOINT_Y¶

Vertical position on screen

Range
0 - 15

OSD4_XTRACK_EN: XTRACK_EN¶

Displays crosstrack error

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_XTRACK_X: XTRACK_X¶

Horizontal position on screen

Range
0 - 29

OSD4_XTRACK_Y: XTRACK_Y¶

Vertical position on screen

Range
0 - 15

OSD4_DIST_EN: DIST_EN¶

Displays total distance flown

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_DIST_X: DIST_X¶

Horizontal position on screen

Range
0 - 29

OSD4_DIST_Y: DIST_Y¶

Vertical position on screen

Range
0 - 15

OSD4_STATS_EN: STATS_EN¶

Displays flight stats

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_STATS_X: STATS_X¶

Horizontal position on screen

Range
0 - 29

OSD4_STATS_Y: STATS_Y¶

Vertical position on screen

Range
0 - 15

OSD4_FLTIME_EN: FLTIME_EN¶

Displays total flight time

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_FLTIME_X: FLTIME_X¶

Horizontal position on screen

Range
0 - 29

OSD4_FLTIME_Y: FLTIME_Y¶

Vertical position on screen

Range
0 - 15

OSD4_CLIMBEFF_EN: CLIMBEFF_EN¶

Displays climb efficiency (climb rate/current)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_CLIMBEFF_X: CLIMBEFF_X¶

Horizontal position on screen

Range
0 - 29

OSD4_CLIMBEFF_Y: CLIMBEFF_Y¶

Vertical position on screen

Range
0 - 15

OSD4_EFF_EN: EFF_EN¶

Displays flight efficiency (mAh/km or /mi)

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_EFF_X: EFF_X¶

Horizontal position on screen

Range
0 - 29

OSD4_EFF_Y: EFF_Y¶

Vertical position on screen

Range
0 - 15

OSD4_BTEMP_EN: BTEMP_EN¶

Displays temperature reported by secondary barometer

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_BTEMP_X: BTEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD4_BTEMP_Y: BTEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD4_ATEMP_EN: ATEMP_EN¶

Displays temperature reported by primary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_ATEMP_X: ATEMP_X¶

Horizontal position on screen

Range
0 - 29

OSD4_ATEMP_Y: ATEMP_Y¶

Vertical position on screen

Range
0 - 15

OSD4_BAT2VLT_EN: BAT2VLT_EN¶

Displays battery2 voltage

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_BAT2VLT_X: BAT2VLT_X¶

Horizontal position on screen

Range
0 - 29

OSD4_BAT2VLT_Y: BAT2VLT_Y¶

Vertical position on screen

Range
0 - 15

OSD4_BAT2USED_EN: BAT2USED_EN¶

Displays secondary battery mAh consumed

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_BAT2USED_X: BAT2USED_X¶

Horizontal position on screen

Range
0 - 29

OSD4_BAT2USED_Y: BAT2USED_Y¶

Vertical position on screen

Range
0 - 15

OSD4_ASPD2_EN: ASPD2_EN¶

Displays airspeed reported directly from secondary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_ASPD2_X: ASPD2_X¶

Horizontal position on screen

Range
0 - 29

OSD4_ASPD2_Y: ASPD2_Y¶

Vertical position on screen

Range
0 - 15

OSD4_ASPD1_EN: ASPD1_EN¶

Displays airspeed reported directly from primary airspeed sensor

Values

Value	Meaning
0	Disabled
1	Enabled

OSD4_ASPD1_X: ASPD1_X¶

Horizontal position on screen

Range
0 - 29

OSD4_ASPD1_Y: ASPD1_Y¶

Vertical position on screen

Range
0 - 15

PLND_ Parameters¶

PLND_ENABLED: Precision Land enabled/disabled and behaviour¶

Note: This parameter is for advanced users

Precision Land enabled/disabled and behaviour

Values

Value	Meaning
0	Disabled
1	Enabled

PLND_TYPE: Precision Land Type¶

Note: This parameter is for advanced users

Precision Land Type

Values

Value	Meaning
0	None
1	CompanionComputer
2	IRLock
3	SITL_Gazebo
4	SITL

PLND_YAW_ALIGN: Sensor yaw alignment¶

Note: This parameter is for advanced users

Yaw angle from body x-axis to sensor x-axis.

Range	Increment	Units
0 - 360	1	centidegrees

PLND_LAND_OFS_X: Land offset forward¶

Note: This parameter is for advanced users

Desired landing position of the camera forward of the target in vehicle body frame

Range	Increment	Units
-20 - 20	1	centimeters

PLND_LAND_OFS_Y: Land offset right¶

Note: This parameter is for advanced users

desired landing position of the camera right of the target in vehicle body frame

Range	Increment	Units
-20 - 20	1	centimeters

PLND_EST_TYPE: Precision Land Estimator Type¶

Note: This parameter is for advanced users

Specifies the estimation method to be used

Values

Value	Meaning
0	RawSensor
1	KalmanFilter

PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise¶

Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less

Range
0.5 - 5

PLND_CAM_POS_X: Camera X position offset¶

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Units
meters

PLND_CAM_POS_Y: Camera Y position offset¶

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Units
meters

PLND_CAM_POS_Z: Camera Z position offset¶

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Units
meters

PLND_BUS: Sensor Bus¶

Note: This parameter is for advanced users

Precland sensor bus for I2C sensors.

Values

Value	Meaning
-1	DefaultBus
0	InternalI2C
1	ExternalI2C

PLND_LAG: Precision Landing sensor lag¶

Note: This parameter is for advanced users

Precision Landing sensor lag, to cope with variable landing_target latency

Range	Increment	Units	RebootRequired
0.02 - 0.250	1	seconds	True

PRX Parameters¶

PRX_TYPE: Proximity type¶

What type of proximity sensor is connected

Values

RebootRequired

Value	Meaning
0	None
1	LightWareSF40C
2	MAVLink
3	TeraRangerTower
4	RangeFinder
5	RPLidarA2
6	TeraRangerTowerEvo
10	SITL
11	MorseSITL
12	AirSimSITL

True

PRX_ORIENT: Proximity sensor orientation¶

Proximity sensor orientation

Values

Value	Meaning
0	Default
1	Upside Down

PRX_YAW_CORR: Proximity sensor yaw correction¶

Proximity sensor yaw correction

Range	Units
-180 - 180	degrees

PRX_IGN_ANG1: Proximity sensor ignore angle 1¶

Proximity sensor ignore angle 1

Range	Units
0 - 360	degrees

PRX_IGN_WID1: Proximity sensor ignore width 1¶

Proximity sensor ignore width 1

Range	Units
0 - 45	degrees

PRX_IGN_ANG2: Proximity sensor ignore angle 2¶

Proximity sensor ignore angle 2

Range	Units
0 - 360	degrees

PRX_IGN_WID2: Proximity sensor ignore width 2¶

Proximity sensor ignore width 2

Range	Units
0 - 45	degrees

PRX_IGN_ANG3: Proximity sensor ignore angle 3¶

Proximity sensor ignore angle 3

Range	Units
0 - 360	degrees

PRX_IGN_WID3: Proximity sensor ignore width 3¶

Proximity sensor ignore width 3

Range	Units
0 - 45	degrees

PRX_IGN_ANG4: Proximity sensor ignore angle 4¶

Proximity sensor ignore angle 4

Range	Units
0 - 360	degrees

PRX_IGN_WID4: Proximity sensor ignore width 4¶

Proximity sensor ignore width 4

Range	Units
0 - 45	degrees

PRX_IGN_ANG5: Proximity sensor ignore angle 5¶

Proximity sensor ignore angle 5

Range	Units
0 - 360	degrees

PRX_IGN_WID5: Proximity sensor ignore width 5¶

Proximity sensor ignore width 5

Range	Units
0 - 45	degrees

PRX_IGN_ANG6: Proximity sensor ignore angle 6¶

Proximity sensor ignore angle 6

Range	Units
0 - 360	degrees

PRX_IGN_WID6: Proximity sensor ignore width 6¶

Proximity sensor ignore width 6

Range	Units
0 - 45	degrees

PRX2_TYPE: Second Proximity type¶

Note: This parameter is for advanced users

What type of proximity sensor is connected

Values

RebootRequired

Value	Meaning
0	None
1	LightWareSF40C
2	MAVLink
3	TeraRangerTower
4	RangeFinder
5	RPLidarA2
6	TeraRangerTowerEvo

True

PRX2_ORIENT: Second Proximity sensor orientation¶

Second Proximity sensor orientation

Values

Value	Meaning
0	Default
1	Upside Down

PRX2_YAW_CORR: Second Proximity sensor yaw correction¶

Second Proximity sensor yaw correction

Range	Units
-180 - 180	degrees

PSC Parameters¶

PSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency¶

Note: This parameter is for advanced users

Lower values will slow the response of the navigation controller and reduce twitchiness

Range	Increment	Units
0.5 - 5	0.1	hertz

PSC_POSZ_P: Position (vertical) controller P gain¶

Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller

Range
1.000 - 3.000

PSC_VELZ_P: Velocity (vertical) controller P gain¶

Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

Range
1.000 - 8.000

PSC_ACCZ_P: Acceleration (vertical) controller P gain¶

Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output

Range	Increment
0.500 - 1.500	0.05

PSC_ACCZ_I: Acceleration (vertical) controller I gain¶

Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration

Range
0.000 - 3.000

PSC_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum¶

Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate

Range	Units
0 - 1000	decipercent

PSC_ACCZ_D: Acceleration (vertical) controller D gain¶

Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration

Range
0.000 - 0.400

PSC_ACCZ_FILT: Acceleration (vertical) controller filter¶

Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay.

Range	Units
1.000 - 100.000	hertz

PSC_POSXY_P: Position (horizonal) controller P gain¶

Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller

Range
0.500 - 2.000

PSC_VELXY_P: Velocity (horizontal) P gain¶

Note: This parameter is for advanced users

Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration

Range	Increment
0.1 - 6.0	0.1

PSC_VELXY_I: Velocity (horizontal) I gain¶

Note: This parameter is for advanced users

Velocity (horizontal) I gain. Corrects long-term difference in desired velocity to a target acceleration

Range	Increment
0.02 - 1.00	0.01

PSC_VELXY_D: Velocity (horizontal) D gain¶

Note: This parameter is for advanced users

Velocity (horizontal) D gain. Corrects short-term changes in velocity

Range	Increment
0.00 - 1.00	0.001

PSC_VELXY_IMAX: Velocity (horizontal) integrator maximum¶

Note: This parameter is for advanced users

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

Range	Increment	Units
0 - 4500	10	centimeters per square second

PSC_VELXY_FILT: Velocity (horizontal) input filter¶

Note: This parameter is for advanced users

Velocity (horizontal) input filter. This filter (in hz) is applied to the input for P and I terms

Range	Units
0 - 100	hertz

PSC_VELXY_D_FILT: Velocity (horizontal) input filter¶

Note: This parameter is for advanced users

Velocity (horizontal) input filter. This filter (in hz) is applied to the input for P and I terms

Range	Units
0 - 100	hertz

PSC_ANGLE_MAX: Position Control Angle Max¶

Note: This parameter is for advanced users

Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value

Range	Increment	Units
0 - 45	1	degrees

RALLY_ Parameters¶

RALLY_TOTAL: Rally Total¶

Note: This parameter is for advanced users

Number of rally points currently loaded

RALLY_LIMIT_KM: Rally Limit¶

Note: This parameter is for advanced users

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

Increment	Units
0.1	kilometers

RALLY_INCL_HOME: Rally Include Home¶

Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL

Values

Value	Meaning
0	DoNotIncludeHome
1	IncludeHome

RC Parameters¶

RC_OVERRIDE_TIME: RC override timeout¶

Note: This parameter is for advanced users

Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled

Range	Units
0.0 - 120.0	seconds

RC_OPTIONS: RC options¶

Note: This parameter is for advanced users

RC input options

Bitmask

Bit	Meaning
0	Ignore RC Receiver
1	Ignore MAVLink Overrides
2	Ignore Receiver Failsafe

RC10_ Parameters¶

RC10_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC10_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC10_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC10_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC10_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC10_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC11_ Parameters¶

RC11_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC11_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC11_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC11_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC11_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC11_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC12_ Parameters¶

RC12_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC12_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC12_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC12_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC12_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC12_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC13_ Parameters¶

RC13_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC13_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC13_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC13_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC13_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC13_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC14_ Parameters¶

RC14_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC14_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC14_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC14_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC14_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC14_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC15_ Parameters¶

RC15_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC15_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC15_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC15_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC15_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC15_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC16_ Parameters¶

RC16_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC16_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC16_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC16_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC16_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC16_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC1_ Parameters¶

RC1_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC1_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC1_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC1_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC1_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC1_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC2_ Parameters¶

RC2_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC2_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC2_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC2_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC2_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC2_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC3_ Parameters¶

RC3_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC3_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC3_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC3_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC3_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC3_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC4_ Parameters¶

RC4_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC4_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC4_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC4_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC4_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC4_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC5_ Parameters¶

RC5_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC5_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC5_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC5_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC5_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC5_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC6_ Parameters¶

RC6_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC6_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC6_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC6_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC6_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC6_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC7_ Parameters¶

RC7_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC7_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC7_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC7_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC7_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC7_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC8_ Parameters¶

RC8_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC8_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC8_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC8_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC8_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC8_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RC9_ Parameters¶

RC9_MIN: RC min PWM¶

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC9_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC9_MAX: RC max PWM¶

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

RC9_REVERSED: RC reversed¶

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values

Value	Meaning
0	Normal
1	Reversed

RC9_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC9_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
0	Do Nothing
2	Flip
3	Simple Mode
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
10	RangeFinder
11	Fence
13	Super Simple Mode
14	Acro Trainer
15	Sprayer
16	Auto
17	AutoTune
18	Land
19	Gripper
21	Parachute Enable
22	Parachute Release
23	Parachute 3pos
24	Auto Mission Reset
25	AttCon Feed Forward
26	AttCon Accel Limits
27	Retract Mount
28	Relay On/Off
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
29	Landing Gear
30	Lost Copter Sound
31	Motor Emergency Stop
32	Motor Interlock
33	Brake
37	Throw
38	ADSB-Avoidance
39	PrecLoiter
40	Proximity Avoidance
41	ArmDisarm
42	SmartRTL
43	InvertedFlight
44	Winch Enable
45	WinchControl
46	RC Override Enable
47	User Function 1
48	User Function 2
49	User Function 3
58	Clear Waypoints
60	ZigZag
61	ZigZag SaveWP
62	Compass Learn
65	GPS Disable
66	Relay5
67	Relay6
68	Stabilize
69	PosHold
70	AltHold
71	FlowHold
72	Circle
73	Drift
100	KillIMU1
101	KillIMU2

RCMAP_ Parameters¶

RCMAP_ROLL: Roll channel¶

Note: This parameter is for advanced users

Roll channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Range	Increment	RebootRequired
1 - 8	1	True

RCMAP_PITCH: Pitch channel¶

Note: This parameter is for advanced users

Pitch channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Range	Increment	RebootRequired
1 - 8	1	True

RCMAP_THROTTLE: Throttle channel¶

Note: This parameter is for advanced users

Throttle channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended. Reboot is required for changes to take effect.

Range	Increment	RebootRequired
1 - 8	1	True

RCMAP_YAW: Yaw channel¶

Note: This parameter is for advanced users

Yaw channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Range	Increment	RebootRequired
1 - 8	1	True

RCMAP_FORWARD: Forward channel¶

Note: This parameter is for advanced users

Forward channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Range	Values	Increment	RebootRequired
1 - 8	1: 1, 2: 2, 3: 3, 4: 4, 5: 5, 6: 6, 7: 7, 8: 8	1	True

RCMAP_LATERAL: Lateral channel¶

Note: This parameter is for advanced users

Lateral channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Range	Values	Increment	RebootRequired
1 - 8	1: 1, 2: 2, 3: 3, 4: 4, 5: 5, 6: 6, 7: 7, 8: 8	1	True

RELAY_ Parameters¶

RELAY_PIN: First Relay Pin¶

Digital pin number for first relay control. This is the pin used for camera control.

Values

Value	Meaning
-1	Disabled
49	BB Blue GP0 pin 4
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6
57	BB Blue GP0 pin 3
113	BB Blue GP0 pin 6
116	BB Blue GP0 pin 5

RELAY_PIN2: Second Relay Pin¶

Digital pin number for 2nd relay control.

Values

Value	Meaning
-1	Disabled
49	BB Blue GP0 pin 4
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6
57	BB Blue GP0 pin 3
113	BB Blue GP0 pin 6
116	BB Blue GP0 pin 5

RELAY_PIN3: Third Relay Pin¶

Digital pin number for 3rd relay control.

Values

Value	Meaning
-1	Disabled
49	BB Blue GP0 pin 4
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6
57	BB Blue GP0 pin 3
113	BB Blue GP0 pin 6
116	BB Blue GP0 pin 5

RELAY_PIN4: Fourth Relay Pin¶

Digital pin number for 4th relay control.

Values

Value	Meaning
-1	Disabled
49	BB Blue GP0 pin 4
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6
57	BB Blue GP0 pin 3
113	BB Blue GP0 pin 6
116	BB Blue GP0 pin 5

RELAY_DEFAULT: Default relay state¶

The state of the relay on boot.

Values

Value	Meaning
0	Off
1	On
2	NoChange

RELAY_PIN5: Fifth Relay Pin¶

Digital pin number for 5th relay control.

Values

Value	Meaning
-1	Disabled
49	BB Blue GP0 pin 4
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6
57	BB Blue GP0 pin 3
113	BB Blue GP0 pin 6
116	BB Blue GP0 pin 5

RELAY_PIN6: Sixth Relay Pin¶

Digital pin number for 6th relay control.

Values

Value	Meaning
-1	Disabled
49	BB Blue GP0 pin 4
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6
57	BB Blue GP0 pin 3
113	BB Blue GP0 pin 6
116	BB Blue GP0 pin 5

RNGFND1_ Parameters¶

RNGFND1_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLiteV2-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFMiniPlus

RNGFND1_PIN: Rangefinder pin¶

Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port

RNGFND1_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND1_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment	Units
0.001	volt

RNGFND1_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND1_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND1_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND1_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	Pixhawk AUXOUT1
51	Pixhawk AUXOUT2
52	Pixhawk AUXOUT3
53	Pixhawk AUXOUT4
54	Pixhawk AUXOUT5
55	Pixhawk AUXOUT6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND1_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND1_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range	Increment	Units
5 - 127	1	centimeters

RNGFND1_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range	Increment
0 - 127	1

RNGFND1_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND1_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND1_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND1_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND1_ Parameters¶

RNGFND1_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND1_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND1_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND1_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND1_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND1_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND2_ Parameters¶

RNGFND2_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLiteV2-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFMiniPlus

RNGFND2_PIN: Rangefinder pin¶

Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port

RNGFND2_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND2_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment	Units
0.001	volt

RNGFND2_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND2_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND2_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND2_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	Pixhawk AUXOUT1
51	Pixhawk AUXOUT2
52	Pixhawk AUXOUT3
53	Pixhawk AUXOUT4
54	Pixhawk AUXOUT5
55	Pixhawk AUXOUT6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND2_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND2_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range	Increment	Units
5 - 127	1	centimeters

RNGFND2_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range	Increment
0 - 127	1

RNGFND2_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND2_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND2_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND2_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND2_ Parameters¶

RNGFND2_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND2_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND2_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND2_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND2_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND2_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND3_ Parameters¶

RNGFND3_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLiteV2-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFMiniPlus

RNGFND3_PIN: Rangefinder pin¶

Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port

RNGFND3_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND3_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment	Units
0.001	volt

RNGFND3_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND3_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND3_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND3_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	Pixhawk AUXOUT1
51	Pixhawk AUXOUT2
52	Pixhawk AUXOUT3
53	Pixhawk AUXOUT4
54	Pixhawk AUXOUT5
55	Pixhawk AUXOUT6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND3_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND3_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range	Increment	Units
5 - 127	1	centimeters

RNGFND3_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range	Increment
0 - 127	1

RNGFND3_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND3_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND3_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND3_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND3_ Parameters¶

RNGFND3_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND3_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND3_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND3_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND3_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND3_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND4_ Parameters¶

RNGFND4_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLiteV2-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFMiniPlus

RNGFND4_PIN: Rangefinder pin¶

Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port

RNGFND4_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND4_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment	Units
0.001	volt

RNGFND4_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND4_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND4_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND4_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	Pixhawk AUXOUT1
51	Pixhawk AUXOUT2
52	Pixhawk AUXOUT3
53	Pixhawk AUXOUT4
54	Pixhawk AUXOUT5
55	Pixhawk AUXOUT6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND4_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND4_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range	Increment	Units
5 - 127	1	centimeters

RNGFND4_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range	Increment
0 - 127	1

RNGFND4_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND4_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND4_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND4_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND4_ Parameters¶

RNGFND4_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND4_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND4_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND4_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND4_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND4_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND5_ Parameters¶

RNGFND5_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLiteV2-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFMiniPlus

RNGFND5_PIN: Rangefinder pin¶

Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port

RNGFND5_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND5_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment	Units
0.001	volt

RNGFND5_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND5_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND5_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND5_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	Pixhawk AUXOUT1
51	Pixhawk AUXOUT2
52	Pixhawk AUXOUT3
53	Pixhawk AUXOUT4
54	Pixhawk AUXOUT5
55	Pixhawk AUXOUT6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND5_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND5_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range	Increment	Units
5 - 127	1	centimeters

RNGFND5_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range	Increment
0 - 127	1

RNGFND5_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND5_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND5_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND5_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND5_ Parameters¶

RNGFND5_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND5_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND5_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND5_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND5_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND5_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND6_ Parameters¶

RNGFND6_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLiteV2-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFMiniPlus

RNGFND6_PIN: Rangefinder pin¶

Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port

RNGFND6_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND6_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment	Units
0.001	volt

RNGFND6_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND6_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND6_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND6_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	Pixhawk AUXOUT1
51	Pixhawk AUXOUT2
52	Pixhawk AUXOUT3
53	Pixhawk AUXOUT4
54	Pixhawk AUXOUT5
55	Pixhawk AUXOUT6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND6_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND6_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range	Increment	Units
5 - 127	1	centimeters

RNGFND6_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range	Increment
0 - 127	1

RNGFND6_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND6_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND6_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND6_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND6_ Parameters¶

RNGFND6_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND6_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND6_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND6_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND6_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND6_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND7_ Parameters¶

RNGFND7_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLiteV2-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFMiniPlus

RNGFND7_PIN: Rangefinder pin¶

Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port

RNGFND7_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND7_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment	Units
0.001	volt

RNGFND7_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND7_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND7_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND7_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	Pixhawk AUXOUT1
51	Pixhawk AUXOUT2
52	Pixhawk AUXOUT3
53	Pixhawk AUXOUT4
54	Pixhawk AUXOUT5
55	Pixhawk AUXOUT6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND7_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND7_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range	Increment	Units
5 - 127	1	centimeters

RNGFND7_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range	Increment
0 - 127	1

RNGFND7_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND7_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND7_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND7_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND7_ Parameters¶

RNGFND7_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND7_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND7_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND7_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND7_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND7_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND8_ Parameters¶

RNGFND8_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLiteV2-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFMiniPlus

RNGFND8_PIN: Rangefinder pin¶

Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port

RNGFND8_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND8_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment	Units
0.001	volt

RNGFND8_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND8_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND8_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND8_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	Pixhawk AUXOUT1
51	Pixhawk AUXOUT2
52	Pixhawk AUXOUT3
53	Pixhawk AUXOUT4
54	Pixhawk AUXOUT5
55	Pixhawk AUXOUT6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND8_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND8_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range	Increment	Units
5 - 127	1	centimeters

RNGFND8_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range	Increment
0 - 127	1

RNGFND8_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND8_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND8_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND8_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND8_ Parameters¶

RNGFND8_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND8_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND8_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND8_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND8_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND8_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND9_ Parameters¶

RNGFND9_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLiteV2-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFMiniPlus

RNGFND9_PIN: Rangefinder pin¶

Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port

RNGFND9_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND9_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment	Units
0.001	volt

RNGFND9_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND9_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND9_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND9_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	Pixhawk AUXOUT1
51	Pixhawk AUXOUT2
52	Pixhawk AUXOUT3
53	Pixhawk AUXOUT4
54	Pixhawk AUXOUT5
55	Pixhawk AUXOUT6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND9_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND9_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range	Increment	Units
5 - 127	1	centimeters

RNGFND9_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range	Increment
0 - 127	1

RNGFND9_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND9_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND9_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND9_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND9_ Parameters¶

RNGFND9_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND9_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND9_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND9_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND9_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND9_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFNDA_ Parameters¶

RNGFNDA_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLiteV2-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	BenewakeTFmini
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFMiniPlus

RNGFNDA_PIN: Rangefinder pin¶

Analog pin that rangefinder is connected to. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port

RNGFNDA_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFNDA_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment	Units
0.001	volt

RNGFNDA_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFNDA_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFNDA_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFNDA_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	Pixhawk AUXOUT1
51	Pixhawk AUXOUT2
52	Pixhawk AUXOUT3
53	Pixhawk AUXOUT4
54	Pixhawk AUXOUT5
55	Pixhawk AUXOUT6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFNDA_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFNDA_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range	Increment	Units
5 - 127	1	centimeters

RNGFNDA_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range	Increment
0 - 127	1

RNGFNDA_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFNDA_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFNDA_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFNDA_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFNDA_ Parameters¶

RNGFNDA_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFNDA_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFNDA_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFNDA_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFNDA_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFNDA_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RPM Parameters¶

RPM_TYPE: RPM type¶

What type of RPM sensor is connected

Values

Value	Meaning
0	None
1	PX4-PWM
2	AUXPIN

RPM_SCALING: RPM scaling¶

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM_MAX: Maximum RPM¶

Maximum RPM to report

Increment
1

RPM_MIN: Minimum RPM¶

Minimum RPM to report

Increment
1

RPM_MIN_QUAL: Minimum Quality¶

Note: This parameter is for advanced users

Minimum data quality to be used

Increment
0.1

RPM_PIN: Input pin number¶

Which pin to use

Values

Value	Meaning
-1	Disabled
50	PixhawkAUX1
51	PixhawkAUX2
52	PixhawkAUX3
53	PixhawkAUX4
54	PixhawkAUX5
55	PixhawkAUX6

RPM2_TYPE: Second RPM type¶

Note: This parameter is for advanced users

What type of RPM sensor is connected

Values

Value	Meaning
0	None
1	PX4-PWM
2	AUXPIN

RPM2_SCALING: RPM scaling¶

Note: This parameter is for advanced users

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM2_PIN: RPM2 input pin number¶

Which pin to use

Values

Value	Meaning
-1	Disabled
50	PixhawkAUX1
51	PixhawkAUX2
52	PixhawkAUX3
53	PixhawkAUX4
54	PixhawkAUX5
55	PixhawkAUX6

RSSI_ Parameters¶

RSSI_TYPE: RSSI Type¶

Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.

Values

Value	Meaning
0	Disabled
1	AnalogPin
2	RCChannelPwmValue
3	ReceiverProtocol
4	PWMInputPin

RSSI_ANA_PIN: Receiver RSSI sensing pin¶

Pin used to read the RSSI voltage or PWM value

Values

Value	Meaning
8	V5 Nano
11	Pixracer
13	Pixhawk ADC4
14	Pixhawk ADC3
15	Pixhawk ADC6
15	Pixhawk2 ADC
50	PixhawkAUX1
51	PixhawkAUX2
52	PixhawkAUX3
53	PixhawkAUX4
54	PixhawkAUX5
55	PixhawkAUX6
103	Pixhawk SBUS

RSSI_PIN_LOW: RSSI pin’s lowest voltage¶

RSSI pin’s voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH

Range	Increment	Units
0 - 5.0	0.01	volt

RSSI_PIN_HIGH: RSSI pin’s highest voltage¶

RSSI pin’s voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW

Range	Increment	Units
0 - 5.0	0.01	volt

RSSI_CHANNEL: Receiver RSSI channel number¶

The channel number where RSSI will be output by the radio receiver (5 and above).

Range
0 - 16

RSSI_CHAN_LOW: RSSI PWM low value¶

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH

Range	Units
0 - 2000	PWM in microseconds

RSSI_CHAN_HIGH: Receiver RSSI PWM high value¶

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW

Range	Units
0 - 2000	PWM in microseconds

SCHED_ Parameters¶

SCHED_DEBUG: Scheduler debug level¶

Note: This parameter is for advanced users

Set to non-zero to enable scheduler debug messages. When set to show “Slips” the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

Values

Value	Meaning
0	Disabled
2	ShowSlips
3	ShowOverruns

SCHED_LOOP_RATE: Scheduling main loop rate¶

Note: This parameter is for advanced users

This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.

Values

RebootRequired

Value	Meaning
50	50Hz
100	100Hz
200	200Hz
250	250Hz
300	300Hz
400	400Hz

True

SCR_ Parameters¶

SCR_ENABLE: Enable Scripting¶

Note: This parameter is for advanced users

Controls if scripting is enabled

Values

RebootRequired

Value	Meaning
0	None
1	Lua Scripts

True

SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count¶

Note: This parameter is for advanced users

The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time

Range	Increment
1000 - 1000000	10000

SCR_HEAP_SIZE: Scripting Heap Size¶

Note: This parameter is for advanced users

Amount of memory available for scripting

Range	Increment	RebootRequired
1024 - 1048576	1024	True

SERIAL Parameters¶

SERIAL0_BAUD: Serial0 baud rate¶

The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL0_PROTOCOL: Console protocol selection¶

Control what protocol to use on the console.

Values

RebootRequired

Value	Meaning
1	MAVlink1
2	MAVLink2

True

SERIAL1_PROTOCOL: Telem1 protocol selection¶

Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

RebootRequired

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN

True

SERIAL1_BAUD: Telem1 Baud Rate¶

The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
256	256000
500	500000
921	921600
1500	1500000

SERIAL2_PROTOCOL: Telemetry 2 protocol selection¶

Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

RebootRequired

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN

True

SERIAL2_BAUD: Telemetry 2 Baud Rate¶

The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
256	256000
500	500000
921	921600
1500	1500000

SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection¶

Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

RebootRequired

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN

True

SERIAL3_BAUD: Serial 3 (GPS) Baud Rate¶

The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
256	256000
500	500000
921	921600
1500	1500000

SERIAL4_PROTOCOL: Serial4 protocol selection¶

Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

RebootRequired

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN

True

SERIAL4_BAUD: Serial 4 Baud Rate¶

The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
256	256000
500	500000
921	921600
1500	1500000

SERIAL5_PROTOCOL: Serial5 protocol selection¶

Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

RebootRequired

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN

True

SERIAL5_BAUD: Serial 5 Baud Rate¶

The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
256	256000
500	500000
921	921600
1500	1500000

SERIAL6_PROTOCOL: Serial6 protocol selection¶

Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

RebootRequired

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN

True

SERIAL6_BAUD: Serial 6 Baud Rate¶

The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
256	256000
500	500000
921	921600
1500	1500000

SERIAL1_OPTIONS: Telem1 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
4	Swap

True

SERIAL2_OPTIONS: Telem2 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
4	Swap

True

SERIAL3_OPTIONS: Serial3 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
4	Swap

True

SERIAL4_OPTIONS: Serial4 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
4	Swap

True

SERIAL5_OPTIONS: Serial5 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
4	Swap

True

SERIAL6_OPTIONS: Serial6 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
4	Swap

True

SERIAL_PASS1: Serial passthru first port¶

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

Values

Value	Meaning
-1	Disabled
0	Serial0
1	Serial1
2	Serial2
3	Serial3
4	Serial4
5	Serial5
6	Serial6

SERIAL_PASS2: Serial passthru second port¶

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

Values

Value	Meaning
-1	Disabled
0	Serial0
1	Serial1
2	Serial2
3	Serial3
4	Serial4
5	Serial5
6	Serial6

SERIAL_PASSTIMO: Serial passthru timeout¶

Note: This parameter is for advanced users

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.

Range	Units
0 - 120	seconds

SERIAL7_PROTOCOL: Serial7 protocol selection¶

Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

RebootRequired

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN

True

SERIAL7_BAUD: Serial 7 Baud Rate¶

The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
256	256000
500	500000
921	921600
1500	1500000

SERIAL7_OPTIONS: Serial7 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
4	Swap

True

SERVO Parameters¶

SERVO_AUTO_TRIM: Automatic servo trim¶

Note: This parameter is for advanced users

This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights.

Values

Value	Meaning
0	Disable
1	Enable

SERVO_RATE: Servo default output rate¶

Note: This parameter is for advanced users

This sets the default output rate in Hz for all outputs.

Range	Units
25 - 400	hertz

SERVO10_ Parameters¶

SERVO10_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO10_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO10_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO10_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO10_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO11_ Parameters¶

SERVO11_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO11_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO11_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO11_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO11_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO12_ Parameters¶

SERVO12_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO12_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO12_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO12_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO12_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO13_ Parameters¶

SERVO13_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO13_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO13_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO13_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO13_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO14_ Parameters¶

SERVO14_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO14_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO14_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO14_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO14_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO15_ Parameters¶

SERVO15_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO15_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO15_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO15_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO15_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO16_ Parameters¶

SERVO16_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO16_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO16_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO16_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO16_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO1_ Parameters¶

SERVO1_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO1_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO1_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO1_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO1_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO2_ Parameters¶

SERVO2_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO2_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO2_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO2_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO2_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO3_ Parameters¶

SERVO3_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO3_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO3_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO3_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO3_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO4_ Parameters¶

SERVO4_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO4_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO4_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO4_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO4_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO5_ Parameters¶

SERVO5_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO5_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO5_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO5_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO5_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO6_ Parameters¶

SERVO6_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO6_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO6_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO6_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO6_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO7_ Parameters¶

SERVO7_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO7_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO7_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO7_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO7_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO8_ Parameters¶

SERVO8_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO8_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO8_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO8_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO8_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO9_ Parameters¶

SERVO9_MIN: Minimum PWM¶

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
500 - 2200	1	PWM in microseconds

SERVO9_MAX: Maximum PWM¶

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO9_TRIM: Trim PWM¶

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range	Increment	Units
800 - 2200	1	PWM in microseconds

SERVO9_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

SERVO9_FUNCTION: Servo output function¶

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
0	Disabled
1	RCPassThru
2	Flap
3	Flap_auto
4	Aileron
6	mount_pan
7	mount_tilt
8	mount_roll
9	mount_open
10	camera_trigger
11	release
12	mount2_pan
13	mount2_tilt
14	mount2_roll
15	mount2_open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	EPM
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	MotorTilt
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
68	Choke
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	tiltMotorLeft
76	tiltMotorRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	Camera ISO
91	Camera Focus
92	Camera Shutter Speed
94	Script 1
95	Script 2
96	Script 3
97	Script 4
98	Script 5
99	Script 6
100	Script 7
101	Script 8
102	Script 9
103	Script 10
104	Script 11
105	Script 12
106	Script 13
107	Script 14
108	Script 15
109	Script 16

SERVO_BLH_ Parameters¶

SERVO_BLH_MASK: BLHeli Channel Bitmask¶

Note: This parameter is for advanced users

Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16

SERVO_BLH_AUTO: BLHeli auto-enable for multicopter motors¶

If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors

Values

Value	Meaning
0	Disabled
1	Enabled

SERVO_BLH_TEST: BLHeli internal interface test¶

Note: This parameter is for advanced users

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

Values

Value	Meaning
0	Disabled
1	TestMotor1
2	TestMotor2
3	TestMotor3
4	TestMotor4
5	TestMotor5
6	TestMotor6
7	TestMotor7
8	TestMotor8

SERVO_BLH_TMOUT: BLHeli protocol timeout¶

This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout

Range	Units
0 - 300	seconds

SERVO_BLH_TRATE: BLHeli telemetry rate¶

This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests

Range	Units
0 - 500	hertz

SERVO_BLH_DEBUG: BLHeli debug level¶

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

Values

Value	Meaning
0	Disabled
1	Enabled

SERVO_BLH_OTYPE: BLHeli output type override¶

Note: This parameter is for advanced users

When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.

Values

Value	Meaning
0	None
1	OneShot
2	OneShot125
3	Brushed
4	DShot150
5	DShot300
6	DShot600
7	DShot1200

SERVO_BLH_PORT: Control port¶

Note: This parameter is for advanced users

This sets the telemetry port to use for blheli pass-thru

Values

Value	Meaning
0	Console
1	Telem1
2	Telem2
3	Telem3
4	Telem4
5	Telem5

SERVO_BLH_POLES: BLHeli Motor Poles¶

Note: This parameter is for advanced users

This allows calculation of true RPM from ESC’s eRPM. The default is 14.

Range
1 - 127

SERVO_BLH_REMASK: BLHeli bitmask of reversible channels¶

Note: This parameter is for advanced users

Mask of channels which are reversible. This is used for ESCs which have been configured in ‘3D’ mode, allowing for the motor to spin in either direction

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16

SERVO_ROB_ Parameters¶

SERVO_ROB_POSMIN: Robotis servo position min¶

Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095

Range
0 - 4095

SERVO_ROB_POSMAX: Robotis servo position max¶

Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095

Range
0 - 4095

SERVO_SBUS_ Parameters¶

SERVO_SBUS_RATE: SBUS default output rate¶

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz.

Range	Units
25 - 250	hertz

SERVO_VOLZ_ Parameters¶

SERVO_VOLZ_MASK: Channel Bitmask¶

Enable of volz servo protocol to specific channels

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16

SPRAY_ Parameters¶

SPRAY_ENABLE: Sprayer enable/disable¶

Allows you to enable (1) or disable (0) the sprayer

Values

Value	Meaning
0	Disabled
1	Enabled

SPRAY_PUMP_RATE: Pump speed¶

Desired pump speed when traveling 1m/s expressed as a percentage

Range	Units
0 - 100	percent

SPRAY_SPINNER: Spinner rotation speed¶

Spinner’s rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)

Range	Units
1000 - 2000	milliseconds

SPRAY_SPEED_MIN: Speed minimum¶

Speed minimum at which we will begin spraying

Range	Units
0 - 1000	centimeters per second

SPRAY_PUMP_MIN: Pump speed minimum¶

Minimum pump speed expressed as a percentage

Range	Units
0 - 100	percent

SR0_ Parameters¶

SR0_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR0_EXT_STAT: Extended status stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR0_RC_CHAN: RC Channel stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR0_RAW_CTRL: Raw Control stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Range	Increment	Units
0 - 10	1	hertz

SR0_POSITION: Position stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

Range	Increment	Units
0 - 10	1	hertz

SR0_EXTRA1: Extra data type 1 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

Range	Increment	Units
0 - 10	1	hertz

SR0_EXTRA2: Extra data type 2 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Range	Increment	Units
0 - 10	1	hertz

SR0_EXTRA3: Extra data type 3 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

Range	Increment	Units
0 - 10	1	hertz

SR0_PARAMS: Parameter stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Range	Increment	Units
0 - 10	1	hertz

SR0_ADSB: ADSB stream rate to ground station¶

Note: This parameter is for advanced users

ADSB stream rate to ground station

Range	Increment	Units
0 - 50	1	hertz

SR1_ Parameters¶

SR1_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR1_EXT_STAT: Extended status stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR1_RC_CHAN: RC Channel stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR1_RAW_CTRL: Raw Control stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Range	Increment	Units
0 - 10	1	hertz

SR1_POSITION: Position stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

Range	Increment	Units
0 - 10	1	hertz

SR1_EXTRA1: Extra data type 1 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

Range	Increment	Units
0 - 10	1	hertz

SR1_EXTRA2: Extra data type 2 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Range	Increment	Units
0 - 10	1	hertz

SR1_EXTRA3: Extra data type 3 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

Range	Increment	Units
0 - 10	1	hertz

SR1_PARAMS: Parameter stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Range	Increment	Units
0 - 10	1	hertz

SR1_ADSB: ADSB stream rate to ground station¶

Note: This parameter is for advanced users

ADSB stream rate to ground station

Range	Increment	Units
0 - 50	1	hertz

SR2_ Parameters¶

SR2_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR2_EXT_STAT: Extended status stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR2_RC_CHAN: RC Channel stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR2_RAW_CTRL: Raw Control stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Range	Increment	Units
0 - 10	1	hertz

SR2_POSITION: Position stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

Range	Increment	Units
0 - 10	1	hertz

SR2_EXTRA1: Extra data type 1 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

Range	Increment	Units
0 - 10	1	hertz

SR2_EXTRA2: Extra data type 2 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Range	Increment	Units
0 - 10	1	hertz

SR2_EXTRA3: Extra data type 3 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

Range	Increment	Units
0 - 10	1	hertz

SR2_PARAMS: Parameter stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Range	Increment	Units
0 - 10	1	hertz

SR2_ADSB: ADSB stream rate to ground station¶

Note: This parameter is for advanced users

ADSB stream rate to ground station

Range	Increment	Units
0 - 50	1	hertz

SR3_ Parameters¶

SR3_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR3_EXT_STAT: Extended status stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR3_RC_CHAN: RC Channel stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

Range	Increment	Units
0 - 10	1	hertz

SR3_RAW_CTRL: Raw Control stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Range	Increment	Units
0 - 10	1	hertz

SR3_POSITION: Position stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

Range	Increment	Units
0 - 10	1	hertz

SR3_EXTRA1: Extra data type 1 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

Range	Increment	Units
0 - 10	1	hertz

SR3_EXTRA2: Extra data type 2 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Range	Increment	Units
0 - 10	1	hertz

SR3_EXTRA3: Extra data type 3 stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

Range	Increment	Units
0 - 10	1	hertz

SR3_PARAMS: Parameter stream rate to ground station¶

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Range	Increment	Units
0 - 10	1	hertz

SR3_ADSB: ADSB stream rate to ground station¶

Note: This parameter is for advanced users

ADSB stream rate to ground station

Range	Increment	Units
0 - 50	1	hertz

SRTL_ Parameters¶

SRTL_ACCURACY: SmartRTL accuracy¶

Note: This parameter is for advanced users

SmartRTL accuracy. The minimum distance between points.

Range	Units
0 - 10	meters

SRTL_POINTS: SmartRTL maximum number of points on path¶

Note: This parameter is for advanced users

SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.

Range	RebootRequired
0 - 500	True

STAT Parameters¶

STAT_BOOTCNT: Boot Count¶

Number of times board has been booted

ReadOnly
True

STAT_FLTTIME: Total FlightTime¶

Total FlightTime (seconds)

ReadOnly	Units
True	seconds

STAT_RUNTIME: Total RunTime¶

Total time autopilot has run

ReadOnly	Units
True	seconds

STAT_RESET: Statistics Reset Time¶

Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)

ReadOnly	Units
True	seconds

TCAL Parameters¶

TCAL_ENABLED: Temperature calibration enable¶

Note: This parameter is for advanced users

Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values

Values

Value	Meaning
0	Disabled
1	Enabled
2	EnableAndLearn

TCAL_TEMP_MIN: Temperature calibration min learned temperature¶

Note: This parameter is for advanced users

Minimum learned temperature. This is automatically set by the learning process

ReadOnly	Volatile	Units
True	True	degrees Celsius

TCAL_TEMP_MAX: Temperature calibration max learned temperature¶

Note: This parameter is for advanced users

Maximum learned temperature. This is automatically set by the learning process

ReadOnly	Volatile	Units
True	True	degrees Celsius

TCAL_BARO_EXP: Temperature Calibration barometer exponent¶

Note: This parameter is for advanced users

Learned exponent for barometer temperature correction

ReadOnly	Volatile
True	True

TERRAIN_ Parameters¶

TERRAIN_ENABLE: Terrain data enable¶

Note: This parameter is for advanced users

enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.

Values

Value	Meaning
0	Disable
1	Enable

TERRAIN_SPACING: Terrain grid spacing¶

Note: This parameter is for advanced users

Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.

Increment	Units
1	meters

TMODE Parameters¶

TMODE_ENABLE: tmode enable¶

Note: This parameter is for advanced users

tmode (or “toy” mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards

Values

Value	Meaning
0	Disabled
1	EnableVersion1
2	EnableVersion2

TMODE_MODE1: Tmode first mode¶

This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	FlowHold

TMODE_MODE2: Tmode second mode¶

This is the secondary mode. This mode is assumed to require GPS

Values

Value	Meaning
0	Stabilize
1	Acro
2	AltHold
3	Auto
4	Guided
5	Loiter
6	RTL
7	Circle
9	Land
11	Drift
13	Sport
14	Flip
15	AutoTune
16	PosHold
17	Brake
18	Throw
19	Avoid_ADSB
20	Guided_NoGPS
21	FlowHold

TMODE_ACTION1: Tmode action 1¶

This is the action taken when the left action button is pressed

Values

Value	Meaning
0	None
1	TakePhoto
2	ToggleVideo
3	ModeAcro
4	ModeAltHold
5	ModeAuto
6	ModeLoiter
7	ModeRTL
8	ModeCircle
9	ModeLand
10	ModeDrift
11	ModeSport
12	ModeAutoTune
13	ModePosHold
14	ModeBrake
15	ModeThrow
16	Flip
17	ModeStabilize
18	Disarm
19	ToggleMode
20	Arm-Land-RTL
21	ToggleSimpleMode
22	ToggleSuperSimpleMode
23	MotorLoadTest
24	ModeFlowHold

TMODE_ACTION2: Tmode action 2¶

This is the action taken when the right action button is pressed

Values

Value	Meaning
0	None
1	TakePhoto
2	ToggleVideo
3	ModeAcro
4	ModeAltHold
5	ModeAuto
6	ModeLoiter
7	ModeRTL
8	ModeCircle
9	ModeLand
10	ModeDrift
11	ModeSport
12	ModeAutoTune
13	ModePosHold
14	ModeBrake
15	ModeThrow
16	Flip
17	ModeStabilize
18	Disarm
19	ToggleMode
20	Arm-Land-RTL
21	ToggleSimpleMode
22	ToggleSuperSimpleMode
23	MotorLoadTest
24	ModeFlowHold

TMODE_ACTION3: Tmode action 3¶

This is the action taken when the power button is pressed

Values

Value	Meaning
0	None
1	TakePhoto
2	ToggleVideo
3	ModeAcro
4	ModeAltHold
5	ModeAuto
6	ModeLoiter
7	ModeRTL
8	ModeCircle
9	ModeLand
10	ModeDrift
11	ModeSport
12	ModeAutoTune
13	ModePosHold
14	ModeBrake
15	ModeThrow
16	Flip
17	ModeStabilize
18	Disarm
19	ToggleMode
20	Arm-Land-RTL
21	ToggleSimpleMode
22	ToggleSuperSimpleMode
23	MotorLoadTest
24	ModeFlowHold

TMODE_ACTION4: Tmode action 4¶

This is the action taken when the left action button is pressed while the left (Mode) button is held down

Values

Value	Meaning
0	None
1	TakePhoto
2	ToggleVideo
3	ModeAcro
4	ModeAltHold
5	ModeAuto
6	ModeLoiter
7	ModeRTL
8	ModeCircle
9	ModeLand
10	ModeDrift
11	ModeSport
12	ModeAutoTune
13	ModePosHold
14	ModeBrake
15	ModeThrow
16	Flip
17	ModeStabilize
18	Disarm
19	ToggleMode
20	Arm-Land-RTL
21	ToggleSimpleMode
22	ToggleSuperSimpleMode
23	MotorLoadTest
24	ModeFlowHold

TMODE_ACTION5: Tmode action 5¶

This is the action taken when the right action is pressed while the left (Mode) button is held down

Values

Value	Meaning
0	None
1	TakePhoto
2	ToggleVideo
3	ModeAcro
4	ModeAltHold
5	ModeAuto
6	ModeLoiter
7	ModeRTL
8	ModeCircle
9	ModeLand
10	ModeDrift
11	ModeSport
12	ModeAutoTune
13	ModePosHold
14	ModeBrake
15	ModeThrow
16	Flip
17	ModeStabilize
18	Disarm
19	ToggleMode
20	Arm-Land-RTL
21	ToggleSimpleMode
22	ToggleSuperSimpleMode
23	MotorLoadTest
24	ModeFlowHold

TMODE_ACTION6: Tmode action 6¶

This is the action taken when the power button is pressed while the left (Mode) button is held down

Values

Value	Meaning
0	None
1	TakePhoto
2	ToggleVideo
3	ModeAcro
4	ModeAltHold
5	ModeAuto
6	ModeLoiter
7	ModeRTL
8	ModeCircle
9	ModeLand
10	ModeDrift
11	ModeSport
12	ModeAutoTune
13	ModePosHold
14	ModeBrake
15	ModeThrow
16	Flip
17	ModeStabilize
18	Disarm
19	ToggleMode
20	Arm-Land-RTL
21	ToggleSimpleMode
22	ToggleSuperSimpleMode
23	MotorLoadTest
24	ModeFlowHold

TMODE_LEFT: Tmode left action¶

This is the action taken when the left (Mode) button is pressed

Values

Value	Meaning
0	None
1	TakePhoto
2	ToggleVideo
3	ModeAcro
4	ModeAltHold
5	ModeAuto
6	ModeLoiter
7	ModeRTL
8	ModeCircle
9	ModeLand
10	ModeDrift
11	ModeSport
12	ModeAutoTune
13	ModePosHold
14	ModeBrake
15	ModeThrow
16	Flip
17	ModeStabilize
18	Disarm
19	ToggleMode
20	Arm-Land-RTL
21	ToggleSimpleMode
22	ToggleSuperSimpleMode
23	MotorLoadTest
24	ModeFlowHold

TMODE_LEFT_LONG: Tmode left long action¶

This is the action taken when the left (Mode) button is long-pressed

Values

Value	Meaning
0	None
1	TakePhoto
2	ToggleVideo
3	ModeAcro
4	ModeAltHold
5	ModeAuto
6	ModeLoiter
7	ModeRTL
8	ModeCircle
9	ModeLand
10	ModeDrift
11	ModeSport
12	ModeAutoTune
13	ModePosHold
14	ModeBrake
15	ModeThrow
16	Flip
17	ModeStabilize
18	Disarm
19	ToggleMode
20	Arm-Land-RTL
21	ToggleSimpleMode
22	ToggleSuperSimpleMode
23	MotorLoadTest
24	ModeFlowHold

TMODE_TRIM_AUTO: Stick auto trim limit¶

This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500

Range
0 - 100

TMODE_RIGHT: Tmode right action¶

This is the action taken when the right (Return) button is pressed

Values

Value	Meaning
0	None
1	TakePhoto
2	ToggleVideo
3	ModeAcro
4	ModeAltHold
5	ModeAuto
6	ModeLoiter
7	ModeRTL
8	ModeCircle
9	ModeLand
10	ModeDrift
11	ModeSport
12	ModeAutoTune
13	ModePosHold
14	ModeBrake
15	ModeThrow
16	Flip
17	ModeStabilize
18	Disarm
19	ToggleMode
20	Arm-Land-RTL
21	ToggleSimpleMode
22	ToggleSuperSimpleMode
23	MotorLoadTest

TMODE_FLAGS: Tmode flags¶

Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged

Bitmask

Bit	Meaning
0	DisarmOnLowThrottle
1	ArmOnHighThrottle
2	UpgradeToLoiter
3	RTLStickCancel

TMODE_VMIN: Min voltage for output limiting¶

Note: This parameter is for advanced users

This is the battery voltage below which no output limiting is done

Range	Increment
0 - 5	0.01

TMODE_VMAX: Max voltage for output limiting¶

Note: This parameter is for advanced users

This is the battery voltage above which thrust min is used

Range	Increment
0 - 5	0.01

TMODE_TMIN: Min thrust multiplier¶

Note: This parameter is for advanced users

This sets the thrust multiplier when voltage is high

Range	Increment
0 - 1	0.01

TMODE_TMAX: Max thrust multiplier¶

Note: This parameter is for advanced users

This sets the thrust multiplier when voltage is low

Range	Increment
0 - 1	0.01

TMODE_LOAD_MUL: Load test multiplier¶

Note: This parameter is for advanced users

This scales the load test output, as a value between 0 and 1

Range	Increment
0 - 1	0.01

TMODE_LOAD_FILT: Load test filter¶

Note: This parameter is for advanced users

This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc

Range
0 - 100

TMODE_LOAD_TYPE: Load test type¶

Note: This parameter is for advanced users

This sets the type of load test

Values

Value	Meaning
0	ConstantThrust
1	LogReplay1
2	LogReplay2

VISO Parameters¶

VISO_TYPE: Visual odometry camera connection type¶

Note: This parameter is for advanced users

Visual odometry camera connection type

Values

Value	Meaning
0	None
1	MAV

VISO_POS_X: Visual odometry camera X position offset¶

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Units
meters

VISO_POS_Y: Visual odometry camera Y position offset¶

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Units
meters

VISO_POS_Z: Visual odometry camera Z position offset¶

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Units
meters

VISO_ORIENT: Visual odometery camera orientation¶

Note: This parameter is for advanced users

Visual odometery camera orientation

Values

Value	Meaning
0	Forward
2	Right
4	Back
6	Left
24	Up
25	Down

WENC Parameters¶

WENC_TYPE: WheelEncoder type¶

What type of WheelEncoder is connected

Values

Value	Meaning
0	None
1	Quadrature

WENC_CPR: WheelEncoder counts per revolution¶

WheelEncoder counts per full revolution of the wheel

Increment
1

WENC_RADIUS: Wheel radius¶

Wheel radius

Increment	Units
0.001	meters

WENC_POS_X: Wheel’s X position offset¶

X position of the center of the wheel in body frame. Positive X is forward of the origin.

Increment	Units
0.01	meters

WENC_POS_Y: Wheel’s Y position offset¶

Y position of the center of the wheel in body frame. Positive Y is to the right of the origin.

Increment	Units
0.01	meters

WENC_POS_Z: Wheel’s Z position offset¶

Z position of the center of the wheel in body frame. Positive Z is down from the origin.

Increment	Units
0.01	meters

WENC_PINA: Input Pin A¶

Input Pin A

Values

Value	Meaning
-1	Disabled
50	PixhawkAUX1
51	PixhawkAUX2
52	PixhawkAUX3
53	PixhawkAUX4
54	PixhawkAUX5
55	PixhawkAUX6

WENC_PINB: Input Pin B¶

Input Pin B

Values

Value	Meaning
-1	Disabled
50	PixhawkAUX1
51	PixhawkAUX2
52	PixhawkAUX3
53	PixhawkAUX4
54	PixhawkAUX5
55	PixhawkAUX6

WENC2_TYPE: Second WheelEncoder type¶

What type of WheelEncoder sensor is connected

Values

Value	Meaning
0	None
1	Quadrature

WENC2_CPR: WheelEncoder 2 counts per revolution¶

WheelEncoder 2 counts per full revolution of the wheel

Increment
1

WENC2_RADIUS: Wheel2’s radius¶

Wheel2’s radius

Increment	Units
0.001	meters

WENC2_POS_X: Wheel2’s X position offset¶

X position of the center of the second wheel in body frame. Positive X is forward of the origin.

Increment	Units
0.01	meters

WENC2_POS_Y: Wheel2’s Y position offset¶

Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin.

Increment	Units
0.01	meters

WENC2_POS_Z: Wheel2’s Z position offset¶

Z position of the center of the second wheel in body frame. Positive Z is down from the origin.

Increment	Units
0.01	meters

WENC2_PINA: Second Encoder Input Pin A¶

Second Encoder Input Pin A

Values

Value	Meaning
-1	Disabled
50	PixhawkAUX1
51	PixhawkAUX2
52	PixhawkAUX3
53	PixhawkAUX4
54	PixhawkAUX5
55	PixhawkAUX6

WENC2_PINB: Second Encoder Input Pin B¶

Second Encoder Input Pin B

Values

Value	Meaning
-1	Disabled
50	PixhawkAUX1
51	PixhawkAUX2
52	PixhawkAUX3
53	PixhawkAUX4
54	PixhawkAUX5
55	PixhawkAUX6

WINCH_ Parameters¶

WINCH_ENABLE: Winch enable/disable¶

Winch enable/disable

Values

Value	Meaning
0	Disabled
1	Enabled

WINCH_TYPE: Winch Type¶

Winch Type

Values

Value	Meaning
1	Servo with encoder

WINCH__RATE_MAX: Winch deploy or retract rate maximum¶

Winch deploy or retract rate maximum. Set to maximum rate with no load.

Range	Units
0 - 10	meters per second

WINCH__POS_P: Winch control position error P gain¶

Winch control position error P gain

Range
0.01 - 10.0

WINCH__RATE_P: Winch control rate P gain¶

Winch control rate P gain. Converts rate error (in radians/sec) to pwm output (in the range -1 to +1)

Range
0.100 - 2.000

WINCH__RATE_I: Winch control I gain¶

Winch control I gain. Corrects long term error between the desired rate (in rad/s) and actual

Range
0.000 - 2.000

WINCH__RATE_IMAX: Winch control I gain maximum¶

Winch control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate

Range
0.000 - 1.000

WINCH__RATE_D: Winch control D gain¶

Winch control D gain. Compensates for short-term change in desired rate vs actual

Range
0.000 - 0.400

WINCH__RATE_FILT: Winch control filter frequency¶

Winch control input filter. Lower values reduce noise but add delay.

Range	Units
1.000 - 100.000	hertz

WPNAV_ Parameters¶

WPNAV_SPEED: Waypoint Horizontal Speed Target¶

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission

Range	Increment	Units
20 - 2000	50	centimeters per second

WPNAV_RADIUS: Waypoint Radius¶

Defines the distance from a waypoint, that when crossed indicates the wp has been hit.

Range	Increment	Units
5 - 1000	1	centimeters

WPNAV_SPEED_UP: Waypoint Climb Speed Target¶

Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission

Range	Increment	Units
10 - 1000	50	centimeters per second

WPNAV_SPEED_DN: Waypoint Descent Speed Target¶

Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission

Range	Increment	Units
10 - 500	10	centimeters per second

WPNAV_ACCEL: Waypoint Acceleration¶

Defines the horizontal acceleration in cm/s/s used during missions

Range	Increment	Units
50 - 500	10	centimeters per square second

WPNAV_ACCEL_Z: Waypoint Vertical Acceleration¶

Defines the vertical acceleration in cm/s/s used during missions

Range	Increment	Units
50 - 500	10	centimeters per square second

WPNAV_RFND_USE: Waypoint missions use rangefinder for terrain following¶

Note: This parameter is for advanced users

This controls if waypoint missions use rangefinder for terrain following

Values

Value	Meaning
0	Disable
1	Enable

Complete Parameter List¶

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¶