Complete Parameter List¶

FORMAT_VERSION: Eeprom format version number¶

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

SYSID_THISMAV: MAVLink system ID of this vehicle¶

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

SYSID_MYGCS: Ground station MAVLink system ID¶

The identifier of the ground station in the MAVLink protocol. Don’t change this unless you also modify the ground station to match.

SYSID_TARGET: Target vehicle’s MAVLink system ID¶

The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked.

MAG_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.

YAW_SLEW_TIME: Time for yaw to slew through its full range¶

This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.

PITCH_SLEW_TIME: Time for pitch to slew through its full range¶

This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.

SCAN_SPEED: Speed at which to rotate in scan mode¶

This controls how rapidly the tracker will move the servos in SCAN mode

MIN_REVERSE_TIME: Minimum time to apply a yaw reversal¶

When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around.

START_LATITUDE: Initial Latitude before GPS lock¶

Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached.

START_LONGITUDE: Initial Longitude before GPS lock¶

Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached.

STARTUP_DELAY: Delay before first servo movement from trim¶

This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types

SERVO_PITCH_TYPE: Type of servo system being used for pitch¶

This allows selection of position servos or on/off servos for pitch

SERVO_YAW_TYPE: Type of servo system being used for yaw¶

This allows selection of position servos or on/off servos for yaw

ONOFF_YAW_RATE: Yaw rate for on/off servos¶

Rate of change of yaw in degrees/second for on/off servos

ONOFF_PITCH_RATE: Pitch rate for on/off servos¶

Rate of change of pitch in degrees/second for on/off servos

ONOFF_YAW_MINT: Yaw minimum movement time¶

Minimum amount of time in seconds to move in yaw

ONOFF_PITCH_MINT: Pitch minimum movement time¶

Minimim amount of time in seconds to move in pitch

YAW_TRIM: Yaw trim¶

Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass.

PITCH_TRIM: Pitch trim¶

Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer.

YAW_RANGE: Yaw Angle Range¶

Yaw axis total range of motion in degrees

DISTANCE_MIN: Distance minimum to target¶

Tracker will track targets at least this distance away

ALT_SOURCE: Altitude Source¶

What provides altitude information for vehicle. Vehicle only assumes tracker has same altitude as vehicle’s home

MAV_UPDATE_RATE: Mavlink Update Rate¶

The rate at which Mavlink updates position and baro data

PITCH_MIN: Minimum Pitch Angle¶

The lowest angle the pitch can reach

PITCH_MAX: Maximum Pitch Angle¶

The highest angle the pitch can reach

LOG_BITMASK: Log bitmask¶

4 byte bitmap of log types to enable

PITCH2SRV_P: Pitch axis controller P gain¶

Pitch axis controller P gain. Converts the difference between desired pitch angle and actual pitch angle into a pitch servo pwm change

PITCH2SRV_I: Pitch axis controller I gain¶

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

PITCH2SRV_IMAX: Pitch axis controller I gain maximum¶

Pitch axis controller I gain maximum. Constrains the maximum pwm change that the I gain will output

PITCH2SRV_D: Pitch axis controller D gain¶

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

YAW2SRV_P: Yaw axis controller P gain¶

Yaw axis controller P gain. Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change

YAW2SRV_I: Yaw axis controller I gain¶

Yaw axis controller I gain. Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle

YAW2SRV_IMAX: Yaw axis controller I gain maximum¶

Yaw axis controller I gain maximum. Constrains the maximum pwm change that the I gain will output

YAW2SRV_D: Yaw axis controller D gain¶

Yaw axis controller D gain. Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle

CMD_TOTAL: Number of loaded mission items¶

Set to 1 if HOME location has been loaded by the ground station. Do not change this manually.

AHRS_GPS_GAIN: AHRS GPS gain¶

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

AHRS_GPS_USE: AHRS use GPS for navigation¶

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.

AHRS_YAW_P: Yaw P¶

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

AHRS_RP_P: AHRS RP_P¶

This controls how fast the accelerometers correct the attitude

AHRS_WIND_MAX: Maximum wind¶

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.

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.

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.

AHRS_TRIM_Z: AHRS Trim Yaw¶

Not Used

AHRS_ORIENTATION: Board Orientation¶

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.

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient¶

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

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites¶

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.

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

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

AHRS_CUSTOM_ROLL: Board orientation roll offset¶

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.

AHRS_CUSTOM_PIT: Board orientation pitch offset¶

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.

AHRS_CUSTOM_YAW: Board orientation yaw offset¶

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.

BATT2_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

BATT2_VOLT_PIN: Battery Voltage sensing pin¶

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

BATT2_CURR_PIN: Battery Current sensing pin¶

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

BATT2_VOLT_MULT: Voltage Multiplier¶

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.

BATT2_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

BATT2_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

BATT2_WATT_MAX: Maximum allowed power (Watts)¶

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.

BATT2_SERIAL_NUM: Battery serial number¶

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¶

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.

BATT2_FS_VOLTSRC: Failsafe voltage source¶

Voltage type used for detection of low voltage event

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.

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.

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.

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.

BATT2_FS_LOW_ACT: Low battery failsafe action¶

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

BATT2_FS_CRT_ACT: Critical battery failsafe action¶

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

BATT2_ARM_VOLT: Required arming voltage¶

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

BATT2_ARM_MAH: Required arming remaining capacity¶

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.

BATT3_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

BATT3_VOLT_PIN: Battery Voltage sensing pin¶

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

BATT3_CURR_PIN: Battery Current sensing pin¶

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

BATT3_VOLT_MULT: Voltage Multiplier¶

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.

BATT3_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

BATT3_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

BATT3_WATT_MAX: Maximum allowed power (Watts)¶

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.

BATT3_SERIAL_NUM: Battery serial number¶

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¶

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.

BATT3_FS_VOLTSRC: Failsafe voltage source¶

Voltage type used for detection of low voltage event

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.

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.

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.

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.

BATT3_FS_LOW_ACT: Low battery failsafe action¶

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

BATT3_FS_CRT_ACT: Critical battery failsafe action¶

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

BATT3_ARM_VOLT: Required arming voltage¶

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

BATT3_ARM_MAH: Required arming remaining capacity¶

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.

BATT4_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

BATT4_VOLT_PIN: Battery Voltage sensing pin¶

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

BATT4_CURR_PIN: Battery Current sensing pin¶

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

BATT4_VOLT_MULT: Voltage Multiplier¶

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.

BATT4_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

BATT4_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

BATT4_WATT_MAX: Maximum allowed power (Watts)¶

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.

BATT4_SERIAL_NUM: Battery serial number¶

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¶

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.

BATT4_FS_VOLTSRC: Failsafe voltage source¶

Voltage type used for detection of low voltage event

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.

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.

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.

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.

BATT4_FS_LOW_ACT: Low battery failsafe action¶

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

BATT4_FS_CRT_ACT: Critical battery failsafe action¶

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

BATT4_ARM_VOLT: Required arming voltage¶

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

BATT4_ARM_MAH: Required arming remaining capacity¶

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.

BATT5_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

BATT5_VOLT_PIN: Battery Voltage sensing pin¶

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

BATT5_CURR_PIN: Battery Current sensing pin¶

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

BATT5_VOLT_MULT: Voltage Multiplier¶

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.

BATT5_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

BATT5_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

BATT5_WATT_MAX: Maximum allowed power (Watts)¶

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.

BATT5_SERIAL_NUM: Battery serial number¶

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¶

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.

BATT5_FS_VOLTSRC: Failsafe voltage source¶

Voltage type used for detection of low voltage event

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.

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.

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.

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.

BATT5_FS_LOW_ACT: Low battery failsafe action¶

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

BATT5_FS_CRT_ACT: Critical battery failsafe action¶

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

BATT5_ARM_VOLT: Required arming voltage¶

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

BATT5_ARM_MAH: Required arming remaining capacity¶

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.

BATT6_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

BATT6_VOLT_PIN: Battery Voltage sensing pin¶

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

BATT6_CURR_PIN: Battery Current sensing pin¶

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

BATT6_VOLT_MULT: Voltage Multiplier¶

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.

BATT6_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

BATT6_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

BATT6_WATT_MAX: Maximum allowed power (Watts)¶

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.

BATT6_SERIAL_NUM: Battery serial number¶

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¶

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.

BATT6_FS_VOLTSRC: Failsafe voltage source¶

Voltage type used for detection of low voltage event

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.

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.

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.

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.

BATT6_FS_LOW_ACT: Low battery failsafe action¶

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

BATT6_FS_CRT_ACT: Critical battery failsafe action¶

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

BATT6_ARM_VOLT: Required arming voltage¶

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

BATT6_ARM_MAH: Required arming remaining capacity¶

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.

BATT7_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

BATT7_VOLT_PIN: Battery Voltage sensing pin¶

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

BATT7_CURR_PIN: Battery Current sensing pin¶

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

BATT7_VOLT_MULT: Voltage Multiplier¶

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.

BATT7_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

BATT7_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

BATT7_WATT_MAX: Maximum allowed power (Watts)¶

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.

BATT7_SERIAL_NUM: Battery serial number¶

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¶

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.

BATT7_FS_VOLTSRC: Failsafe voltage source¶

Voltage type used for detection of low voltage event

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.

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.

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.

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.

BATT7_FS_LOW_ACT: Low battery failsafe action¶

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

BATT7_FS_CRT_ACT: Critical battery failsafe action¶

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

BATT7_ARM_VOLT: Required arming voltage¶

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

BATT7_ARM_MAH: Required arming remaining capacity¶

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.

BATT8_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

BATT8_VOLT_PIN: Battery Voltage sensing pin¶

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

BATT8_CURR_PIN: Battery Current sensing pin¶

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

BATT8_VOLT_MULT: Voltage Multiplier¶

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.

BATT8_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

BATT8_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

BATT8_WATT_MAX: Maximum allowed power (Watts)¶

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.

BATT8_SERIAL_NUM: Battery serial number¶

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¶

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.

BATT8_FS_VOLTSRC: Failsafe voltage source¶

Voltage type used for detection of low voltage event

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.

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.

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.

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.

BATT8_FS_LOW_ACT: Low battery failsafe action¶

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

BATT8_FS_CRT_ACT: Critical battery failsafe action¶

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

BATT8_ARM_VOLT: Required arming voltage¶

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

BATT8_ARM_MAH: Required arming remaining capacity¶

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.

BATT9_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

BATT9_VOLT_PIN: Battery Voltage sensing pin¶

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

BATT9_CURR_PIN: Battery Current sensing pin¶

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

BATT9_VOLT_MULT: Voltage Multiplier¶

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.

BATT9_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

BATT9_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

BATT9_WATT_MAX: Maximum allowed power (Watts)¶

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.

BATT9_SERIAL_NUM: Battery serial number¶

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¶

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.

BATT9_FS_VOLTSRC: Failsafe voltage source¶

Voltage type used for detection of low voltage event

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.

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.

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.

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.

BATT9_FS_LOW_ACT: Low battery failsafe action¶

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

BATT9_FS_CRT_ACT: Critical battery failsafe action¶

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

BATT9_ARM_VOLT: Required arming voltage¶

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

BATT9_ARM_MAH: Required arming remaining capacity¶

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.

BATT_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

BATT_VOLT_PIN: Battery Voltage sensing pin¶

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

BATT_CURR_PIN: Battery Current sensing pin¶

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

BATT_VOLT_MULT: Voltage Multiplier¶

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.

BATT_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

BATT_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

BATT_WATT_MAX: Maximum allowed power (Watts)¶

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.

BATT_SERIAL_NUM: Battery serial number¶

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¶

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.

BATT_FS_VOLTSRC: Failsafe voltage source¶

Voltage type used for detection of low voltage event

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.

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.

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.

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.

BATT_FS_LOW_ACT: Low battery failsafe action¶

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

BATT_FS_CRT_ACT: Critical battery failsafe action¶

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

BATT_ARM_VOLT: Required arming voltage¶

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

BATT_ARM_MAH: Required arming remaining capacity¶

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.

BRD_PWM_COUNT: Auxiliary pin config¶

Control assigning of FMU pins to PWM output, timer capture and GPIO. All unassigned pins can be used for GPIO

BRD_SER1_RTSCTS: Serial 1 flow control¶

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.

BRD_SER2_RTSCTS: Serial 2 flow control¶

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.

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.

BRD_SBUS_OUT: SBUS output rate¶

This sets the SBUS output frame rate in Hz

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

BRD_SAFETY_MASK: Channels which ignore the safety switch state¶

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

BRD_IMU_TARGTEMP: Target IMU temperature¶

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

BRD_TYPE: Board type¶

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

BRD_IO_ENABLE: Enable IO co-processor¶

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

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

BRD_RADIO_TYPE: Set type of direct attached radio¶

This enables support for direct attached radio receivers

BRD_RADIO_PROT: protocol¶

Select air protocol

BRD_RADIO_DEBUG: debug level¶

radio debug level

BRD_RADIO_DISCRC: disable receive CRC¶

disable receive CRC (for debug)

BRD_RADIO_SIGCH: RSSI signal strength¶

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

BRD_RADIO_PPSCH: Packet rate channel¶

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

BRD_RADIO_TELEM: Enable telemetry¶

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

BRD_RADIO_TXPOW: Telemetry Transmit power¶

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

BRD_RADIO_FCCTST: Put radio into FCC test mode¶

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

BRD_RADIO_STKMD: Stick input mode¶

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.

BRD_RADIO_TESTCH: Set radio to factory test channel¶

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

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter¶

Channel to show telemetry RSSI value as received by TX

BRD_RADIO_TPPSCH: Telemetry PPS channel¶

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

BRD_RADIO_TXMAX: Transmitter transmit power¶

Set transmitter maximum transmit power (from 1 to 8)

BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶

Set transmitter buzzer note adjustment (adjust frequency up)

BRD_RADIO_ABTIME: Auto-bind time¶

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

BRD_RADIO_ABLVL: Auto-bind level¶

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

BRD_RTC_TYPES: Allowed sources of RTC time¶

Specifies which sources of UTC time will be accepted

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver¶

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

CAN_D1_UC_NODE: UAVCAN node that is used for this network¶

UAVCAN node should be set implicitly

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

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

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

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

CAN_D1_UC_SRV_RT: Servo output rate¶

Maximum transmit rate for servo outputs

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver¶

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

CAN_D2_UC_NODE: UAVCAN node that is used for this network¶

UAVCAN node should be set implicitly

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

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

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

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

CAN_D2_UC_SRV_RT: Servo output rate¶

Maximum transmit rate for servo outputs

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver¶

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

CAN_D3_UC_NODE: UAVCAN node that is used for this network¶

UAVCAN node should be set implicitly

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

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

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

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

CAN_D3_UC_SRV_RT: Servo output rate¶

Maximum transmit rate for servo outputs

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

Enabling this option enables use of CAN buses.

CAN_P1_BITRATE: Bitrate of CAN interface¶

Bit rate can be set up to from 10000 to 1000000

CAN_P1_DEBUG: Level of debug for CAN devices¶

Enabling this option will provide debug messages

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

Enabling this option enables use of CAN buses.

CAN_P2_BITRATE: Bitrate of CAN interface¶

Bit rate can be set up to from 10000 to 1000000

CAN_P2_DEBUG: Level of debug for CAN devices¶

Enabling this option will provide debug messages

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

Enabling this option enables use of CAN buses.

CAN_P3_BITRATE: Bitrate of CAN interface¶

Bit rate can be set up to from 10000 to 1000000

CAN_P3_DEBUG: Level of debug for CAN devices¶

Enabling this option will provide debug messages

COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶

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

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis¶

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

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis¶

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

COMPASS_DEC: Compass declination¶

An angle to compensate between the true north and magnetic north

COMPASS_LEARN: Learn compass offsets automatically¶

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.

COMPASS_USE: Use compass for yaw¶

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

COMPASS_AUTODEC: Auto Declination¶

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

COMPASS_MOTCT: Motor interference compensation type¶

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

COMPASS_MOT_X: Motor interference compensation for body frame X axis¶

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)

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis¶

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)

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis¶

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

COMPASS_ORIENT: Compass orientation¶

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.

COMPASS_EXTERNAL: Compass is attached via an external cable¶

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.

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶

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

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis¶

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

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis¶

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

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

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)

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

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)

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

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)

COMPASS_PRIMARY: Choose primary compass¶

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.

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis¶

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

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis¶

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

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis¶

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

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

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)

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

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)

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

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

COMPASS_DEV_ID: Compass device id¶

Compass device id. Automatically detected, do not set manually

COMPASS_DEV_ID2: Compass2 device id¶

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

COMPASS_DEV_ID3: Compass3 device id¶

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

COMPASS_USE2: Compass2 used for yaw¶

Enable or disable the second compass for determining heading.

COMPASS_ORIENT2: Compass2 orientation¶

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.

COMPASS_EXTERN2: Compass2 is attached via an external cable¶

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.

COMPASS_USE3: Compass3 used for yaw¶

Enable or disable the third compass for determining heading.

COMPASS_ORIENT3: Compass3 orientation¶

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.

COMPASS_EXTERN3: Compass3 is attached via an external cable¶

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.

COMPASS_DIA_X: Compass soft-iron diagonal X component¶

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¶

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¶

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¶

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¶

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¶

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¶

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¶

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¶

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¶

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¶

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¶

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¶