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.

AntennaTracker Parameters¶

FORMAT_VERSION: Eeprom format version number¶

Note: This parameter is for advanced users

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

SYSID_THISMAV: MAVLink system ID of this vehicle¶

Note: This parameter is for advanced users

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

Range
1 - 255

SYSID_MYGCS: Ground station MAVLink system ID¶

Note: This parameter is for advanced users

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

Range
1 - 255

SYSID_TARGET: Target vehicle’s MAVLink system ID¶

Note: This parameter is for advanced users

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.

Range
1 - 255

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.

Range	Increment	Units
0 - 20	0.1	seconds

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.

Range	Increment	Units
0 - 20	0.1	seconds

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.

Range	Increment	Units
0 - 20	1	seconds

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.

Range	Increment	Units
-90 - 90	0.000001	degrees

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.

Range	Increment	Units
-180 - 180	0.000001	degrees

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

Range	Increment	Units
0 - 10	0.1	seconds

SERVO_PITCH_TYPE: Type of servo system being used for pitch¶

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

Values

Value	Meaning
0	Position
1	OnOff
2	ContinuousRotation

SERVO_YAW_TYPE: Type of servo system being used for yaw¶

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

Values

Value	Meaning
0	Position
1	OnOff
2	ContinuousRotation

ONOFF_YAW_RATE: Yaw rate for on/off servos¶

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

Range	Increment	Units
0 - 50	0.1	degrees per second

ONOFF_PITCH_RATE: Pitch rate for on/off servos¶

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

Range	Increment	Units
0 - 50	0.1	degrees per second

ONOFF_YAW_MINT: Yaw minimum movement time¶

Minimum amount of time in seconds to move in yaw

Range	Increment	Units
0 - 2	0.01	seconds

ONOFF_PITCH_MINT: Pitch minimum movement time¶

Minimim amount of time in seconds to move in pitch

Range	Increment	Units
0 - 2	0.01	seconds

YAW_TRIM: Yaw trim¶

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

Range	Increment	Units
-10 - 10	0.1	degrees

PITCH_TRIM: Pitch trim¶

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

Range	Increment	Units
-10 - 10	0.1	degrees

YAW_RANGE: Yaw Angle Range¶

Yaw axis total range of motion in degrees

Range	Increment	Units
0 - 360	0.1	degrees

DISTANCE_MIN: Distance minimum to target¶

Tracker will track targets at least this distance away

Range	Increment	Units
0 - 100	1	meters

ALT_SOURCE: Altitude Source¶

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

Values

Value	Meaning
0	Barometer
1	GPS
2	GPS vehicle only

MAV_UPDATE_RATE: Mavlink Update Rate¶

The rate at which Mavlink updates position and baro data

Range	Increment	Units
1 - 10	1	hertz

PITCH_MIN: Minimum Pitch Angle¶

The lowest angle the pitch can reach

Range	Increment	Units
-90 - 0	1	degrees

PITCH_MAX: Maximum Pitch Angle¶

The highest angle the pitch can reach

Range	Increment	Units
0 - 90	1	degrees

LOG_BITMASK: Log bitmask¶

4 byte bitmap of log types to enable

Bitmask

Values

Bit	Meaning
0	ATTITUDE
1	GPS
2	RCIN
3	IMU
4	RCOUT
5	COMPASS
6	Battery

Value	Meaning
127	Default
0	Disabled

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

Range	Increment
0.0 - 3.0	0.01

PITCH2SRV_I: Pitch axis controller I gain¶

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

Range	Increment
0.0 - 3.0	0.01

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

Range	Increment	Units
0 - 4000	10	decipercent

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

Range	Increment
0.001 - 0.1	0.001

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

Range	Increment
0.0 - 3.0	0.01

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

Range	Increment
0.0 - 3.0	0.01

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

Range	Increment	Units
0 - 4000	10	decipercent

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

Range	Increment
0.001 - 0.1	0.001

CMD_TOTAL: Number of loaded mission items¶

Note: This parameter is for advanced users

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

Range
1 - 255

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	Pitch
1	Yaw

Value	Meaning
0	None
1	Pitch
2	Yaw

SCAN_SPEED_YAW: Speed at which to rotate the yaw axis in scan mode¶

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

Range	Increment	Units
0 - 100	1	degrees per second

SCAN_SPEED_PIT: Speed at which to rotate pitch axis in scan mode¶

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

Range	Increment	Units
0 - 100	1	degrees per second

INITIAL_MODE: Mode tracker will switch into after initialization¶

0:MANUAL, 1:STOP, 2:SCAN, 10:AUTO

SAFE_DISARM_PWM: PWM that will be output when disarmed or in stop mode¶

0:zero pwm, 1:trim pwm

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

BRD_RTC_TZ_MIN: Timezone offset from UTC¶

Note: This parameter is for advanced users

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

Range
-720 - +840

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

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

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

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. For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed 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

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For multicopters, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For helicopters, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor set to measure rotor speed. The RPM sensor data is converted to Hz automatically for use in the dynamic notch filter. This reference value may also be used to scale the rpm sensor data, if required. For example, rpm sensor data is required to measure motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.

Range	RebootRequired
0.0 - 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

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

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

SIM_GRPE_ Parameters¶

SIM_GRPE_ENABLE: Gripper servo Sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_GRPE_PIN: Gripper emp pin¶

Note: This parameter is for advanced users

The pin number that the gripper emp is connected to. (start at 1)

Range
0 - 15

SIM_GRPS_ Parameters¶

SIM_GRPS_ENABLE: Gripper servo Sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_GRPS_PIN: Gripper servo pin¶

Note: This parameter is for advanced users

The pin number that the gripper servo is connected to. (start at 1)

Range
0 - 15

SIM_GRPS_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

SIM_GRPS_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

SIM_GRPS_REVERSE: Gripper close direction¶

Note: This parameter is for advanced users

Reverse the closing direction.

Values

Value	Meaning
0	Normal
1	Reverse

SIM_PLD_ Parameters¶

SIM_PLD_ENABLE: Preland device Sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Preland simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_PLD_LAT: Precland device origin’s latitude¶

Note: This parameter is for advanced users

Precland device origin’s latitude

Range	Increment	Units
-90 - 90	0.000001	degrees

SIM_PLD_LON: Precland device origin’s longitude¶

Note: This parameter is for advanced users

Precland device origin’s longitude

Range	Increment	Units
-180 - 180	0.000001	degrees

SIM_PLD_HEIGHT: Precland device origin’s height above sealevel¶

Note: This parameter is for advanced users

Precland device origin’s height above sealevel

Range	Increment	Units
0 - 10000	1	centimeters

SIM_PLD_YAW: Precland device systems rotation from north¶

Note: This parameter is for advanced users

Precland device systems rotation from north

Range	Increment	Units
-180 - +180	1	degrees

SIM_PLD_RATE: Precland device update rate¶

Note: This parameter is for advanced users

Precland device rate. e.g led patter refresh rate, RF message rate, etc.

Range	Units
0 - 200	hertz

SIM_PLD_TYPE: Precland device radiance type¶

Note: This parameter is for advanced users

Precland device radiance type: it can be a cylinder, a cone, or a sphere.

Values

Value	Meaning
0	cylinder
1	cone
2	sphere

SIM_PLD_ALT_LIMIT: Precland device alt range¶

Note: This parameter is for advanced users

Precland device maximum range altitude

Range	Units
0 - 100	meters

SIM_PLD_DIST_LIMIT: Precland device lateral range¶

Note: This parameter is for advanced users

Precland device maximum lateral range

Range	Units
5 - 100	meters

SIM_SPR_ Parameters¶

SIM_SPR_ENABLE: Gripper servo Sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_SPR_PUMP: Sprayer pump pin¶

Note: This parameter is for advanced users

The pin number that the Sprayer pump is connected to. (start at 1)

Range
0 - 15

SIM_SPR_SPIN: Sprayer spinner servo pin¶

Note: This parameter is for advanced users

The pin number that the Sprayer spinner servo is connected to. (start at 1)

Range
0 - 15

SR0_ Parameters¶

SR0_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Raw sensor stream rate 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

Extended status stream rate 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

RC Channel stream rate 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

Raw Control stream rate 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

Position stream rate 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

Extra data type 1 stream rate 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

Extra data type 2 stream rate 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

Extra data type 3 stream rate 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

Parameter stream rate to ground station

Range	Increment	Units
0 - 10	1	hertz

SR1_ Parameters¶

SR1_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Raw sensor stream rate 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

Extended status stream rate 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

RC Channel stream rate 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

Raw Control stream rate 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

Position stream rate 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

Extra data type 1 stream rate 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

Extra data type 2 stream rate 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

Extra data type 3 stream rate 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

Parameter stream rate to ground station

Range	Increment	Units
0 - 10	1	hertz

SR2_ Parameters¶

SR2_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Raw sensor stream rate 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

Extended status stream rate 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

RC Channel stream rate 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

Raw Control stream rate 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

Position stream rate 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

Extra data type 1 stream rate 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

Extra data type 2 stream rate 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

Extra data type 3 stream rate 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

Parameter stream rate to ground station

Range	Increment	Units
0 - 10	1	hertz

SR3_ Parameters¶

SR3_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Raw sensor stream rate 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

Extended status stream rate 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

RC Channel stream rate 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

Raw Control stream rate 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

Position stream rate 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

Extra data type 1 stream rate 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

Extra data type 2 stream rate 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

Extra data type 3 stream rate 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

Parameter stream rate to ground station

Range	Increment	Units
0 - 10	1	hertz

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