Complete Parameter List

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

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

ArduCopter Parameters

SYSID_SW_MREV: Eeprom format version number

Note: This parameter is for advanced users

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

ReadOnly
True

SYSID_SW_TYPE: Software Type

Note: This parameter is for advanced users

This is used by the ground station to recognise the software type (eg ArduPlane vs ArduCopter)

ReadOnly Values
True
Value Meaning
0 ArduPlane
4 AntennaTracker
10 Copter
20 Rover

SYSID_MYGCS: My ground station number

Note: This parameter is for advanced users

Allows restricting radio overrides to only come from my ground station

Values
Value Meaning
255 Mission Planner and DroidPlanner
252 AP Planner 2

CLI_ENABLED: CLI Enable

Note: This parameter is for advanced users

This enables/disables the checking for three carriage returns on telemetry links on startup to enter the diagnostics command line interface

Values
Value Meaning
0 Disabled
1 Enabled

PILOT_THR_FILT: Throttle filter cutoff

Note: This parameter is for advanced users

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

Range Increment Units
0 - 10 .5 Hz

PILOT_TKOFF_ALT: Pilot takeoff altitude

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

Range Increment Units
0.0 - 1000.0 10 Centimeters

PILOT_TKOFF_DZ: Takeoff trigger deadzone

Offset from mid stick at which takeoff is triggered

Range Increment
0.0 - 500.0 10

PILOT_THR_BHV: Throttle stick behavior

Bitmask containing various throttle stick options. Add up the values for options that you want.

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

TELEM_DELAY: Telemetry startup delay

Note: This parameter is for advanced users

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

Range Increment Units
0 - 30 1 seconds

GCS_PID_MASK: GCS PID tuning mask

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

Bitmask Values
Bit Meaning
0 Roll
1 Pitch
2 Yaw
Value Meaning
0 None
1 Roll
2 Pitch
4 Yaw

RTL_ALT: RTL Altitude

The minimum relative altitude the model will move to before Returning to Launch. Set to zero to return at current altitude.

Range Increment Units
0 - 8000 1 Centimeters

RTL_CONE_SLOPE: RTL cone slope

Defines a cone above home which determines maximum climb

Range Values Increment
0.5 - 10.0
Value Meaning
0 Disabled
1 Shallow
3 Steep
.1

RTL_SPEED: RTL speed

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

Range Increment Units
0 - 2000 50 cm/s

RNGFND_GAIN: Rangefinder gain

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

Range Increment
0.01 - 2.0 0.01

FS_BATT_ENABLE: Battery Failsafe Enable

Controls whether failsafe will be invoked when battery voltage or current runs low

Values
Value Meaning
0 Disabled
1 Land
2 RTL

FS_BATT_VOLTAGE: Failsafe battery voltage

Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage then the copter will RTL

Increment Units
0.1 Volts

FS_BATT_MAH: Failsafe battery milliAmpHours

Battery capacity remaining to trigger failsafe. Set to 0 to disable battery remaining failsafe. If the battery remaining drops below this level then the copter will RTL

Increment Units
50 mAh

FS_GCS_ENABLE: Ground Station Failsafe Enable

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

Values
Value Meaning
0 Disabled
1 Enabled always RTL
2 Enabled Continue with Mission in Auto Mode

GPS_HDOP_GOOD: GPS Hdop Good

Note: This parameter is for advanced users

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

Range
100 - 900

MAG_ENABLE: Compass enable/disable

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass

Values
Value Meaning
0 Disabled
1 Enabled

SUPER_SIMPLE: Super Simple Mode

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

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

RTL_ALT_FINAL: RTL Final Altitude

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

Range Increment Units
-1 - 1000 1 Centimeters

RTL_CLIMB_MIN: RTL minimum climb

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

Range Increment Units
0 - 3000 10 Centimeters

WP_YAW_BEHAVIOR: Yaw behaviour during missions

Determines how the autopilot controls the yaw during missions and RTL

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

RTL_LOIT_TIME: RTL loiter time

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

Range Increment Units
0 - 60000 1000 ms

LAND_SPEED: Land speed

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

Range Increment Units
30 - 200 10 cm/s

LAND_SPEED_HIGH: Land speed high

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

Range Increment Units
0 - 500 10 cm/s

PILOT_VELZ_MAX: Pilot maximum vertical speed

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

Range Increment Units
50 - 500 10 Centimeters/Second

PILOT_ACCEL_Z: Pilot vertical acceleration

The vertical acceleration used when pilot is controlling the altitude

Range Increment Units
50 - 500 10 cm/s/s

FS_THR_ENABLE: Throttle Failsafe Enable

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

Values
Value Meaning
0 Disabled
1 Enabled always RTL
2 Enabled Continue with Mission in Auto Mode
3 Enabled always LAND

FS_THR_VALUE: Throttle Failsafe Value

The PWM level on channel 3 below which throttle failsafe triggers

Range Increment Units
925 - 1100 1 pwm

THR_DZ: Throttle deadzone

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

Range Increment Units
0 - 300 1 pwm

FLTMODE1: Flight Mode 1

Flight mode when Channel 5 pwm is <= 1230

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

FLTMODE2: Flight Mode 2

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

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

FLTMODE3: Flight Mode 3

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

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

FLTMODE4: Flight Mode 4

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

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

FLTMODE5: Flight Mode 5

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

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

FLTMODE6: Flight Mode 6

Flight mode when Channel 5 pwm is >=1750

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

SIMPLE: Simple mode bitmask

Note: This parameter is for advanced users

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

LOG_BITMASK: Log bitmask

4 byte bitmap of log types to enable

Bitmask Values
Bit Meaning
0 ATTITUDE_FAST
1 ATTITUDE_MED
2 GPS
3 PM
4 CTUN
5 NTUN
6 RCIN
7 IMU
8 CMD
9 CURRENT
10 RCOUT
11 OPTFLOW
12 PID
13 COMPASS
14 INAV
15 CAMERA
17 MOTBATT
18 IMU_FAST
19 IMU_RAW
Value Meaning
830 Default
894 Default+RCIN
958 Default+IMU
1854 Default+Motors
-6146 NearlyAll-AC315
45054 NearlyAll
131071 All+FastATT
262142 All+MotBatt
393214 All+FastIMU
397310 All+FastIMU+PID
655358 All+FullIMU
0 Disabled

ESC_CALIBRATION: ESC Calibration

Note: This parameter is for advanced users

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

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

TUNE: Channel 6 Tuning

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

Values
Value Meaning
0 None
1 Stab Roll/Pitch kP
4 Rate Roll/Pitch kP
5 Rate Roll/Pitch kI
21 Rate Roll/Pitch kD
3 Stab Yaw kP
6 Rate Yaw kP
26 Rate Yaw kD
14 Altitude Hold kP
7 Throttle Rate kP
34 Throttle Accel kP
35 Throttle Accel kI
36 Throttle Accel kD
42 Loiter Speed
12 Loiter Pos kP
22 Velocity XY kP
28 Velocity XY kI
10 WP Speed
25 Acro RollPitch kP
40 Acro Yaw kP
13 Heli Ext Gyro
17 OF Loiter kP
18 OF Loiter kI
19 OF Loiter kD
38 Declination
39 Circle Rate
41 RangeFinder Gain
46 Rate Pitch kP
47 Rate Pitch kI
48 Rate Pitch kD
49 Rate Roll kP
50 Rate Roll kI
51 Rate Roll kD
52 Rate Pitch FF
53 Rate Roll FF
54 Rate Yaw FF

TUNE_LOW: Tuning minimum

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

Range
0 - 32767

TUNE_HIGH: Tuning maximum

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

Range
0 - 32767

FRAME: Frame Orientation (+, X or V)

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

Values
Value Meaning
0 Plus
1 X
2 V
3 H
4 V-Tail
5 A-Tail
10 Y6B (New)

CH7_OPT: Channel 7 option

Select which function is performed when CH7 is above 1800 pwm

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

CH8_OPT: Channel 8 option

Select which function is performed when CH8 is above 1800 pwm

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

CH9_OPT: Channel 9 option

Select which function is performed when CH9 is above 1800 pwm

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

CH10_OPT: Channel 10 option

Select which function is performed when CH10 is above 1800 pwm

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

CH11_OPT: Channel 11 option

Select which function is performed when CH11 is above 1800 pwm

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

CH12_OPT: Channel 12 option

Select which function is performed when CH12 is above 1800 pwm

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

ARMING_CHECK: Arming check

Allows enabling or disabling of pre-arming checks of receiver, accelerometer, barometer, compass and GPS

Bitmask Values
Bit Meaning
0 All
1 Baro
2 Compass
3 GPS
4 INS
5 Parameters+Rangefinder
6 RC
7 Voltage
Value Meaning
0 Disabled
1 Enabled
-3 Skip Baro
-5 Skip Compass
-9 Skip GPS
-17 Skip INS
-33 Skip Params/Rangefinder
-65 Skip RC
127 Skip Voltage

DISARM_DELAY: Disarm delay

Note: This parameter is for advanced users

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

Range Units
0 - 127 Seconds

ANGLE_MAX: Angle Max

Note: This parameter is for advanced users

Maximum lean angle in all flight modes

Range Units
1000 - 8000 Centi-degrees

RC_FEEL_RP: RC Feel Roll/Pitch

RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 being crisp

Range Values Increment
0 - 100
Value Meaning
0 Very Soft
25 Soft
50 Medium
75 Crisp
100 Very Crisp
10

PHLD_BRAKE_RATE: PosHold braking rate

Note: This parameter is for advanced users

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

Range Units
4 - 12 deg/sec

PHLD_BRAKE_ANGLE: PosHold braking angle max

Note: This parameter is for advanced users

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

Range Units
2000 - 4500 Centi-degrees

LAND_REPOSITION: Land repositioning

Note: This parameter is for advanced users

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

Values
Value Meaning
0 No repositioning
1 Repositioning

FS_EKF_ACTION: EKF Failsafe Action

Note: This parameter is for advanced users

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

Values
Value Meaning
1 Land
2 AltHold
3 Land even in Stabilize

FS_EKF_THRESH: EKF failsafe variance threshold

Note: This parameter is for advanced users

Allows setting the maximum acceptable compass and velocity variance

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

FS_CRASH_CHECK: Crash check enable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

RC_SPEED: ESC Update Speed

Note: This parameter is for advanced users

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

Range Increment Units
50 - 490 1 Hz

ACRO_RP_P: Acro Roll and Pitch P gain

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

Range
1 - 10

ACRO_YAW_P: Acro Yaw P gain

Converts pilot yaw input into a desired rate of rotation in ACRO, Stabilize and SPORT modes. Higher values mean faster rate of rotation.

Range
1 - 10

ACRO_BAL_ROLL: Acro Balance Roll

Note: This parameter is for advanced users

rate at which roll angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.

Range Increment
0 - 3 0.1

ACRO_BAL_PITCH: Acro Balance Pitch

Note: This parameter is for advanced users

rate at which pitch angle returns to level in acro mode. A higher value causes the vehicle to return to level faster.

Range Increment
0 - 3 0.1

ACRO_TRAINER: Acro Trainer

Note: This parameter is for advanced users

Type of trainer used in acro mode

Values
Value Meaning
0 Disabled
1 Leveling
2 Leveling and Limited

ACRO_EXPO: Acro Expo

Note: This parameter is for advanced users

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

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

VEL_XY_P: Velocity (horizontal) P gain

Note: This parameter is for advanced users

Velocity (horizontal) P gain. Converts the difference between desired velocity to a target acceleration

Range Increment
0.1 - 6.0 0.1

VEL_XY_I: Velocity (horizontal) I gain

Note: This parameter is for advanced users

Velocity (horizontal) I gain. Corrects long-term difference in desired velocity to a target acceleration

Range Increment
0.02 - 1.00 0.01

VEL_XY_IMAX: Velocity (horizontal) integrator maximum

Note: This parameter is for advanced users

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

Range Increment Units
0 - 4500 10 cm/s/s

VEL_Z_P: Velocity (vertical) P gain

Velocity (vertical) P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

Range
1.000 - 8.000

ACCEL_Z_P: Throttle acceleration controller P gain

Throttle acceleration controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output

Range Increment
0.500 - 1.500 0.05

ACCEL_Z_I: Throttle acceleration controller I gain

Throttle acceleration controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration

Range
0.000 - 3.000

ACCEL_Z_IMAX: Throttle acceleration controller I gain maximum

Throttle acceleration controller I gain maximum. Constrains the maximum pwm that the I term will generate

Range Units
0 - 1000 Percent*10

ACCEL_Z_D: Throttle acceleration controller D gain

Throttle acceleration controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration

Range
0.000 - 0.400

ACCEL_Z_FILT_HZ: Throttle acceleration filter

Filter applied to acceleration to reduce noise. Lower values reduce noise but add delay.

Range Units
1.000 - 100.000 Hz

POS_Z_P: Position (vertical) controller P gain

Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller

Range
1.000 - 3.000

POS_XY_P: Position (horizonal) controller P gain

Loiter position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller

Range
0.500 - 2.000

AUTOTUNE_AXES: Autotune axis bitmask

1-byte bitmap of axes to autotune

Bitmask Values
Bit Meaning
0 Roll
1 Pitch
2 Yaw
Value Meaning
7 All
1 Roll Only
2 Pitch Only
4 Yaw Only
3 Roll and Pitch
5 Roll and Yaw
6 Pitch and Yaw

AUTOTUNE_AGGR: Autotune aggressiveness

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

Range
0.05 - 0.10

AUTOTUNE_MIN_D: AutoTune minimum D

Defines the minimum D gain

Range
0.001 - 0.006

THROW_MOT_START: Start motors before throwing is detected

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

Values
Value Meaning
0 Stopped
1 Running

TERRAIN_FOLLOW: Terrain Following use control

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

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

THROW_NEXTMODE: Throw mode’s follow up mode

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

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

THROW_TYPE: Type of Type

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

Values
Value Meaning
0 Upward Throw
1 Drop

GND_EFFECT_COMP: Ground Effect Compensation Enable/Disable

Note: This parameter is for advanced users

Ground Effect Compensation Enable/Disable

Values
Value Meaning
0 Disabled
1 Enabled

DEV_OPTIONS: Development options

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning
0 ADSBMavlinkProcessing

SERIAL Parameters

SERIAL0_BAUD: Serial0 baud rate

The baud rate used on the USB console. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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
500 500000
921 921600
1500 1500000

SERIAL0_PROTOCOL: Console protocol selection

Control what protocol to use on the console.

Values
Value Meaning
1 MAVlink1
2 MAVLink2

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
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 Lidar
10 FrSky SPort Passthrough (OpenTX)

SERIAL1_BAUD: Telem1 Baud Rate

The baud rate used on the Telem1 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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
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
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 Lidar
10 FrSky SPort Passthrough (OpenTX)

SERIAL2_BAUD: Telemetry 2 Baud Rate

The baud rate of the Telem2 port. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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
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
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 Lidar
10 FrSky SPort Passthrough (OpenTX)

SERIAL3_BAUD: Serial 3 (GPS) Baud Rate

The baud rate used for the Serial 3 (GPS). The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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
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
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 Lidar
10 FrSky SPort Passthrough (OpenTX)

SERIAL4_BAUD: Serial 4 Baud Rate

The baud rate used for Serial4. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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
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
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 Lidar
10 FrSky SPort Passthrough (OpenTX)

SERIAL5_BAUD: Serial 5 Baud Rate

The baud rate used for Serial5. The APM2 can support all baudrates up to 115, and also can support 500. The PX4 can support rates of up to 1500. If you setup a rate you cannot support on APM2 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
500 500000
921 921600
1500 1500000

RC1_ Parameters

RC1_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC1_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC1_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC1_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC1_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC2_ Parameters

RC2_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC2_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC2_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC2_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC2_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC3_ Parameters

RC3_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC3_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC3_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC3_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC3_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC4_ Parameters

RC4_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC4_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC4_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC4_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC4_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC5_ Parameters

RC5_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC5_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC5_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC5_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC5_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC5_FUNCTION: Servo out function

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 EPM
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle

RC6_ Parameters

RC6_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC6_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC6_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC6_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC6_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC6_FUNCTION: Servo out function

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 EPM
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle

RC7_ Parameters

RC7_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC7_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC7_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC7_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC7_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC7_FUNCTION: Servo out function

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 EPM
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle

RC8_ Parameters

RC8_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC8_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC8_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC8_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC8_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC8_FUNCTION: Servo out function

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 EPM
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle

RC9_ Parameters

RC9_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC9_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC9_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC9_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC9_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC9_FUNCTION: Servo out function

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 EPM
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle

RC10_ Parameters

RC10_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC10_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC10_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC10_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC10_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC10_FUNCTION: Servo out function

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 EPM
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle

RC11_ Parameters

RC11_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC11_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC11_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC11_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC11_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC11_FUNCTION: Servo out function

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 EPM
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle

RC12_ Parameters

RC12_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC12_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC12_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC12_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC12_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC12_FUNCTION: Servo out function

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 EPM
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle

RC13_ Parameters

RC13_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC13_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC13_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC13_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC13_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC13_FUNCTION: Servo out function

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 EPM
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle

RC14_ Parameters

RC14_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC14_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC14_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Range Increment Units
800 - 2200 1 pwm

RC14_REV: RC reverse

Note: This parameter is for advanced users

Reverse servo operation. Set to 1 for normal (forward) operation. Set to -1 to reverse this channel.

Values
Value Meaning
-1 Reversed
1 Normal

RC14_DZ: RC dead-zone

Note: This parameter is for advanced users

dead zone around trim or bottom

Range Units
0 - 200 pwm

RC14_FUNCTION: Servo out function

Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
11 release
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoiler1
17 DifferentialSpoiler2
18 AileronWithInput
19 Elevator
20 ElevatorWithInput
21 Rudder
24 Flaperon1
25 Flaperon2
26 GroundSteering
27 Parachute
28 EPM
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
68 Choke
69 Starter
70 Throttle

CAM_ Parameters

CAM_TRIGG_TYPE: Camera shutter (trigger) type

how to trigger the camera to take a picture

Values
Value Meaning
0 Servo
1 Relay

CAM_DURATION: Duration that shutter is held open

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

Range Units
0 - 50 seconds

CAM_SERVO_ON: Servo ON PWM value

PWM value to move servo to when shutter is activated

Range Units
1000 - 2000 pwm

CAM_SERVO_OFF: Servo OFF PWM value

PWM value to move servo to when shutter is deactivated

Range Units
1000 - 2000 pwm

CAM_TRIGG_DIST: Camera trigger distance

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

Range Units
0 - 1000 meters

CAM_RELAY_ON: Relay ON value

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

Values
Value Meaning
0 Low
1 High

CAM_MIN_INTERVAL: Minimum time between photos

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

Range Units
0 - 10000 milliseconds

CAM_MAX_ROLL: Maximum photo roll angle.

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

Range Units
0 - 180 Degrees

CAM_FEEDBACK_PIN: Camera feedback pin

pin number to use for save accurate camera feedback messages. If set to -1 then don’t use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond.

Values
Value Meaning
-1 Disabled
50 PX4 AUX1
51 PX4 AUX2
52 PX4 AUX3
53 PX4 AUX4(fast capture)
54 PX4 AUX5
55 PX4 AUX6

CAM_FEEDBACK_POL: Camera feedback pin polarity

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

Values
Value Meaning
0 TriggerLow
1 TriggerHigh

RELAY_ Parameters

RELAY_PIN: First Relay Pin

Digital pin number for first relay control. This is the pin used for camera control.

Values
Value Meaning
-1 Disabled
13 APM2 A9 pin
47 APM1 relay
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

RELAY_PIN2: Second Relay Pin

Digital pin number for 2nd relay control.

Values
Value Meaning
-1 Disabled
13 APM2 A9 pin
47 APM1 relay
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

RELAY_PIN3: Third Relay Pin

Digital pin number for 3rd relay control.

Values
Value Meaning
-1 Disabled
13 APM2 A9 pin
47 APM1 relay
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

RELAY_PIN4: Fourth Relay Pin

Digital pin number for 4th relay control.

Values
Value Meaning
-1 Disabled
13 APM2 A9 pin
47 APM1 relay
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

RELAY_DEFAULT: Default relay state

The state of the relay on boot.

Values
Value Meaning
0 Off
1 On
2 NoChange

EPM_ Parameters

EPM_ENABLE: EPM Enable/Disable

EPM enable/disable

Values
Value Meaning
0 Disabled
1 Enabled

EPM_GRAB: EPM Grab PWM

Note: This parameter is for advanced users

PWM value sent to EPM to initiate grabbing the cargo

Range
1000 - 2000

EPM_RELEASE: EPM Release PWM

Note: This parameter is for advanced users

PWM value sent to EPM to release the cargo

Range
1000 - 2000

EPM_NEUTRAL: EPM Neutral PWM

Note: This parameter is for advanced users

PWM value sent to EPM when not grabbing or releasing

Range
1000 - 2000

EPM_REGRAB: EPM Regrab interval

Note: This parameter is for advanced users

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

Values
0 255

EPM_REGRAB: EPM UAVCAN Hardpoint ID

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

Range
0 - 255

CHUTE_ Parameters

CHUTE_ENABLED: Parachute release enabled or disabled

Parachute release enabled or disabled

Values
Value Meaning
0 Disabled
1 Enabled

CHUTE_TYPE: Parachute release mechanism type (relay or servo)

Parachute release mechanism type (relay or servo)

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

CHUTE_SERVO_ON: Parachute Servo ON PWM value

Parachute Servo PWM value when parachute is released

Range Increment Units
1000 - 2000 1 pwm

CHUTE_SERVO_OFF: Servo OFF PWM value

Parachute Servo PWM value when parachute is not released

Range Increment Units
1000 - 2000 1 pwm

CHUTE_ALT_MIN: Parachute min altitude in meters above home

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

Range Increment Units
0 - 32000 1 Meters

CHUTE_DELAY_MS: Parachute release delay

Delay in millseconds between motor stop and chute release

Range Increment Units
0 - 5000 1 Milliseconds

LGR_ Parameters

LGR_SERVO_RTRACT: Landing Gear Servo Retracted PWM Value

Servo PWM value when landing gear is retracted

Range Increment Units
1000 - 2000 1 pwm

LGR_SERVO_DEPLOY: Landing Gear Servo Deployed PWM Value

Servo PWM value when landing gear is deployed

Range Increment Units
1000 - 2000 1 pwm

IM_ Parameters

IM_STAB_COL_1: Stabilize Mode Collective Point 1

Helicopter’s minimum collective pitch setting at zero throttle input in Stabilize mode

Range Increment Units
0 - 500 1 Percent*10

IM_STAB_COL_2: Stabilize Mode Collective Point 2

Helicopter’s collective pitch setting at mid-low throttle input in Stabilize mode

Range Increment Units
0 - 500 1 Percent*10

IM_STAB_COL_3: Stabilize Mode Collective Point 3

Helicopter’s collective pitch setting at mid-high throttle input in Stabilize mode

Range Increment Units
500 - 1000 1 Percent*10

IM_STAB_COL_4: Stabilize Mode Collective Point 4

Helicopter’s maximum collective pitch setting at full throttle input in Stabilize mode

Range Increment Units
500 - 1000 1 Percent*10

IM_ACRO_COL_EXP: Acro Mode Collective Expo

Note: This parameter is for advanced users

Used to soften collective pitch inputs near center point in Acro mode.

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

COMPASS_ Parameters

COMPASS_OFS_X: Compass offsets in milligauss on the X axis

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis

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

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.

Values
Value Meaning
0 Disabled
1 Internal-Learning
2 EKF-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

Multiplied by the current throttle and added to the compass’s x-axis values to compensate for motor interference

Range Increment Units
-1000 - 1000 1 Offset per Amp or at Full Throttle

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis

Multiplied by the current throttle and added to the compass’s y-axis values to compensate for motor interference

Range Increment Units
-1000 - 1000 1 Offset per Amp or at Full Throttle

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis

Multiplied by the current throttle and added to the compass’s z-axis values to compensate for motor interference

Range Increment Units
-1000 - 1000 1 Offset per Amp or at Full Throttle

COMPASS_ORIENT: Compass orientation

Note: This parameter is for advanced users

The orientation of the compass relative to the autopilot board. This will default to the right value for each board type, but can be changed if you have an external compass. See the documentation for your external compass for the right value. The correct orientation should give the X axis forward, the Y axis to the right and the Z axis down. So if your aircraft is pointing west it should show a positive value for the Y axis, and a value close to zero for the X axis. On a PX4 or Pixhawk with an external compass the correct value is zero if the compass is correctly oriented. NOTE: This orientation is combined with any AHRS_ORIENTATION setting.

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 Roll270Yaw136
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 Yaw293Pitch68Roll90

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

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

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

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

Multiplied by the current throttle and added to compass2’s x-axis values to compensate for motor interference

Range Increment Units
-1000 - 1000 1 Offset per Amp or at Full Throttle

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

Multiplied by the current throttle and added to compass2’s y-axis values to compensate for motor interference

Range Increment Units
-1000 - 1000 1 Offset per Amp or at Full Throttle

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

Multiplied by the current throttle and added to compass2’s z-axis values to compensate for motor interference

Range Increment Units
-1000 - 1000 1 Offset per Amp or at Full Throttle

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. Normally 0=External, 1=Internal. 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

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

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

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

Multiplied by the current throttle and added to compass3’s x-axis values to compensate for motor interference

Range Increment Units
-1000 - 1000 1 Offset per Amp or at Full Throttle

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

Multiplied by the current throttle and added to compass3’s y-axis values to compensate for motor interference

Range Increment Units
-1000 - 1000 1 Offset per Amp or at Full Throttle

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

Multiplied by the current throttle and added to compass3’s z-axis values to compensate for motor interference

Range Increment Units
-1000 - 1000 1 Offset per Amp or at Full Throttle

COMPASS_DEV_ID: Compass device id

Compass device id. Automatically detected, do not set manually

COMPASS_DEV_ID2: Compass2 device id

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

COMPASS_DEV_ID3: Compass3 device id

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

COMPASS_USE2: Compass2 used for yaw

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 the second compass relative to the frame (if external) or autopilot board (if internal).

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 Roll270Yaw136
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 Yaw293Pitch68Roll90

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 the third compass relative to the frame (if external) or autopilot board (if internal).

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 Roll270Yaw136
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 Yaw293Pitch68Roll90

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

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

COMPASS_DIA_Y: Compass soft-iron diagonal Y component

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

COMPASS_DIA_Z: Compass soft-iron diagonal Z component

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component

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

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component

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

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component

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

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component

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

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component

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

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component

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

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component

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

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

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

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

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

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 Default
16 Relaxed
32 Very Relaxed
0.1

INS_ Parameters

INS_PRODUCT_ID: IMU Product ID

Note: This parameter is for advanced users

Which type of IMU is installed (read-only).

Values
Value Meaning
0 Unknown
1 unused
2 unused
88 unused
3 SITL
4 PX4v1
5 PX4v2
256 unused
257 Linux

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
rad/s

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
rad/s

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
rad/s

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
rad/s

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
rad/s

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
rad/s

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
rad/s

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
rad/s

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
rad/s

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 m/s/s

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 m/s/s

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 m/s/s

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 m/s/s

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 m/s/s

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 m/s/s

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 m/s/s

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 m/s/s

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 m/s/s

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. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)

Range Units
0 - 127 Hz

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. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)

Range Units
0 - 127 Hz

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

CIRCLE_ Parameters

CIRCLE_RADIUS: Circle Radius

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

Range Increment Units
0 - 10000 100 cm

CIRCLE_RATE: Circle rate

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

Range Increment Units
-90 - 90 1 deg/s

ATC_ Parameters

ATC_SLEW_YAW: Yaw target slew rate

Note: This parameter is for advanced users

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

Range Increment Units
500 - 18000 100 Centi-Degrees/Sec

ATC_ACCEL_Y_MAX: Acceleration Max for Yaw

Note: This parameter is for advanced users

Maximum acceleration in yaw axis

Range Values Increment Units
0 - 72000
Value Meaning
0 Disabled
18000 Slow
36000 Medium
54000 Fast
1000 Centi-Degrees/Sec/Sec

ATC_RATE_FF_ENAB: Rate Feedforward Enable

Note: This parameter is for advanced users

Controls whether body-frame rate feedfoward is enabled or disabled

Values
Value Meaning
0 Disabled
1 Enabled

ATC_ACCEL_R_MAX: Acceleration Max for Roll

Note: This parameter is for advanced users

Maximum acceleration in roll axis

Range Values Increment Units
0 - 180000
Value Meaning
0 Disabled
72000 Slow
108000 Medium
162000 Fast
1000 Centi-Degrees/Sec/Sec

ATC_ACCEL_P_MAX: Acceleration Max for Pitch

Note: This parameter is for advanced users

Maximum acceleration in pitch axis

Range Values Increment Units
0 - 180000
Value Meaning
0 Disabled
72000 Slow
108000 Medium
162000 Fast
1000 Centi-Degrees/Sec/Sec

ATC_ANGLE_BOOST: Angle Boost

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

ATC_ANG_RLL_P: Roll axis angle controller P gain

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

Range
3.000 - 12.000

ATC_ANG_PIT_P: Pitch axis angle controller P gain

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

Range
3.000 - 12.000

ATC_ANG_YAW_P: Yaw axis angle controller P gain

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

Range
3.000 - 6.000

ATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant

Note: This parameter is for advanced users

Angle Limit (to maintain altitude) Time Constant

Range
0.5 - 10.0

ATC_RAT_RLL_P: Roll axis rate controller P gain

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

Range Increment
0.08 - 0.30 0.005

ATC_RAT_RLL_I: Roll axis rate controller I gain

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

Range Increment
0.01 - 0.5 0.01

ATC_RAT_RLL_IMAX: Roll axis rate controller I gain maximum

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

Range Increment Units
0 - 1 0.01 Percent

ATC_RAT_RLL_D: Roll axis rate controller D gain

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

Range Increment
0.0 - 0.02 0.001

ATC_RAT_RLL_FILT: Roll axis rate conroller input frequency in Hz

Roll axis rate conroller input frequency in Hz

Range Increment Units
1 - 100 1 Hz

ATC_RAT_PIT_P: Pitch axis rate controller P gain

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

Range Increment
0.08 - 0.30 0.005

ATC_RAT_PIT_I: Pitch axis rate controller I gain

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

Range Increment
0.01 - 0.5 0.01

ATC_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum

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

Range Increment Units
0 - 1 0.01 Percent

ATC_RAT_PIT_D: Pitch axis rate controller D gain

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

Range Increment
0.0 - 0.02 0.001

ATC_RAT_PIT_FILT: Pitch axis rate conroller input frequency in Hz

Pitch axis rate conroller input frequency in Hz

Range Increment Units
1 - 100 1 Hz

ATC_RAT_YAW_P: Yaw axis rate controller P gain

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

Range Increment
0.10 - 0.50 0.005

ATC_RAT_YAW_I: Yaw axis rate controller I gain

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

Range Increment
0.010 - 0.05 0.01

ATC_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum

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

Range Increment Units
0 - 1 0.01 Percent

ATC_RAT_YAW_D: Yaw axis rate controller D gain

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

Range Increment
0.000 - 0.02 0.001

ATC_RAT_YAW_FILT: Yaw axis rate conroller input frequency in Hz

Yaw axis rate conroller input frequency in Hz

Range Increment Units
1 - 100 1 Hz

ATC_THR_MIX_MIN: Throttle Mix Minimum

Note: This parameter is for advanced users

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

Range
0.1 - 0.25

ATC_THR_MIX_MAX: Throttle Mix Maximum

Note: This parameter is for advanced users

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

Range
0.5 - 0.9

POSCON_ Parameters

POSCON__ACC_XY_FILT: XY Acceleration filter cutoff frequency

Note: This parameter is for advanced users

Lower values will slow the response of the navigation controller and reduce twitchiness

Range Increment Units
0.5 - 5 0.1 Hz

SR0_ Parameters

SR0_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station

Range Increment Units
0 - 10 1 Hz

SR0_EXT_STAT: Extended status stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station

Range Increment Units
0 - 10 1 Hz

SR0_RC_CHAN: RC Channel stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station

Range Increment Units
0 - 10 1 Hz

SR0_RAW_CTRL: Raw Control stream rate to ground station

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Range Increment Units
0 - 10 1 Hz

SR0_POSITION: Position stream rate to ground station

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT to ground station

Range Increment Units
0 - 10 1 Hz

SR0_EXTRA1: Extra data type 1 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station

Range Increment Units
0 - 10 1 Hz

SR0_EXTRA2: Extra data type 2 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Range Increment Units
0 - 10 1 Hz

SR0_EXTRA3: Extra data type 3 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station

Range Increment Units
0 - 10 1 Hz

SR0_PARAMS: Parameter stream rate to ground station

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Range Increment Units
0 - 10 1 Hz

SR0_ADSB: ADSB stream rate to ground station

Note: This parameter is for advanced users

ADSB stream rate to ground station

Range Increment Units
0 - 50 1 Hz

SR1_ Parameters

SR1_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station

Range Increment Units
0 - 10 1 Hz

SR1_EXT_STAT: Extended status stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station

Range Increment Units
0 - 10 1 Hz

SR1_RC_CHAN: RC Channel stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station

Range Increment Units
0 - 10 1 Hz

SR1_RAW_CTRL: Raw Control stream rate to ground station

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Range Increment Units
0 - 10 1 Hz

SR1_POSITION: Position stream rate to ground station

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT to ground station

Range Increment Units
0 - 10 1 Hz

SR1_EXTRA1: Extra data type 1 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station

Range Increment Units
0 - 10 1 Hz

SR1_EXTRA2: Extra data type 2 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Range Increment Units
0 - 10 1 Hz

SR1_EXTRA3: Extra data type 3 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station

Range Increment Units
0 - 10 1 Hz

SR1_PARAMS: Parameter stream rate to ground station

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Range Increment Units
0 - 10 1 Hz

SR1_ADSB: ADSB stream rate to ground station

Note: This parameter is for advanced users

ADSB stream rate to ground station

Range Increment Units
0 - 50 1 Hz

SR2_ Parameters

SR2_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station

Range Increment Units
0 - 10 1 Hz

SR2_EXT_STAT: Extended status stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station

Range Increment Units
0 - 10 1 Hz

SR2_RC_CHAN: RC Channel stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station

Range Increment Units
0 - 10 1 Hz

SR2_RAW_CTRL: Raw Control stream rate to ground station

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Range Increment Units
0 - 10 1 Hz

SR2_POSITION: Position stream rate to ground station

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT to ground station

Range Increment Units
0 - 10 1 Hz

SR2_EXTRA1: Extra data type 1 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station

Range Increment Units
0 - 10 1 Hz

SR2_EXTRA2: Extra data type 2 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Range Increment Units
0 - 10 1 Hz

SR2_EXTRA3: Extra data type 3 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station

Range Increment Units
0 - 10 1 Hz

SR2_PARAMS: Parameter stream rate to ground station

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Range Increment Units
0 - 10 1 Hz

SR2_ADSB: ADSB stream rate to ground station

Note: This parameter is for advanced users

ADSB stream rate to ground station

Range Increment Units
0 - 50 1 Hz

SR3_ Parameters

SR3_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station

Range Increment Units
0 - 10 1 Hz

SR3_EXT_STAT: Extended status stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station

Range Increment Units
0 - 10 1 Hz

SR3_RC_CHAN: RC Channel stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS_RAW to ground station

Range Increment Units
0 - 10 1 Hz

SR3_RAW_CTRL: Raw Control stream rate to ground station

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Range Increment Units
0 - 10 1 Hz

SR3_POSITION: Position stream rate to ground station

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT to ground station

Range Increment Units
0 - 10 1 Hz

SR3_EXTRA1: Extra data type 1 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station

Range Increment Units
0 - 10 1 Hz

SR3_EXTRA2: Extra data type 2 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Range Increment Units
0 - 10 1 Hz

SR3_EXTRA3: Extra data type 3 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station

Range Increment Units
0 - 10 1 Hz

SR3_PARAMS: Parameter stream rate to ground station

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Range Increment Units
0 - 10 1 Hz

SR3_ADSB: ADSB stream rate to ground station

Note: This parameter is for advanced users

ADSB stream rate to ground station

Range Increment Units
0 - 50 1 Hz

AHRS_ Parameters

AHRS_GPS_GAIN: AHRS GPS gain

This controls how 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.

Values
Value Meaning
0 Disabled
1 Enabled

AHRS_YAW_P: Yaw P

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

Range Increment
0.1 - 0.4 .01

AHRS_RP_P: AHRS RP_P

This controls how fast the accelerometers correct the attitude

Range Increment
0.1 - 0.4 .01

AHRS_WIND_MAX: Maximum wind

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

Range Increment Units
0 - 127 1 m/s

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 Roll270Yaw136
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

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 whether the NavEKF Kalman filter is used for attitude and position estimation and whether fallback to the DCM algorithm is allowed. Note that on copters “disabled” is not available, and will be the same as “enabled - no fallback”

Values
Value Meaning
0 Disabled
1 Enabled
2 Enable EKF2

MNT Parameters

MNT_DEFLT_MODE: Mount default operating mode

Mount default operating mode on startup and after control is returned from autopilot

Values
Value Meaning
0 Retracted
1 Neutral
2 MavLink Targeting
3 RC Targeting
4 GPS Point

MNT_RETRACT_X: Mount roll angle when in retracted position

Mount roll angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position

Mount tilt/pitch angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position

Mount yaw/pan angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT_NEUTRAL_X: Mount roll angle when in neutral position

Mount roll angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position

Mount tilt/pitch angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position

Mount pan/yaw angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT_STAB_ROLL: Stabilize mount’s roll angle

enable roll stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT_STAB_TILT: Stabilize mount’s pitch/tilt angle

enable tilt/pitch stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT_STAB_PAN: Stabilize mount pan/yaw angle

enable pan/yaw stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT_RC_IN_ROLL: roll RC input channel

0 for none, any other for the RC channel to be used to control roll movements

Values
Value Meaning
0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8
9 RC9
10 RC10
11 RC11
12 RC12

MNT_ANGMIN_ROL: Minimum roll angle

Minimum physical roll angular position of mount.

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT_ANGMAX_ROL: Maximum roll angle

Maximum physical roll angular position of the mount

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT_RC_IN_TILT: tilt (pitch) RC input channel

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

Values
Value Meaning
0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8
9 RC9
10 RC10
11 RC11
12 RC12

MNT_ANGMIN_TIL: Minimum tilt angle

Minimum physical tilt (pitch) angular position of mount.

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT_ANGMAX_TIL: Maximum tilt angle

Maximum physical tilt (pitch) angular position of the mount

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT_RC_IN_PAN: pan (yaw) RC input channel

0 for none, any other for the RC channel to be used to control pan (yaw) movements

Values
Value Meaning
0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8
9 RC9
10 RC10
11 RC11
12 RC12

MNT_ANGMIN_PAN: Minimum pan angle

Minimum physical pan (yaw) angular position of mount.

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT_ANGMAX_PAN: Maximum pan angle

Maximum physical pan (yaw) angular position of the mount

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT_JSTICK_SPD: mount joystick speed

0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.

Range Increment
0 - 100 1

MNT_LEAD_RLL: Roll stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn’t overshoot. Does nothing with pan stabilization enabled.

Range Increment Units
0.0 - 0.2 .005 Seconds

MNT_LEAD_PTCH: Pitch stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn’t overshoot. Does nothing with pan stabilization enabled.

Range Increment Units
0.0 - 0.2 .005 Seconds

MNT_TYPE: Mount Type

Mount Type (None, Servo or MAVLink)

Values RebootRequired
Value Meaning
0 None
1 Servo
2 3DR Solo
3 Alexmos Serial
4 SToRM32 MAVLink
5 SToRM32 Serial
True

MNT2_DEFLT_MODE: Mount default operating mode

Mount default operating mode on startup and after control is returned from autopilot

Values
Value Meaning
0 Retracted
1 Neutral
2 MavLink Targeting
3 RC Targeting
4 GPS Point

MNT2_RETRACT_X: Mount2 roll angle when in retracted position

Mount2 roll angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position

Mount2 tilt/pitch angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position

Mount2 yaw/pan angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position

Mount2 roll angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position

Mount2 tilt/pitch angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position

Mount2 pan/yaw angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 Degrees

MNT2_STAB_ROLL: Stabilize Mount2’s roll angle

enable roll stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT2_STAB_TILT: Stabilize Mount2’s pitch/tilt angle

enable tilt/pitch stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle

enable pan/yaw stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT2_RC_IN_ROLL: Mount2’s roll RC input channel

0 for none, any other for the RC channel to be used to control roll movements

Values
Value Meaning
0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8
9 RC9
10 RC10
11 RC11
12 RC12

MNT2_ANGMIN_ROL: Mount2’s minimum roll angle

Mount2’s minimum physical roll angular position

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT2_ANGMAX_ROL: Mount2’s maximum roll angle

Mount2’s maximum physical roll angular position

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT2_RC_IN_TILT: Mount2’s tilt (pitch) RC input channel

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

Values
Value Meaning
0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8
9 RC9
10 RC10
11 RC11
12 RC12

MNT2_ANGMIN_TIL: Mount2’s minimum tilt angle

Mount2’s minimum physical tilt (pitch) angular position

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT2_ANGMAX_TIL: Mount2’s maximum tilt angle

Mount2’s maximum physical tilt (pitch) angular position

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT2_RC_IN_PAN: Mount2’s pan (yaw) RC input channel

0 for none, any other for the RC channel to be used to control pan (yaw) movements

Values
Value Meaning
0 Disabled
5 RC5
6 RC6
7 RC7
8 RC8
9 RC9
10 RC10
11 RC11
12 RC12

MNT2_ANGMIN_PAN: Mount2’s minimum pan angle

Mount2’s minimum physical pan (yaw) angular position

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT2_ANGMAX_PAN: Mount2’s maximum pan angle

MOunt2’s maximum physical pan (yaw) angular position

Range Increment Units
-18000 - 17999 1 Centi-Degrees

MNT2_LEAD_RLL: Mount2’s Roll stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn’t overshoot. Does nothing with pan stabilization enabled.

Range Increment Units
0.0 - 0.2 .005 Seconds

MNT2_LEAD_PTCH: Mount2’s Pitch stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn’t overshoot. Does nothing with pan stabilization enabled.

Range Increment Units
0.0 - 0.2 .005 Seconds

MNT2_TYPE: Mount2 Type

Mount Type (None, Servo or MAVLink)

Values
Value Meaning
0 None
1 Servo
2 3DR Solo
3 Alexmos Serial
4 SToRM32 MAVLink
5 SToRM32 Serial

LOG Parameters

LOG_BACKEND_TYPE: DataFlash Backend Storage type

0 for None, 1 for File, 2 for dataflash mavlink, 3 for both file and dataflash

Values
Value Meaning
0 None
1 File
2 MAVLink
3 BothFileAndMAVLink

LOG_FILE_BUFSIZE: Maximum DataFlash File Backend buffer size (in kilobytes)

The DataFlash_File backend uses a buffer to store data before writing to the block device. Raising this value may reduce “gaps” in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.

LOG_DISARMED: Enable logging while disarmed

If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues

Values
Value Meaning
0 Disabled
1 Enabled

LOG_REPLAY: Enable logging of information needed for Replay

If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost

Values
Value Meaning
0 Disabled
1 Enabled

BATT Parameters

BATT_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

Values
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 SMBus
6 Bebop

BATT_VOLT_PIN: Battery Voltage sensing pin

Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.

Values
Value Meaning
-1 Disabled
0 A0
1 A1
2 Pixhawk
13 A13
100 PX4

BATT_CURR_PIN: Battery Current sensing pin

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.

Values
Value Meaning
-1 Disabled
1 A1
2 A2
3 Pixhawk
12 A12
101 PX4

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 on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.

BATT_AMP_PERVOLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or 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
Amps/Volt

BATT_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
Volts

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 mAh

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 Watts

BATT2_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

Values
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 SMBus
6 Bebop

BATT2_VOLT_PIN: Battery Voltage sensing pin

Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 13. On the PX4 it should be set to 100. On the Pixhawk powered from the PM connector it should be set to 2.

Values
Value Meaning
-1 Disabled
0 A0
1 A1
2 Pixhawk
13 A13
100 PX4

BATT2_CURR_PIN: Battery Current sensing pin

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. For the 3DR power brick on APM2.5 it should be set to 12. On the PX4 it should be set to 101. On the Pixhawk powered from the PM connector it should be set to 3.

Values
Value Meaning
-1 Disabled
1 A1
2 A2
3 Pixhawk
12 A12
101 PX4

BATT2_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 on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.

BATT2_AMP_PERVOL: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or 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
Amps/Volt

BATT2_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
Volts

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 mAh

BATT2_WATT_MAX: Maximum allowed current

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 Amps

BRD_ Parameters

BRD_PWM_COUNT: Auxiliary pin config

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

Values RebootRequired
Value Meaning
0 No PWMs
2 Two PWMs
4 Four PWMs
6 Six PWMs
7 Three PWMs and One Capture
True

BRD_SER1_RTSCTS: Serial 1 flow control

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
2 Auto
True

BRD_SER2_RTSCTS: Serial 2 flow control

Enable flow control on serial 2 (telemetry 2) on Pixhawk and PX4. 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

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
-32767 - 32768

BRD_CAN_ENABLE: Enable use of UAVCAN devices

Enabling this option on a Pixhawk enables UAVCAN devices. Note that this uses about 25k of memory

Values
Value Meaning
0 Disabled
1 Enabled

BRD_SAFETY_MASK: Channels to which ignore the safety switch state

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
Value Meaning
0 Disabled
1 Enabled
True

BRD_IMU_TARGTEMP: Target IMU temperature

This sets the target IMU temperature for boards with controllable IMU heating units. A value of -1 disables heating.

Units Range
degreesC -1 - 80

BRD_TYPE: Board type

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

Values RebootRequired
Value Meaning
0 AUTO
1 PX4V1
2 Pixhawk
3 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
True

SPRAY_ Parameters

SPRAY_ENABLE: Sprayer enable/disable

Allows you to enable (1) or disable (0) the sprayer

Values
Value Meaning
0 Disabled
1 Enabled

SPRAY_PUMP_RATE: Pump speed

Desired pump speed when travelling 1m/s expressed as a percentage

Range Units
0 - 100 percentage

SPRAY_SPINNER: Spinner rotation speed

Spinner’s rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)

Range Units
1000 - 2000 ms

SPRAY_SPEED_MIN: Speed minimum

Speed minimum at which we will begin spraying

Range Units
0 - 1000 cm/s

SPRAY_PUMP_MIN: Pump speed minimum

Minimum pump speed expressed as a percentage

Range Units
0 - 100 percentage

GND_ Parameters

GND_ABS_PRESS: Absolute Pressure

calibrated ground pressure in Pascals

ReadOnly Volatile Increment Units
True True 1 pascals

GND_TEMP: ground temperature

calibrated ground temperature in degrees Celsius

ReadOnly Volatile Increment Units
True True 1 degrees celsius

GND_ALT_OFFSET: altitude offset

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.

Units Increment
meters 0.1

GND_PRIMARY: Primary barometer

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

Values
Value Meaning
0 FirstBaro
1 2ndBaro
2 3rdBaro

GPS_ Parameters

GPS_TYPE: GPS type

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 PX4-UAVCAN
10 SBF
11 GSOF
12 QURT
13 ERB
14 MAV
15 NOVA
True

GPS_TYPE2: 2nd GPS type

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 PX4-UAVCAN
10 SBF
11 GSOF
True

GPS_NAVFILTER: Navigation filter setting

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 Enabled

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_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
0x0000 None
0xFFFF All
0xFF00 External only

GPS_RAW_DATA: Raw data logging

Enable logging of RXM raw data from uBlox which includes carrier phase and pseudo range information. This allows for post processing of dataflash logs for more precise positioning. Note that this requires a raw capable uBlox such as the 6P or 6T.

Values RebootRequired
Value Meaning
0 Disabled
1 log every sample
5 log every 5 samples
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

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 RebootRequired
Value Meaning
50 50Hz
100 100Hz
200 200Hz
250 250Hz
300 300Hz
400 400Hz
True

FENCE_ Parameters

FENCE_ENABLE: Fence enable/disable

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

Values
Value Meaning
0 Disabled
1 Enabled

FENCE_TYPE: Fence Type

Enabled fence types held as bitmask

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

FENCE_ACTION: Fence Action

What action should be taken when fence is breached

Values
Value Meaning
0 Report Only
1 RTL or Land

FENCE_ALT_MAX: Fence Maximum Altitude

Maximum altitude allowed before geofence triggers

Range Increment Units
10 - 1000 1 Meters

FENCE_RADIUS: Circular Fence Radius

Circle fence radius which when breached will cause an RTL

Range Units
30 - 10000 Meters

FENCE_MARGIN: Fence Margin

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

Range Units
1 - 10 Meters

FENCE_TOTAL: Fence polygon point total

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

Range
1 - 20

AVOID_ Parameters

AVOID_ENABLE: Avoidance control enable/disable

Enabled/disable stopping at fence

Values
Value Meaning
0 None
1 StopAtFence

RALLY_ Parameters

RALLY_TOTAL: Rally Total

Note: This parameter is for advanced users

Number of rally points currently loaded

RALLY_LIMIT_KM: Rally Limit

Note: This parameter is for advanced users

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

Increment Units
0.1 kilometers

RALLY_INCL_HOME: Rally Include Home

Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL

Values
Value Meaning
0 DoNotIncludeHome
1 IncludeHome

H_ Parameters

H_SV1_POS: Servo 1 Position

Angular location of swash servo #1

Range Increment Units
-180 - 180 1 Degrees

H_SV2_POS: Servo 2 Position

Angular location of swash servo #2

Range Increment Units
-180 - 180 1 Degrees

H_SV3_POS: Servo 3 Position

Angular location of swash servo #3

Range Increment Units
-180 - 180 1 Degrees

H_TAIL_TYPE: Tail Type

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

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

H_SWASH_TYPE: Swash Type

Swash Type Setting - either 3-servo CCPM or H1 Mechanical Mixing

Values
Value Meaning
0 3-Servo CCPM
1 H1 Mechanical Mixing

H_GYR_GAIN: External Gyro Gain

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

Range Increment Units
0 - 1000 1 PWM

H_PHANG: Swashplate Phase Angle Compensation

Note: This parameter is for advanced users

Phase angle correction for rotor head. If pitching the swash forward induces a roll, this can be correct the problem

Range Increment Units
-90 - 90 1 Degrees

H_COLYAW: Collective-Yaw Mixing

Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.

Range Increment
-10 - 10 0.1

H_FLYBAR_MODE: Flybar Mode Selector

Flybar present or not. Affects attitude controller used during ACRO flight mode

Values
Value Meaning
0 NoFlybar
1 Flybar

H_TAIL_SPEED: Direct Drive VarPitch Tail ESC speed

Direct Drive VarPitch Tail ESC speed. Only used when TailType is DirectDrive VarPitch

Range Increment Units
0 - 1000 1 PWM

H_GYR_GAIN_ACRO: External Gyro Gain for ACRO

PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN

Range Increment Units
0 - 1000 1 PWM

H_RSC_PWM_MIN: RSC PWM output miniumum

This sets the PWM output on RSC channel for maximum rotor speed

Range
0 - 2000

H_RSC_PWM_MAX: RSC PWM output maxiumum

This sets the PWM output on RSC channel for miniumum rotor speed

Range
0 - 2000

H_RSC_PWM_REV: RSC PWM reversal

This controls reversal of the RSC channel output

Values
Value Meaning
-1 Reversed
1 Normal

MOT_ Parameters

MOT_YAW_HEADROOM: Matrix Yaw Min

Note: This parameter is for advanced users

Yaw control is given at least this pwm range

Range Units
0 - 500 pwm

MOT_THST_EXPO: Thrust Curve Expo

Note: This parameter is for advanced users

Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)

Range
0.25 - 0.8

MOT_SPIN_MAX: Motor Spin maximum

Note: This parameter is for advanced users

Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range

Values
0.9:Low, 0.95:Default, 1.0:High

MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage

Note: This parameter is for advanced users

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.4 * cell count, 0 = Disabled

Range Units
6 - 35 Volts

MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage

Note: This parameter is for advanced users

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled

Range Units
6 - 35 Volts

MOT_BAT_CURR_MAX: Motor Current Max

Note: This parameter is for advanced users

Maximum current over which maximum throttle is limited (0 = Disabled)

Range Units
0 - 200 Amps

MOT_PWM_TYPE: Output PWM type

Note: This parameter is for advanced users

This selects the output PWM type, allowing for normal PWM continuous output or OneShot125

Values
Value Meaning
0 Normal
1 OneShot
2 OneShot125

MOT_PWM_MIN: PWM output miniumum

Note: This parameter is for advanced users

This sets the min PWM output value that will ever be output to the motors, 0 = use input RC3_MIN

Range
0 - 2000

MOT_PWM_MAX: PWM output maximum

Note: This parameter is for advanced users

This sets the max PWM value that will ever be output to the motors, 0 = use input RC3_MAX

Range
0 - 2000

MOT_SPIN_MIN: Motor Spin minimum

Note: This parameter is for advanced users

Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.

Values
0.0:Low, 0.15:Default, 0.3:High

MOT_SPIN_ARM: Motor Spin armed

Note: This parameter is for advanced users

Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.

Values
0.0:Low, 0.1:Default, 0.2:High

MOT_BAT_CURR_TC: Motor Current Max Time Constant

Note: This parameter is for advanced users

Time constant used to limit the maximum current

Range Units
0 - 10 Seconds

MOT_THST_HOVER: Thrust Hover Value

Note: This parameter is for advanced users

Motor thrust needed to hover expressed as a number from 0 to 1

Range
0.2 - 0.8

MOT_HOVER_LEARN: Hover Value Learning

Note: This parameter is for advanced users

Enable/Disable automatic learning of hover throttle

Values
Value Meaning
0 Disabled
1 Learn
2 LearnAndSave

RCMAP_ Parameters

RCMAP_ROLL: Roll channel

Note: This parameter is for advanced users

Roll channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Range Increment RebootRequired
1 - 8 1 True

RCMAP_PITCH: Pitch channel

Note: This parameter is for advanced users

Pitch channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Range Increment RebootRequired
1 - 8 1 True

RCMAP_THROTTLE: Throttle channel

Note: This parameter is for advanced users

Throttle channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended. Reboot is required for changes to take effect.

Range Increment RebootRequired
1 - 8 1 True

RCMAP_YAW: Yaw channel

Note: This parameter is for advanced users

Yaw channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Range Increment RebootRequired
1 - 8 1 True

EKF_ Parameters

EKF_ENABLE: Enable EKF1

Note: This parameter is for advanced users

This enables EKF1 to be disabled when using alternative algorithms. When disabling it, the alternate EKF2 estimator must be enabled by setting EK2_ENABLED = 1 and flight control algorithms must be set to use the alternative estimator by setting AHRS_EKF_TYPE = 2.

Values
Value Meaning
0 Disabled
1 Enabled

EKF_VELNE_NOISE: GPS horizontal velocity measurement noise scaler

Note: This parameter is for advanced users

This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed accuracy of 1 is assumed. Increasing it reduces the weighting on these measurements.

Range Increment
0.05 - 5.0 0.05

EKF_VELD_NOISE: GPS vertical velocity measurement noise scaler

Note: This parameter is for advanced users

This is the scaler that is applied to the speed accuracy reported by the receiver to estimate the vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then a speed accuracy of 1 is assumed. Increasing it reduces the weighting on this measurement.

Range Increment
0.05 - 5.0 0.05

EKF_POSNE_NOISE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EKF_ALT_NOISE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EKF_MAG_NOISE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Range Increment
0.01 - 0.5 0.01

EKF_EAS_NOISE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 5.0 0.1 m/s

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

Note: This parameter is for advanced users

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

Range Increment
0.01 - 1.0 0.1

EKF_WIND_PSCALE: Height rate to wind procss noise scaler

Note: This parameter is for advanced users

Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser.

Range Increment
0.0 - 1.0 0.1

EKF_GYRO_PNOISE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.001 - 0.05 0.001 rad/s

EKF_ACC_PNOISE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.01 m/s/s

EKF_GBIAS_PNOISE: Rate gyro bias process noise (rad/s)

Note: This parameter is for advanced users

This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.

Range Units
0.0000001 - 0.00001 rad/s

EKF_ABIAS_PNOISE: Accelerometer bias process noise (m/s^2)

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 m/s/s

EKF_MAGE_PNOISE: Earth magnetic field process noise (gauss/s)

Note: This parameter is for advanced users

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

Range Units
0.0001 - 0.01 gauss/s

EKF_MAGB_PNOISE: Body magnetic field process noise (gauss/s)

Note: This parameter is for advanced users

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

Range Units
0.0001 - 0.01 gauss/s

EKF_VEL_DELAY: GPS velocity measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units
0 - 500 10 milliseconds

EKF_POS_DELAY: GPS position measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units
0 - 500 10 milliseconds

EKF_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

This parameter controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)

Values
Value Meaning
0 GPS 3D Vel and 2D Pos
1 GPS 2D vel and 2D pos
2 GPS 2D pos
3 No GPS use optical flow

EKF_VEL_GATE: GPS velocity measurement gate size

Note: This parameter is for advanced users

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

Range Increment
1 - 100 1

EKF_POS_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Range Increment
1 - 100 1

EKF_HGT_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Range Increment
1 - 100 1

EKF_MAG_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Range Increment
1 - 100 1

EKF_EAS_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Range Increment
1 - 100 1

EKF_MAG_CAL: Magnetometer calibration mode

Note: This parameter is for advanced users

EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable.

Values
Value Meaning
0 Speed and Height
1 Acceleration
2 Never
3 Always

EKF_GLITCH_ACCEL: GPS glitch accel gate size (cm/s^2)

Note: This parameter is for advanced users

This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position.

Range Increment
100 - 500 50

EKF_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and the filter states are reset to the new GPS position. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement.

Range Increment Units
10 - 50 5 meters

EKF_GND_GRADIENT: Terrain Gradient % RMS

Note: This parameter is for advanced users

This parameter sets the RMS terrain gradient percentage assumed by the terrain height estimation. Terrain height can be estimated using optical flow and/or range finder sensor data if fitted. Smaller values cause the terrain height estimate to be slower to respond to changes in measurement. Larger values cause the terrain height estimate to be faster to respond, but also more noisy. Generally this value can be reduced if operating over very flat terrain and increased if operating over uneven terrain.

Range Increment
1 - 50 1

EKF_FLOW_NOISE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 rad/s

EKF_FLOW_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Range Increment
1 - 100 1

EKF_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units
0 - 500 10 milliseconds

EKF_RNG_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Range Increment
1 - 100 1

EKF_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Range Increment
1.0 - 4.0 0.1

EKF_FALLBACK: Fallback strictness

Note: This parameter is for advanced users

This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more.

Values
Value Meaning
0 Trust EKF more
1 Trust DCM more

EKF_ALT_SOURCE: Primary height source

Note: This parameter is for advanced users

This parameter controls which height sensor is used by the EKF during optical flow navigation (when EKF_GPS_TYPE = 3). A value of will 0 cause it to always use baro altitude. A value of 1 will cause it to use range finder if available.

Values
Value Meaning
0 Use Baro
1 Use Range Finder

EKF_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

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

EK2_ Parameters

EK2_ENABLE: Enable EKF2

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

EK2_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = use no GPS (optical flow will be used if available)

Values
Value Meaning
0 GPS 3D Vel and 2D Pos
1 GPS 2D vel and 2D pos
2 GPS 2D pos
3 No GPS use optical flow

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

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 5.0 0.05 m/s

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

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 5.0 0.05 m/s

EK2_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 m

EK2_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

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

Range Increment Units
10 - 100 5 m

EK2_GPS_DELAY: GPS measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units
0 - 250 10 msec

EK2_ALT_SOURCE: Primary height source

Note: This parameter is for advanced users

This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. NOTE - the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.

Values
Value Meaning
0 Use Baro
1 Use Range Finder
2 Use GPS

EK2_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 m

EK2_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units
0 - 250 10 msec

EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 0.5 0.01 gauss

EK2_MAG_CAL: Magnetometer calibration mode

Note: This parameter is for advanced users

EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time. This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states. This model is only suitable for use when the external magnetic field environment is stable.

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

EK2_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 5.0 0.1 m/s

EK2_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 m

EK2_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Range Increment Units
1.0 - 4.0 0.1 rad/s

EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 rad/s

EK2_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units
0 - 250 10 msec

EK2_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.0001 - 0.1 0.0001 rad/s

EK2_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.01 m/s/s

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 rad/s/s

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

Note: This parameter is for advanced users

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

Range Units
0.000001 - 0.001 1/s

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 m/s/s/s

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

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.1 m/s/s

EK2_WIND_PSCALE: Height rate to wind procss noise scaler

Note: This parameter is for advanced users

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

Range Increment
0.0 - 1.0 0.1

EK2_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

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

EK2_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

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

Range
1 - 127

EK2_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range Units
50 - 200 %

EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range Units
0.5 - 50.0 m/s

EK2_LOG_MASK: EKF sensor logging IMU mask

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 FirstIMU
3 FirstAndSecondIMU
7 AllIMUs

EK2_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 gauss

EK2_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

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

Note: This parameter is for advanced users

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

Range Increment
10 - 50 5

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.01 gauss/s

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.01 gauss/s

EK2_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use.

Range Increment Units
-1 - 70 1 %

EK2_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Range Increment
0 - 0.2 0.01

MIS_ Parameters

MIS_TOTAL: Total mission commands

Note: This parameter is for advanced users

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

Range Increment
0 - 32766 1

MIS_RESTART: Mission Restart when entering Auto mode

Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)

Values
Value Meaning
0 Resume Mission
1 Restart Mission

RSSI_ Parameters

RSSI_TYPE: RSSI Type

Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.

Values
Value Meaning
0 Disabled
1 AnalogPin
2 RCChannelPwmValue

RSSI_ANA_PIN: Receiver RSSI analog sensing pin

This selects an analog pin where the receiver RSSI voltage will be read.

Values
Value Meaning
0 APM2 A0
1 APM2 A1
13 APM2 A13
11 Pixracer
13 Pixhawk ADC4
14 Pixhawk ADC3
15 Pixhawk ADC6
103 Pixhawk SBUS

RSSI_PIN_LOW: Receiver RSSI voltage low

This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn’t necessarily a lower value than RSSI_PIN_HIGH.

Range Increment Units
0 - 5.0 0.01 Volt

RSSI_PIN_HIGH: Receiver RSSI voltage high

This is the voltage value that the radio receiver will put on the RSSI_ANA_PIN when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn’t necessarily a higher value than RSSI_PIN_LOW.

Range Increment Units
0 - 5.0 0.01 Volt

RSSI_CHANNEL: Receiver RSSI channel number

The channel number where RSSI will be output by the radio receiver (5 and above).

Units
 

RSSI_CHAN_LOW: Receiver RSSI PWM low value

This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the weakest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn’t necessarily a lower value than RSSI_CHAN_HIGH.

Range Units
0 - 2000 Microseconds

RSSI_CHAN_HIGH: Receiver RSSI PWM high value

This is the PWM value that the radio receiver will put on the RSSI_CHANNEL when the signal strength is the strongest. Since some radio receivers put out inverted values from what you might otherwise expect, this isn’t necessarily a higher value than RSSI_CHAN_LOW.

Range Units
0 - 2000 Microseconds

RNGFND Parameters

RNGFND_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning
0 None
1 Analog
2 APM2-MaxbotixI2C
3 APM2-PulsedLightI2C
4 PX4-I2C
5 PX4-PWM
6 BBB-PRU
7 LightWareI2C
8 LightWareSerial
9 Bebop
10 MAVLink
12 LeddarOne

RNGFND_PIN: Rangefinder pin

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated ‘airspeed’ port on the end of the board. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values
Value Meaning
-1 Not Used
0 APM2-A0
1 APM2-A1
2 APM2-A2
3 APM2-A3
4 APM2-A4
5 APM2-A5
6 APM2-A6
7 APM2-A7
8 APM2-A8
9 APM2-A9
11 PX4-airspeed port
15 Pixhawk-airspeed port
64 APM1-airspeed port

RNGFND_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment Units
0.001 meters/Volt

RNGFND_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM and I2C Lidars

Increment Units
0.001 Volts

RNGFND_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning
0 Linear
1 Inverted
2 Hyperbolic

RNGFND_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don’t interfere with each other.

Values
Value Meaning
-1 Not Used
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

RNGFND_SETTLE: Rangefinder settle time

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.

Increment Units
1 milliseconds

RNGFND_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning
0 No
1 Yes

RNGFND_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range Units
0 - 32767 meters

RNGFND_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Range Increment Units
0 - 127 1 centimeters

RNGFND_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range Increment
0 - 127 1

RNGFND2_TYPE: Second Rangefinder type

Note: This parameter is for advanced users

What type of rangefinder device that is connected

Values
Value Meaning
0 None
1 Analog
2 APM2-MaxbotixI2C
3 APM2-PulsedLightI2C
4 PX4-I2C
5 PX4-PWM
6 BBB-PRU
7 LightWareI2C
8 LightWareSerial
9 Bebop
10 MAVLink
12 LeddarOne

RNGFND2_PIN: Rangefinder pin

Note: This parameter is for advanced users

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated ‘airspeed’ port on the end of the board. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values
Value Meaning
-1 Not Used
0 APM2-A0
1 APM2-A1
2 APM2-A2
3 APM2-A3
4 APM2-A4
5 APM2-A5
6 APM2-A6
7 APM2-A7
8 APM2-A8
9 APM2-A9
11 PX4-airspeed port
15 Pixhawk-airspeed port
64 APM1-airspeed port

RNGFND2_SCALING: Rangefinder scaling

Note: This parameter is for advanced users

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment Units
0.001 meters/Volt

RNGFND2_OFFSET: rangefinder offset

Note: This parameter is for advanced users

Offset in volts for zero distance

Increment Units
0.001 Volts

RNGFND2_FUNCTION: Rangefinder function

Note: This parameter is for advanced users

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning
0 Linear
1 Inverted
2 Hyperbolic

RNGFND2_MIN_CM: Rangefinder minimum distance

Note: This parameter is for advanced users

Minimum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND2_MAX_CM: Rangefinder maximum distance

Note: This parameter is for advanced users

Maximum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND2_STOP_PIN: Rangefinder stop pin

Note: This parameter is for advanced users

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don’t interfere with each other.

Values
Value Meaning
-1 Not Used
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

RNGFND2_SETTLE: Sonar settle time

Note: This parameter is for advanced users

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.

Increment Units
1 milliseconds

RNGFND2_RMETRIC: Ratiometric

Note: This parameter is for advanced users

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning
0 No
1 Yes

RNGFND2_GNDCLEAR: Distance (in cm) from the second range finder to the ground

Note: This parameter is for advanced users

This parameter sets the expected range measurement(in cm) that the second range finder should return when the vehicle is on the ground.

Range Increment Units
0 - 127 1 centimeters

RNGFND2_ADDR: Bus address of second rangefinder

Note: This parameter is for advanced users

This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range Increment
0 - 127 1

RNGFND3_TYPE: Third Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning
0 None
1 Analog
2 APM2-MaxbotixI2C
3 APM2-PulsedLightI2C
4 PX4-I2C
5 PX4-PWM
6 BBB-PRU
7 LightWareI2C
8 LightWareSerial
9 Bebop
10 MAVLink
12 LeddarOne

RNGFND3_PIN: Rangefinder pin

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated ‘airspeed’ port on the end of the board. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values
Value Meaning
-1 Not Used
0 APM2-A0
1 APM2-A1
2 APM2-A2
3 APM2-A3
4 APM2-A4
5 APM2-A5
6 APM2-A6
7 APM2-A7
8 APM2-A8
9 APM2-A9
11 PX4-airspeed port
15 Pixhawk-airspeed port
64 APM1-airspeed port

RNGFND3_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Units Increment
meters/Volt 0.001

RNGFND3_OFFSET: rangefinder offset

Offset in volts for zero distance

Units Increment
Volts 0.001

RNGFND3_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning
0 Linear
1 Inverted
2 Hyperbolic

RNGFND3_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Units Increment
centimeters 1

RNGFND3_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Units Increment
centimeters 1

RNGFND3_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don’t interfere with each other.

Values
Value Meaning
-1 Not Used
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

RNGFND3_SETTLE: Sonar settle time

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.

Units Increment
milliseconds 1

RNGFND3_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning
0 No
1 Yes

RNGFND3_GNDCLEAR: Distance (in cm) from the third range finder to the ground

Note: This parameter is for advanced users

This parameter sets the expected range measurement(in cm) that the third range finder should return when the vehicle is on the ground.

Range Increment Units
0 - 127 1 centimeters

RNGFND3_ADDR: Bus address of third rangefinder

Note: This parameter is for advanced users

This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range Increment
0 - 127 1

RNGFND4_TYPE: Fourth Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning
0 None
1 Analog
2 APM2-MaxbotixI2C
3 APM2-PulsedLightI2C
4 PX4-I2C
5 PX4-PWM
6 BBB-PRU
7 LightWareI2C
8 LightWareSerial
9 Bebop
10 MAVLink
12 LeddarOne

RNGFND4_PIN: Rangefinder pin

Analog pin that rangefinder is connected to. Set this to 0..9 for the APM2 analog pins. Set to 64 on an APM1 for the dedicated ‘airspeed’ port on the end of the board. Set to 11 on PX4 for the analog ‘airspeed’ port. Set to 15 on the Pixhawk for the analog ‘airspeed’ port.

Values
Value Meaning
-1 Not Used
0 APM2-A0
1 APM2-A1
2 APM2-A2
3 APM2-A3
4 APM2-A4
5 APM2-A5
6 APM2-A6
7 APM2-A7
8 APM2-A8
9 APM2-A9
11 PX4-airspeed port
15 Pixhawk-airspeed port
64 APM1-airspeed port

RNGFND4_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Units Increment
meters/Volt 0.001

RNGFND4_OFFSET: rangefinder offset

Offset in volts for zero distance

Units Increment
Volts 0.001

RNGFND4_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning
0 Linear
1 Inverted
2 Hyperbolic

RNGFND4_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Units Increment
centimeters 1

RNGFND4_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Units Increment
centimeters 1

RNGFND4_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for an analog rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This can be used to ensure that multiple sonar rangefinders don’t interfere with each other.

Values
Value Meaning
-1 Not Used
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

RNGFND4_SETTLE: Sonar settle time

The time in milliseconds that the rangefinder reading takes to settle. This is only used when a STOP_PIN is specified. It determines how long we have to wait for the rangefinder to give a reading after we set the STOP_PIN high. For a sonar rangefinder with a range of around 7m this would need to be around 50 milliseconds to allow for the sonar pulse to travel to the target and back again.

Units Increment
milliseconds 1

RNGFND4_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning
0 No
1 Yes

RNGFND4_GNDCLEAR: Distance (in cm) from the fourth range finder to the ground

Note: This parameter is for advanced users

This parameter sets the expected range measurement(in cm) that the fourth range finder should return when the vehicle is on the ground.

Range Increment Units
0 - 127 1 centimeters

RNGFND4_ADDR: Bus address of fourth rangefinder

Note: This parameter is for advanced users

This sets the bus address of the sensor, where applicable. Used for the LightWare I2C sensor to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Range Increment
0 - 127 1

TERRAIN_ Parameters

TERRAIN_ENABLE: Terrain data enable

enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.

Values
Value Meaning
0 Disable
1 Enable

TERRAIN_SPACING: Terrain grid spacing

Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.

Units Increment
meters 1

FLOW Parameters

FLOW_ENABLE: Optical flow enable/disable

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

Values
Value Meaning
0 Disabled
1 Enabled

FLOW_FXSCALER: X axis optical flow scale factor correction

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

Range Increment
-200 - +200 1

FLOW_FYSCALER: Y axis optical flow scale factor correction

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

Range Increment
-200 - +200 1

FLOW_ORIENT_YAW: Flow sensor yaw alignment

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

Range Increment
-18000 - +18000 1

PLND_ Parameters

PLND_ENABLED: Precision Land enabled/disabled and behaviour

Note: This parameter is for advanced users

Precision Land enabled/disabled and behaviour

Values
Value Meaning
0 Disabled
1 Enabled Always Land
2 Enabled Strict

PLND_TYPE: Precision Land Type

Note: This parameter is for advanced users

Precision Land Type

Values
Value Meaning
0 None
1 CompanionComputer
2 IRLock

RPM Parameters

RPM_TYPE: RPM type

What type of RPM sensor is connected

Values
Value Meaning
0 None
1 PX4-PWM

RPM_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM_MAX: Maximum RPM

Maximum RPM to report

Increment
1

RPM_MIN: Minimum RPM

Minimum RPM to report

Increment
1

RPM_MIN_QUAL: Minimum Quality

Minimum data quality to be used

Increment
0.1

RPM2_TYPE: Second RPM type

What type of RPM sensor is connected

Values
Value Meaning
0 None
1 PX4-PWM

RPM2_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

ADSB_ Parameters

ADSB_ENABLE: Enable ADSB

Enable ADS-B

Values
Value Meaning
0 Disabled
1 Enabled

ADSB_LIST_MAX: ADSB vehicle list size

Note: This parameter is for advanced users

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

Range
1 - 100

ADSB_LIST_RADIUS: ADSB vehicle list radius filter

Note: This parameter is for advanced users

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

Range
1 - 100000

ADSB_ICAO_ID: ICAO_ID vehicle identifaction number

Note: This parameter is for advanced users

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

Range
-1 - 16777215

ADSB_EMIT_TYPE: Emitter type

Note: This parameter is for advanced users

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

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

ADSB_LEN_WIDTH: Aircraft length and width

Note: This parameter is for advanced users

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

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

ADSB_OFFSET_LAT: GPS antenna lateral offset

Note: This parameter is for advanced users

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

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

ADSB_OFFSET_LON: GPS antenna longitudinal offset

Note: This parameter is for advanced users

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

Values
Value Meaning
0 NO_DATA
1 AppliedBySensor

ADSB_RF_SELECT: Transceiver RF selection

Note: This parameter is for advanced users

Transceiver RF selection for Rx enable and/or Tx enable.

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

AVD_ Parameters

AVD_ENABLE: Enable Avoidance using ADSB

Note: This parameter is for advanced users

Enable Avoidance using ADSB

Values
Value Meaning
0 Disabled
1 Enabled

AVD_F_RCVRY: Recovery behaviour after a fail event

Note: This parameter is for advanced users

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

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

AVD_OBS_MAX: Maximum number of obstacles to track

Note: This parameter is for advanced users

Maximum number of obstacles to track

AVD_W_TIME: Time Horizon Warn

Note: This parameter is for advanced users

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

AVD_F_TIME: Time Horizon Fail

Note: This parameter is for advanced users

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

AVD_W_DIST_XY: Distance Warn XY

Note: This parameter is for advanced users

Closest allowed projected distance before W_ACTION is undertaken

AVD_F_DIST_XY: Distance Fail XY

Note: This parameter is for advanced users

Closest allowed projected distance before F_ACTION is undertaken

AVD_W_DIST_Z: Distance Warn Z

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_W is undertaken

AVD_F_DIST_Z: Distance Fail Z

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_F is undertaken

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. Only for Linux and PX4 based boards.

Values
Value Meaning
0 Disable
1 Enable

BTN_ Parameters

BTN_ENABLE: Enable button reporting

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

BTN_PIN1: First button Pin

Digital pin number for first button input.

Values
Value Meaning
-1 Disabled
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

BTN_PIN2: Second button Pin

Digital pin number for second button input.

Values
Value Meaning
-1 Disabled
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

BTN_PIN3: Third button Pin

Digital pin number for third button input.

Values
Value Meaning
-1 Disabled
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

BTN_PIN4: Fourth button Pin

Digital pin number for fourth button input.

Values
Value Meaning
-1 Disabled
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2

BTN_REPORT_SEND: Report send time

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

Range
0 - 3600

AFS_ Parameters

AFS_ENABLE: Enable Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_MAN_PIN: Manual Pin

Note: This parameter is for advanced users

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

AFS_HB_PIN: Heartbeat Pin

Note: This parameter is for advanced users

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

AFS_WP_COMMS: Comms Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

AFS_GPS_LOSS: GPS Loss Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

AFS_TERMINATE: Force Terminate

Note: This parameter is for advanced users

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

AFS_TERM_ACTION: Terminate action

Note: This parameter is for advanced users

This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. If set to 0 (which is the default) then no extra action is taken. If set to the magic value 42 then the plane will deliberately crash itself by setting maximum throws on all surfaces, and zero throttle

AFS_TERM_PIN: Terminate Pin

Note: This parameter is for advanced users

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

AFS_AMSL_LIMIT: AMSL limit

Note: This parameter is for advanced users

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

Units
meters

AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit

Note: This parameter is for advanced users

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

Units
meters

AFS_QNH_PRESSURE: QNH pressure

Note: This parameter is for advanced users

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

Units
millibar

AFS_MAX_GPS_LOSS: Maximum number of GPS loss events

Note: This parameter is for advanced users

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

AFS_MAX_COM_LOSS: Maximum number of comms loss events

Note: This parameter is for advanced users

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

AFS_GEOFENCE: Enable geofence Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_RC: Enable RC Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes

Note: This parameter is for advanced users

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

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

Note: This parameter is for advanced users

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

AFS_RC_FAIL_TIME: RC failure time

Note: This parameter is for advanced users

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

Units
seconds