Table of Contents¶
- Introduction
- First Time Setup
- Assembly
- Install Ground Station Software
- Loading Firmware
- Connect Mission Planner to AutoPilot
- Configuration
- Mandatory Hardware Configuration
- Configuration Values for Common Airframes
- ESC Calibration
- Four Channel Planes
- Elevon Planes
- VTail Planes
- Quadplanes
- Tailsitters
- Tilt-Rotors
- Differential Spoilers
- Flaperons
- Automatic Flaps
- Center of Gravity
- Controlling Input Throw, Trim and Reversal
- Meaning of Reversed
- Throttle Reversal
- Throttle Arming in Plane
- Advanced Failsafe Configuration
- Sensor Testing
- Airframe Setup Guides
- Migration from release 3.7 to 3.8
- First Flight
- Starting up and calibrating Plane
- Arming Plane
- Flight Modes
- Automatic Tuning
- Tuning Quickstart
- Manual Tuning
- Measuring Vibration
- Transmitter based tuning
- Flight Features
- Advanced Configuration
- CAN Bus Setup
- Compass Setup (Advanced)
- Extended Kalman Filter (EKF)
- Flight Time Recorder
- Fly-By-Wire Low Altitude Limit
- Magnetic Interference
- Parameter List (Full)
- ArduPlane Parameters
- FORMAT_VERSION: Eeprom format version number
- SYSID_THISMAV: MAVLink system ID of this vehicle
- SYSID_MYGCS: Ground station MAVLink system ID
- AUTOTUNE_LEVEL: Autotune level
- TELEM_DELAY: Telemetry startup delay
- GCS_PID_MASK: GCS PID tuning mask
- KFF_RDDRMIX: Rudder Mix
- KFF_THR2PTCH: Throttle to Pitch Mix
- STAB_PITCH_DOWN: Low throttle pitch down trim
- GLIDE_SLOPE_MIN: Glide slope minimum
- GLIDE_SLOPE_THR: Glide slope threshold
- STICK_MIXING: Stick Mixing
- AUTO_FBW_STEER: Use FBWA steering in AUTO
- TKOFF_THR_MINSPD: Takeoff throttle min speed
- TKOFF_THR_MINACC: Takeoff throttle min acceleration
- TKOFF_THR_DELAY: Takeoff throttle delay
- TKOFF_TDRAG_ELEV: Takeoff tail dragger elevator
- TKOFF_TDRAG_SPD1: Takeoff tail dragger speed1
- TKOFF_ROTATE_SPD: Takeoff rotate speed
- TKOFF_THR_SLEW: Takeoff throttle slew rate
- TKOFF_PLIM_SEC: Takeoff pitch limit reduction
- TKOFF_FLAP_PCNT: Takeoff flap percentage
- FBWA_TDRAG_CHAN: FBWA taildragger channel
- LEVEL_ROLL_LIMIT: Level flight roll limit
- USE_REV_THRUST: Bitmask for when to allow negative reverse thrust
- NAV_CONTROLLER: Navigation controller selection
- ALT_CTRL_ALG: Altitude control algorithm
- ALT_OFFSET: Altitude offset
- WP_RADIUS: Waypoint Radius
- WP_MAX_RADIUS: Waypoint Maximum Radius
- WP_LOITER_RAD: Waypoint Loiter Radius
- RTL_RADIUS: RTL loiter radius
- FENCE_ACTION: Action on geofence breach
- FENCE_TOTAL: Fence Total
- FENCE_CHANNEL: Fence Channel
- FENCE_MINALT: Fence Minimum Altitude
- FENCE_MAXALT: Fence Maximum Altitude
- FENCE_RETALT: Fence Return Altitude
- FENCE_AUTOENABLE: Fence automatic enable
- FENCE_RET_RALLY: Fence Return to Rally
- STALL_PREVENTION: Enable stall prevention
- ARSPD_FBW_MIN: Minimum Airspeed
- ARSPD_FBW_MAX: Maximum Airspeed
- FBWB_ELEV_REV: Fly By Wire elevator reverse
- TERRAIN_FOLLOW: Use terrain following
- TERRAIN_LOOKAHD: Terrain lookahead
- FBWB_CLIMB_RATE: Fly By Wire B altitude change rate
- THR_MIN: Minimum Throttle
- THR_MAX: Maximum Throttle
- TKOFF_THR_MAX: Maximum Throttle for takeoff
- THR_SLEWRATE: Throttle slew rate
- FLAP_SLEWRATE: Flap slew rate
- THR_SUPP_MAN: Throttle suppress manual passthru
- THR_PASS_STAB: Throttle passthru in stabilize
- THR_FAILSAFE: Throttle Failsafe Enable
- THR_FS_VALUE: Throttle Failsafe Value
- TRIM_THROTTLE: Throttle cruise percentage
- THROTTLE_NUDGE: Throttle nudge enable
- FS_SHORT_ACTN: Short failsafe action
- FS_SHORT_TIMEOUT: Short failsafe timeout
- FS_LONG_ACTN: Long failsafe action
- FS_LONG_TIMEOUT: Long failsafe timeout
- FS_GCS_ENABL: GCS failsafe enable
- FLTMODE_CH: Flightmode channel
- FLTMODE1: FlightMode1
- FLTMODE2: FlightMode2
- FLTMODE3: FlightMode3
- FLTMODE4: FlightMode4
- FLTMODE5: FlightMode5
- FLTMODE6: FlightMode6
- INITIAL_MODE: Initial flight mode
- LIM_ROLL_CD: Maximum Bank Angle
- LIM_PITCH_MAX: Maximum Pitch Angle
- LIM_PITCH_MIN: Minimum Pitch Angle
- ACRO_ROLL_RATE: ACRO mode roll rate
- ACRO_PITCH_RATE: ACRO mode pitch rate
- ACRO_LOCKING: ACRO mode attitude locking
- GROUND_STEER_ALT: Ground steer altitude
- GROUND_STEER_DPS: Ground steer rate
- TRIM_AUTO: Automatic trim adjustment
- MIXING_GAIN: Mixing Gain
- RUDDER_ONLY: Rudder only aircraft
- MIXING_OFFSET: Mixing Offset
- DSPOILR_RUD_RATE: Differential spoilers rudder rate
- SYS_NUM_RESETS: Num Resets
- LOG_BITMASK: Log bitmask
- RST_SWITCH_CH: Reset Switch Channel
- RST_MISSION_CH: Reset Mission Channel
- TRIM_ARSPD_CM: Target airspeed
- SCALING_SPEED: speed used for speed scaling calculations
- MIN_GNDSPD_CM: Minimum ground speed
- TRIM_PITCH_CD: Pitch angle offset
- ALT_HOLD_RTL: RTL altitude
- ALT_HOLD_FBWCM: Minimum altitude for FBWB mode
- MAG_ENABLE: Enable Compass
- FLAP_IN_CHANNEL: Flap input channel
- FLAP_1_PERCNT: Flap 1 percentage
- FLAP_1_SPEED: Flap 1 speed
- FLAP_2_PERCNT: Flap 2 percentage
- FLAP_2_SPEED: Flap 2 speed
- OVERRIDE_CHAN: PX4IO override channel
- OVERRIDE_SAFETY: PX4IO override safety switch
- INVERTEDFLT_CH: Inverted flight channel
- HIL_MODE: HIL mode enable
- HIL_SERVOS: HIL Servos enable
- HIL_ERR_LIMIT: Limit of error in HIL attitude before reset
- RTL_AUTOLAND: RTL auto land
- CRASH_ACC_THRESH: Crash Deceleration Threshold
- CRASH_DETECT: Crash Detection
- CHUTE_CHAN: Parachute release channel
- RNGFND_LANDING: Enable rangefinder for landing
- SYSID_ENFORCE: GCS sysid enforcement
- RUDD_DT_GAIN: rudder differential thrust gain
- MANUAL_RCMASK: Manual R/C pass-through mask
- HOME_RESET_ALT: Home reset altitude threshold
- ADSB_ Parameters
- ADSB_ENABLE: Enable ADSB
- ADSB_LIST_MAX: ADSB vehicle list size
- ADSB_LIST_RADIUS: ADSB vehicle list radius filter
- ADSB_ICAO_ID: ICAO_ID vehicle identification number
- ADSB_EMIT_TYPE: Emitter type
- ADSB_LEN_WIDTH: Aircraft length and width
- ADSB_OFFSET_LAT: GPS antenna lateral offset
- ADSB_OFFSET_LON: GPS antenna longitudinal offset
- ADSB_RF_SELECT: Transceiver RF selection
- ADSB_SQUAWK: Squawk code
- ADSB_RF_CAPABLE: RF capabilities
- AFS_ Parameters
- AFS_ENABLE: Enable Advanced Failsafe
- AFS_MAN_PIN: Manual Pin
- AFS_HB_PIN: Heartbeat Pin
- AFS_WP_COMMS: Comms Waypoint
- AFS_GPS_LOSS: GPS Loss Waypoint
- AFS_TERMINATE: Force Terminate
- AFS_TERM_ACTION: Terminate action
- AFS_TERM_PIN: Terminate Pin
- AFS_AMSL_LIMIT: AMSL limit
- AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit
- AFS_QNH_PRESSURE: QNH pressure
- AFS_MAX_GPS_LOSS: Maximum number of GPS loss events
- AFS_MAX_COM_LOSS: Maximum number of comms loss events
- AFS_GEOFENCE: Enable geofence Advanced Failsafe
- AFS_RC: Enable RC Advanced Failsafe
- AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes
- AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously
- AFS_RC_FAIL_TIME: RC failure time
- AHRS_ Parameters
- AHRS_GPS_GAIN: AHRS GPS gain
- AHRS_GPS_USE: AHRS use GPS for navigation
- AHRS_YAW_P: Yaw P
- AHRS_RP_P: AHRS RP_P
- AHRS_WIND_MAX: Maximum wind
- AHRS_TRIM_X: AHRS Trim Roll
- AHRS_TRIM_Y: AHRS Trim Pitch
- AHRS_TRIM_Z: AHRS Trim Yaw
- AHRS_ORIENTATION: Board Orientation
- AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient
- AHRS_GPS_MINSATS: AHRS GPS Minimum satellites
- AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation
- AHRS_CUSTOM_ROLL: Board orientation roll offset
- AHRS_CUSTOM_PIT: Board orientation pitch offset
- AHRS_CUSTOM_YAW: Board orientation yaw offset
- ARMING_ Parameters
- ARSPD Parameters
- ARSPD_TYPE: Airspeed type
- ARSPD_USE: Airspeed use
- ARSPD_OFFSET: Airspeed offset
- ARSPD_RATIO: Airspeed ratio
- ARSPD_PIN: Airspeed pin
- ARSPD_AUTOCAL: Automatic airspeed ratio calibration
- ARSPD_TUBE_ORDER: Control pitot tube order
- ARSPD_SKIP_CAL: Skip airspeed calibration on startup
- ARSPD_PSI_RANGE: The PSI range of the device
- ARSPD_BUS: Airspeed I2C bus
- ARSPD_PRIMARY: Primary airspeed sensor
- ARSPD2_TYPE: Second Airspeed type
- ARSPD2_USE: Enable use of 2nd airspeed sensor
- ARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor
- ARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor
- ARSPD2_PIN: Airspeed pin for 2nd airspeed sensor
- ARSPD2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor
- ARSPD2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor
- ARSPD2_SKIP_CAL: Skip airspeed calibration on startup for 2nd sensor
- ARSPD2_PSI_RANGE: The PSI range of the device for 2nd sensor
- ARSPD2_BUS: Airspeed I2C bus for 2nd sensor
- AVD_ Parameters
- AVD_ENABLE: Enable Avoidance using ADSB
- AVD_F_RCVRY: Recovery behaviour after a fail event
- AVD_OBS_MAX: Maximum number of obstacles to track
- AVD_W_TIME: Time Horizon Warn
- AVD_F_TIME: Time Horizon Fail
- AVD_W_DIST_XY: Distance Warn XY
- AVD_F_DIST_XY: Distance Fail XY
- AVD_W_DIST_Z: Distance Warn Z
- AVD_F_DIST_Z: Distance Fail Z
- AVD_F_ALT_MIN: ADS-B avoidance minimum altitude
- BATT2_ Parameters
- BATT2_MONITOR: Battery monitoring
- BATT2_VOLT_PIN: Battery Voltage sensing pin
- BATT2_CURR_PIN: Battery Current sensing pin
- BATT2_VOLT_MULT: Voltage Multiplier
- BATT2_AMP_PERVLT: Amps per volt
- BATT2_AMP_OFFSET: AMP offset
- BATT2_CAPACITY: Battery capacity
- BATT2_WATT_MAX: Maximum allowed power (Watts)
- BATT2_SERIAL_NUM: Battery serial number
- BATT2_LOW_TIMER: Low voltage timeout
- BATT2_FS_VOLTSRC: Failsafe voltage source
- BATT2_LOW_VOLT: Low battery voltage
- BATT2_LOW_MAH: Low battery capacity
- BATT2_CRT_VOLT: Critical battery voltage
- BATT2_CRT_MAH: Battery critical capacity
- BATT2_FS_LOW_ACT: Low battery failsafe action
- BATT2_FS_CRT_ACT: Critical battery failsafe action
- BATT_ Parameters
- BATT_MONITOR: Battery monitoring
- BATT_VOLT_PIN: Battery Voltage sensing pin
- BATT_CURR_PIN: Battery Current sensing pin
- BATT_VOLT_MULT: Voltage Multiplier
- BATT_AMP_PERVLT: Amps per volt
- BATT_AMP_OFFSET: AMP offset
- BATT_CAPACITY: Battery capacity
- BATT_WATT_MAX: Maximum allowed power (Watts)
- BATT_SERIAL_NUM: Battery serial number
- BATT_LOW_TIMER: Low voltage timeout
- BATT_FS_VOLTSRC: Failsafe voltage source
- BATT_LOW_VOLT: Low battery voltage
- BATT_LOW_MAH: Low battery capacity
- BATT_CRT_VOLT: Critical battery voltage
- BATT_CRT_MAH: Battery critical capacity
- BATT_FS_LOW_ACT: Low battery failsafe action
- BATT_FS_CRT_ACT: Critical battery failsafe action
- BRD_ Parameters
- BRD_PWM_COUNT: Auxiliary pin config
- BRD_SER1_RTSCTS: Serial 1 flow control
- BRD_SER2_RTSCTS: Serial 2 flow control
- BRD_SAFETYENABLE: Enable use of safety arming switch
- BRD_SBUS_OUT: SBUS output rate
- BRD_SERIAL_NUM: User-defined serial number
- BRD_SAFETY_MASK: Channels to which ignore the safety switch state
- BRD_IMU_TARGTEMP: Target IMU temperature
- BRD_TYPE: Board type
- BRD_IO_ENABLE: Enable IO co-processor
- BRD_SAFETYOPTION: Options for safety button behavior
- BRD_RADIO Parameters
- BRD_RADIO_TYPE: Set type of direct attached radio
- BRD_RADIO_PROT: protocol
- BRD_RADIO_DEBUG: debug level
- BRD_RADIO_DISCRC: disable receive CRC
- BRD_RADIO_SIGCH: RSSI signal strength
- BRD_RADIO_PPSCH: Packet rate channel
- BRD_RADIO_TELEM: Enable telemetry
- BRD_RADIO_TXPOW: Telemetry Transmit power
- BRD_RADIO_FCCTST: Put radio into FCC test mode
- BRD_RADIO_STKMD: Stick input mode
- BRD_RADIO_TESTCH: Set radio to factory test channel
- BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter
- BRD_RADIO_TPPSCH: Telemetry PPS channel
- BRD_RADIO_TXMAX: Transmitter transmit power
- BRD_RADIO_BZOFS: Transmitter buzzer adjustment
- BRD_RADIO_ABTIME: Auto-bind time
- BRD_RADIO_ABLVL: Auto-bind level
- BRD_RTC Parameters
- BTN_ Parameters
- CAM_ Parameters
- CAM_TRIGG_TYPE: Camera shutter (trigger) type
- CAM_DURATION: Duration that shutter is held open
- CAM_SERVO_ON: Servo ON PWM value
- CAM_SERVO_OFF: Servo OFF PWM value
- CAM_TRIGG_DIST: Camera trigger distance
- CAM_RELAY_ON: Relay ON value
- CAM_MIN_INTERVAL: Minimum time between photos
- CAM_MAX_ROLL: Maximum photo roll angle.
- CAM_FEEDBACK_PIN: Camera feedback pin
- CAM_FEEDBACK_POL: Camera feedback pin polarity
- CAM_AUTO_ONLY: Distance-trigging in AUTO mode only
- CAN_D1_ Parameters
- CAN_D1_UC_ Parameters
- CAN_D2_ Parameters
- CAN_D2_UC_ Parameters
- CAN_D3_ Parameters
- CAN_D3_UC_ Parameters
- CAN_P1_ Parameters
- CAN_P2_ Parameters
- CAN_P3_ Parameters
- CHUTE_ Parameters
- COMPASS_ Parameters
- COMPASS_OFS_X: Compass offsets in milligauss on the X axis
- COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis
- COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis
- COMPASS_DEC: Compass declination
- COMPASS_LEARN: Learn compass offsets automatically
- COMPASS_USE: Use compass for yaw
- COMPASS_AUTODEC: Auto Declination
- COMPASS_MOTCT: Motor interference compensation type
- COMPASS_MOT_X: Motor interference compensation for body frame X axis
- COMPASS_MOT_Y: Motor interference compensation for body frame Y axis
- COMPASS_MOT_Z: Motor interference compensation for body frame Z axis
- COMPASS_ORIENT: Compass orientation
- COMPASS_EXTERNAL: Compass is attached via an external cable
- COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis
- COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis
- COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis
- COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis
- COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis
- COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis
- COMPASS_PRIMARY: Choose primary compass
- COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis
- COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis
- COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis
- COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis
- COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis
- COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis
- COMPASS_DEV_ID: Compass device id
- COMPASS_DEV_ID2: Compass2 device id
- COMPASS_DEV_ID3: Compass3 device id
- COMPASS_USE2: Compass2 used for yaw
- COMPASS_ORIENT2: Compass2 orientation
- COMPASS_EXTERN2: Compass2 is attached via an external cable
- COMPASS_USE3: Compass3 used for yaw
- COMPASS_ORIENT3: Compass3 orientation
- COMPASS_EXTERN3: Compass3 is attached via an external cable
- COMPASS_DIA_X: Compass soft-iron diagonal X component
- COMPASS_DIA_Y: Compass soft-iron diagonal Y component
- COMPASS_DIA_Z: Compass soft-iron diagonal Z component
- COMPASS_ODI_X: Compass soft-iron off-diagonal X component
- COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component
- COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component
- COMPASS_DIA2_X: Compass2 soft-iron diagonal X component
- COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component
- COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component
- COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component
- COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component
- COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component
- COMPASS_DIA3_X: Compass3 soft-iron diagonal X component
- COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component
- COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component
- COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component
- COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component
- COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component
- COMPASS_CAL_FIT: Compass calibration fitness
- COMPASS_OFFS_MAX: Compass maximum offset
- COMPASS_TYPEMASK: Compass disable driver type mask
- COMPASS_FLTR_RNG: Range in which sample is accepted
- COMPASS_PMOT Parameters
- COMPASS_PMOT_EN: per-motor compass correction enable
- COMPASS_PMOT_EXP: per-motor exponential correction
- COMPASS_PMOT1_X: Compass per-motor1 X
- COMPASS_PMOT1_Y: Compass per-motor1 Y
- COMPASS_PMOT1_Z: Compass per-motor1 Z
- COMPASS_PMOT2_X: Compass per-motor2 X
- COMPASS_PMOT2_Y: Compass per-motor2 Y
- COMPASS_PMOT2_Z: Compass per-motor2 Z
- COMPASS_PMOT3_X: Compass per-motor3 X
- COMPASS_PMOT3_Y: Compass per-motor3 Y
- COMPASS_PMOT3_Z: Compass per-motor3 Z
- COMPASS_PMOT4_X: Compass per-motor4 X
- COMPASS_PMOT4_Y: Compass per-motor4 Y
- COMPASS_PMOT4_Z: Compass per-motor4 Z
- EK2_ Parameters
- EK2_ENABLE: Enable EKF2
- EK2_GPS_TYPE: GPS mode control
- EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
- EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
- EK2_VEL_I_GATE: GPS velocity innovation gate size
- EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)
- EK2_POS_I_GATE: GPS position measurement gate size
- EK2_GLITCH_RAD: GPS glitch radius gate size (m)
- EK2_GPS_DELAY: GPS measurement delay (msec)
- EK2_ALT_SOURCE: Primary altitude sensor source
- EK2_ALT_M_NSE: Altitude measurement noise (m)
- EK2_HGT_I_GATE: Height measurement gate size
- EK2_HGT_DELAY: Height measurement delay (msec)
- EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)
- EK2_MAG_CAL: Magnetometer default fusion mode
- EK2_MAG_I_GATE: Magnetometer measurement gate size
- EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
- EK2_EAS_I_GATE: Airspeed measurement gate size
- EK2_RNG_M_NSE: Range finder measurement noise (m)
- EK2_RNG_I_GATE: Range finder measurement gate size
- EK2_MAX_FLOW: Maximum valid optical flow rate
- EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)
- EK2_FLOW_I_GATE: Optical Flow measurement gate size
- EK2_FLOW_DELAY: Optical Flow measurement delay (msec)
- EK2_GYRO_P_NSE: Rate gyro noise (rad/s)
- EK2_ACC_P_NSE: Accelerometer noise (m/s^2)
- EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
- EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)
- EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
- EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)
- EK2_WIND_PSCALE: Height rate to wind process noise scaler
- EK2_GPS_CHECK: GPS preflight check
- EK2_IMU_MASK: Bitmask of active IMUs
- EK2_CHECK_SCALE: GPS accuracy check scaler (%)
- EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
- EK2_LOG_MASK: EKF sensor logging IMU mask
- EK2_YAW_M_NSE: Yaw measurement noise (rad)
- EK2_YAW_I_GATE: Yaw measurement gate size
- EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
- EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
- EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
- EK2_RNG_USE_HGT: Range finder switch height percentage
- EK2_TERR_GRAD: Maximum terrain gradient
- EK2_BCN_M_NSE: Range beacon measurement noise (m)
- EK2_BCN_I_GTE: Range beacon measurement gate size
- EK2_BCN_DELAY: Range beacon measurement delay (msec)
- EK2_RNG_USE_SPD: Range finder max ground speed
- EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
- EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction
- EK3_ Parameters
- EK3_ENABLE: Enable EKF3
- EK3_GPS_TYPE: GPS mode control
- EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)
- EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)
- EK3_VEL_I_GATE: GPS velocity innovation gate size
- EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)
- EK3_POS_I_GATE: GPS position measurement gate size
- EK3_GLITCH_RAD: GPS glitch radius gate size (m)
- EK3_ALT_SOURCE: Primary altitude sensor source
- EK3_ALT_M_NSE: Altitude measurement noise (m)
- EK3_HGT_I_GATE: Height measurement gate size
- EK3_HGT_DELAY: Height measurement delay (msec)
- EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)
- EK3_MAG_CAL: Magnetometer default fusion mode
- EK3_MAG_I_GATE: Magnetometer measurement gate size
- EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)
- EK3_EAS_I_GATE: Airspeed measurement gate size
- EK3_RNG_M_NSE: Range finder measurement noise (m)
- EK3_RNG_I_GATE: Range finder measurement gate size
- EK3_MAX_FLOW: Maximum valid optical flow rate
- EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)
- EK3_FLOW_I_GATE: Optical Flow measurement gate size
- EK3_FLOW_DELAY: Optical Flow measurement delay (msec)
- EK3_GYRO_P_NSE: Rate gyro noise (rad/s)
- EK3_ACC_P_NSE: Accelerometer noise (m/s^2)
- EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)
- EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)
- EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)
- EK3_WIND_PSCALE: Height rate to wind process noise scaler
- EK3_GPS_CHECK: GPS preflight check
- EK3_IMU_MASK: Bitmask of active IMUs
- EK3_CHECK_SCALE: GPS accuracy check scaler (%)
- EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)
- EK3_LOG_MASK: EKF sensor logging IMU mask
- EK3_YAW_M_NSE: Yaw measurement noise (rad)
- EK3_YAW_I_GATE: Yaw measurement gate size
- EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)
- EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)
- EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)
- EK3_RNG_USE_HGT: Range finder switch height percentage
- EK3_TERR_GRAD: Maximum terrain gradient
- EK3_BCN_M_NSE: Range beacon measurement noise (m)
- EK3_BCN_I_GTE: Range beacon measurement gate size
- EK3_BCN_DELAY: Range beacon measurement delay (msec)
- EK3_RNG_USE_SPD: Range finder max ground speed
- EK3_ACC_BIAS_LIM: Accelerometer bias limit
- EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion
- EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction
- EK3_VIS_VERR_MIN: Visual odometry minimum velocity error
- EK3_VIS_VERR_MAX: Visual odometry maximum velocity error
- EK3_WENC_VERR: Wheel odometry velocity error
- FLOW Parameters
- FLOW_ENABLE: Optical flow enable/disable
- FLOW_FXSCALER: X axis optical flow scale factor correction
- FLOW_FYSCALER: Y axis optical flow scale factor correction
- FLOW_ORIENT_YAW: Flow sensor yaw alignment
- FLOW_POS_X: X position offset
- FLOW_POS_Y: Y position offset
- FLOW_POS_Z: Z position offset
- FLOW_ADDR: Address on the bus
- GND_ Parameters
- GND_ABS_PRESS: Absolute Pressure
- GND_TEMP: ground temperature
- GND_ALT_OFFSET: altitude offset
- GND_PRIMARY: Primary barometer
- GND_EXT_BUS: External baro bus
- GND_SPEC_GRAV: Specific Gravity (For water depth measurement)
- GND_ABS_PRESS2: Absolute Pressure
- GND_ABS_PRESS3: Absolute Pressure
- GND_FLTR_RNG: Range in which sample is accepted
- GPS_ Parameters
- GPS_TYPE: GPS type
- GPS_TYPE2: 2nd GPS type
- GPS_NAVFILTER: Navigation filter setting
- GPS_AUTO_SWITCH: Automatic Switchover Setting
- GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS
- GPS_SBAS_MODE: SBAS Mode
- GPS_MIN_ELEV: Minimum elevation
- GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets
- GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask
- GPS_RAW_DATA: Raw data logging
- GPS_GNSS_MODE: GNSS system configuration
- GPS_SAVE_CFG: Save GPS configuration
- GPS_GNSS_MODE2: GNSS system configuration
- GPS_AUTO_CONFIG: Automatic GPS configuration
- GPS_RATE_MS: GPS update rate in milliseconds
- GPS_RATE_MS2: GPS 2 update rate in milliseconds
- GPS_POS1_X: Antenna X position offset
- GPS_POS1_Y: Antenna Y position offset
- GPS_POS1_Z: Antenna Z position offset
- GPS_POS2_X: Antenna X position offset
- GPS_POS2_Y: Antenna Y position offset
- GPS_POS2_Z: Antenna Z position offset
- GPS_DELAY_MS: GPS delay in milliseconds
- GPS_DELAY_MS2: GPS 2 delay in milliseconds
- GPS_BLEND_MASK: Multi GPS Blending Mask
- GPS_BLEND_TC: Blending time constant
- GRIP_ Parameters
- ICE_ Parameters
- ICE_ENABLE: Enable ICEngine control
- ICE_START_CHAN: Input channel for engine start
- ICE_STARTER_TIME: Time to run starter
- ICE_START_DELAY: Time to wait between starts
- ICE_RPM_THRESH: RPM threshold
- ICE_PWM_IGN_ON: PWM value for ignition on
- ICE_PWM_IGN_OFF: PWM value for ignition off
- ICE_PWM_STRT_ON: PWM value for starter on
- ICE_PWM_STRT_OFF: PWM value for starter off
- ICE_RPM_CHAN: RPM instance channel to use
- ICE_START_PCT: Throttle percentage for engine start
- INS_ Parameters
- INS_PRODUCT_ID: IMU Product ID
- INS_GYROFFS_X: Gyro offsets of X axis
- INS_GYROFFS_Y: Gyro offsets of Y axis
- INS_GYROFFS_Z: Gyro offsets of Z axis
- INS_GYR2OFFS_X: Gyro2 offsets of X axis
- INS_GYR2OFFS_Y: Gyro2 offsets of Y axis
- INS_GYR2OFFS_Z: Gyro2 offsets of Z axis
- INS_GYR3OFFS_X: Gyro3 offsets of X axis
- INS_GYR3OFFS_Y: Gyro3 offsets of Y axis
- INS_GYR3OFFS_Z: Gyro3 offsets of Z axis
- INS_ACCSCAL_X: Accelerometer scaling of X axis
- INS_ACCSCAL_Y: Accelerometer scaling of Y axis
- INS_ACCSCAL_Z: Accelerometer scaling of Z axis
- INS_ACCOFFS_X: Accelerometer offsets of X axis
- INS_ACCOFFS_Y: Accelerometer offsets of Y axis
- INS_ACCOFFS_Z: Accelerometer offsets of Z axis
- INS_ACC2SCAL_X: Accelerometer2 scaling of X axis
- INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis
- INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis
- INS_ACC2OFFS_X: Accelerometer2 offsets of X axis
- INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis
- INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis
- INS_ACC3SCAL_X: Accelerometer3 scaling of X axis
- INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis
- INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis
- INS_ACC3OFFS_X: Accelerometer3 offsets of X axis
- INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis
- INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis
- INS_GYRO_FILTER: Gyro filter cutoff frequency
- INS_ACCEL_FILTER: Accel filter cutoff frequency
- INS_USE: Use first IMU for attitude, velocity and position estimates
- INS_USE2: Use second IMU for attitude, velocity and position estimates
- INS_USE3: Use third IMU for attitude, velocity and position estimates
- INS_STILL_THRESH: Stillness threshold for detecting if we are moving
- INS_GYR_CAL: Gyro Calibration scheme
- INS_TRIM_OPTION: Accel cal trim option
- INS_ACC_BODYFIX: Body-fixed accelerometer
- INS_POS1_X: IMU accelerometer X position
- INS_POS1_Y: IMU accelerometer Y position
- INS_POS1_Z: IMU accelerometer Z position
- INS_POS2_X: IMU accelerometer X position
- INS_POS2_Y: IMU accelerometer Y position
- INS_POS2_Z: IMU accelerometer Z position
- INS_POS3_X: IMU accelerometer X position
- INS_POS3_Y: IMU accelerometer Y position
- INS_POS3_Z: IMU accelerometer Z position
- INS_GYR_ID: Gyro ID
- INS_GYR2_ID: Gyro2 ID
- INS_GYR3_ID: Gyro3 ID
- INS_ACC_ID: Accelerometer ID
- INS_ACC2_ID: Accelerometer2 ID
- INS_ACC3_ID: Accelerometer3 ID
- INS_FAST_SAMPLE: Fast sampling mask
- INS_LOG_ Parameters
- INS_NOTCH_ Parameters
- LAND_ Parameters
- LAND_SLOPE_RCALC: Landing slope re-calc threshold
- LAND_ABORT_DEG: Landing auto-abort slope threshold
- LAND_PITCH_CD: Landing Pitch
- LAND_FLARE_ALT: Landing flare altitude
- LAND_FLARE_SEC: Landing flare time
- LAND_PF_ALT: Landing pre-flare altitude
- LAND_PF_SEC: Landing pre-flare time
- LAND_PF_ARSPD: Landing pre-flare airspeed
- LAND_THR_SLEW: Landing throttle slew rate
- LAND_DISARMDELAY: Landing disarm delay
- LAND_THEN_NEUTRL: Set servos to neutral after landing
- LAND_ABORT_THR: Landing abort using throttle
- LAND_FLAP_PERCNT: Landing flap percentage
- LAND_TYPE: Auto-landing type
- LAND_DS_ Parameters
- LAND_DS_V_FWD: Deepstall forward velocity
- LAND_DS_SLOPE_A: Deepstall slope a
- LAND_DS_SLOPE_B: Deepstall slope b
- LAND_DS_APP_EXT: Deepstall approach extension
- LAND_DS_V_DWN: Deepstall veloicty down
- LAND_DS_SLEW_SPD: Deepstall slew speed
- LAND_DS_ELEV_PWM: Deepstall elevator PWM
- LAND_DS_ARSP_MAX: Deepstall enabled airspeed
- LAND_DS_ARSP_MIN: Deepstall minimum derating airspeed
- LAND_DS_L1: Deepstall L1 period
- LAND_DS_L1_I: Deepstall L1 I gain
- LAND_DS_AIL_SCL: Aileron landing gain scalaing
- LAND_DS_DS_ Parameters
- LOG Parameters
- LOG_BACKEND_TYPE: DataFlash Backend Storage type
- LOG_FILE_BUFSIZE: Maximum DataFlash File Backend buffer size (in kilobytes)
- LOG_DISARMED: Enable logging while disarmed
- LOG_REPLAY: Enable logging of information needed for Replay
- LOG_FILE_DSRMROT: Stop logging to current file on disarm
- LOG_MAV_BUFSIZE: Maximum DataFlash MAVLink Backend buffer size
- MIS_ Parameters
- MNT Parameters
- MNT_DEFLT_MODE: Mount default operating mode
- MNT_RETRACT_X: Mount roll angle when in retracted position
- MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position
- MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position
- MNT_NEUTRAL_X: Mount roll angle when in neutral position
- MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position
- MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position
- MNT_STAB_ROLL: Stabilize mount’s roll angle
- MNT_STAB_TILT: Stabilize mount’s pitch/tilt angle
- MNT_STAB_PAN: Stabilize mount pan/yaw angle
- MNT_RC_IN_ROLL: roll RC input channel
- MNT_ANGMIN_ROL: Minimum roll angle
- MNT_ANGMAX_ROL: Maximum roll angle
- MNT_RC_IN_TILT: tilt (pitch) RC input channel
- MNT_ANGMIN_TIL: Minimum tilt angle
- MNT_ANGMAX_TIL: Maximum tilt angle
- MNT_RC_IN_PAN: pan (yaw) RC input channel
- MNT_ANGMIN_PAN: Minimum pan angle
- MNT_ANGMAX_PAN: Maximum pan angle
- MNT_JSTICK_SPD: mount joystick speed
- MNT_LEAD_RLL: Roll stabilization lead time
- MNT_LEAD_PTCH: Pitch stabilization lead time
- MNT_TYPE: Mount Type
- MNT2_DEFLT_MODE: Mount default operating mode
- MNT2_RETRACT_X: Mount2 roll angle when in retracted position
- MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position
- MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position
- MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position
- MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position
- MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position
- MNT2_STAB_ROLL: Stabilize Mount2’s roll angle
- MNT2_STAB_TILT: Stabilize Mount2’s pitch/tilt angle
- MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle
- MNT2_RC_IN_ROLL: Mount2’s roll RC input channel
- MNT2_ANGMIN_ROL: Mount2’s minimum roll angle
- MNT2_ANGMAX_ROL: Mount2’s maximum roll angle
- MNT2_RC_IN_TILT: Mount2’s tilt (pitch) RC input channel
- MNT2_ANGMIN_TIL: Mount2’s minimum tilt angle
- MNT2_ANGMAX_TIL: Mount2’s maximum tilt angle
- MNT2_RC_IN_PAN: Mount2’s pan (yaw) RC input channel
- MNT2_ANGMIN_PAN: Mount2’s minimum pan angle
- MNT2_ANGMAX_PAN: Mount2’s maximum pan angle
- MNT2_LEAD_RLL: Mount2’s Roll stabilization lead time
- MNT2_LEAD_PTCH: Mount2’s Pitch stabilization lead time
- MNT2_TYPE: Mount2 Type
- NAVL1_ Parameters
- NTF_ Parameters
- PTCH2SRV_ Parameters
- Q_ Parameters
- Q_ENABLE: Enable QuadPlane
- Q_ANGLE_MAX: Angle Max
- Q_TRANSITION_MS: Transition time
- Q_VELZ_MAX: Pilot maximum vertical speed
- Q_ACCEL_Z: Pilot vertical acceleration
- Q_RC_SPEED: RC output speed in Hz
- Q_THR_MIN_PWM: Minimum PWM output
- Q_THR_MAX_PWM: Maximum PWM output
- Q_ASSIST_SPEED: Quadplane assistance speed
- Q_YAW_RATE_MAX: Maximum yaw rate
- Q_LAND_SPEED: Land speed
- Q_LAND_FINAL_ALT: Land final altitude
- Q_TRAN_PIT_MAX: Transition max pitch
- Q_FRAME_CLASS: Frame Class
- Q_FRAME_TYPE: Frame Type (+, X or V)
- Q_VFWD_GAIN: Forward velocity hold gain
- Q_WVANE_GAIN: Weathervaning gain
- Q_WVANE_MINROLL: Weathervaning min roll
- Q_RTL_ALT: QRTL return altitude
- Q_RTL_MODE: VTOL RTL mode
- Q_TILT_MASK: Tiltrotor mask
- Q_TILT_RATE_UP: Tiltrotor upwards tilt rate
- Q_TILT_MAX: Tiltrotor maximum VTOL angle
- Q_GUIDED_MODE: Enable VTOL in GUIDED mode
- Q_ESC_CAL: ESC Calibration
- Q_VFWD_ALT: Forward velocity alt cutoff
- Q_LAND_ICE_CUT: Cut IC engine on landing
- Q_ASSIST_ANGLE: Quadplane assistance angle
- Q_TILT_TYPE: Tiltrotor type
- Q_TAILSIT_ANGLE: Tailsitter transition angle
- Q_TILT_RATE_DN: Tiltrotor downwards tilt rate
- Q_TAILSIT_INPUT: Tailsitter input type
- Q_TAILSIT_MASK: Tailsitter input mask
- Q_TAILSIT_MASKCH: Tailsitter input mask channel
- Q_TAILSIT_VFGAIN: Tailsitter vector thrust gain in forward flight
- Q_TAILSIT_VHGAIN: Tailsitter vector thrust gain in hover
- Q_TILT_YAW_ANGLE: Tilt minimum angle for vectored yaw
- Q_TAILSIT_VHPOW: Tailsitter vector thrust gain power
- Q_MAV_TYPE: MAVLink type identifier
- Q_OPTIONS: quadplane options
- Q_TRANS_DECEL: Transition deceleration
- Q_A_ Parameters
- Q_A_SLEW_YAW: Yaw target slew rate
- Q_A_ACCEL_Y_MAX: Acceleration Max for Yaw
- Q_A_RATE_FF_ENAB: Rate Feedforward Enable
- Q_A_ACCEL_R_MAX: Acceleration Max for Roll
- Q_A_ACCEL_P_MAX: Acceleration Max for Pitch
- Q_A_ANGLE_BOOST: Angle Boost
- Q_A_ANG_RLL_P: Roll axis angle controller P gain
- Q_A_ANG_PIT_P: Pitch axis angle controller P gain
- Q_A_ANG_YAW_P: Yaw axis angle controller P gain
- Q_A_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant
- Q_A_RATE_R_MAX: Angular Velocity Max for Roll
- Q_A_RATE_P_MAX: Angular Velocity Max for Pitch
- Q_A_RATE_Y_MAX: Angular Velocity Max for Pitch
- Q_A_INPUT_TC: Attitude control input time constant (aka smoothing)
- Q_A_RAT_RLL_P: Roll axis rate controller P gain
- Q_A_RAT_RLL_I: Roll axis rate controller I gain
- Q_A_RAT_RLL_IMAX: Roll axis rate controller I gain maximum
- Q_A_RAT_RLL_D: Roll axis rate controller D gain
- Q_A_RAT_RLL_FF: Roll axis rate controller feed forward
- Q_A_RAT_RLL_FILT: Roll axis rate controller input frequency in Hz
- Q_A_RAT_PIT_P: Pitch axis rate controller P gain
- Q_A_RAT_PIT_I: Pitch axis rate controller I gain
- Q_A_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum
- Q_A_RAT_PIT_D: Pitch axis rate controller D gain
- Q_A_RAT_PIT_FF: Pitch axis rate controller feed forward
- Q_A_RAT_PIT_FILT: Pitch axis rate controller input frequency in Hz
- Q_A_RAT_YAW_P: Yaw axis rate controller P gain
- Q_A_RAT_YAW_I: Yaw axis rate controller I gain
- Q_A_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum
- Q_A_RAT_YAW_D: Yaw axis rate controller D gain
- Q_A_RAT_YAW_FF: Yaw axis rate controller feed forward
- Q_A_RAT_YAW_FILT: Yaw axis rate controller input frequency in Hz
- Q_A_THR_MIX_MIN: Throttle Mix Minimum
- Q_A_THR_MIX_MAX: Throttle Mix Maximum
- Q_A_THR_MIX_MAN: Throttle Mix Manual
- Q_LOIT_ Parameters
- Q_M_ Parameters
- Q_M_YAW_HEADROOM: Matrix Yaw Min
- Q_M_THST_EXPO: Thrust Curve Expo
- Q_M_SPIN_MAX: Motor Spin maximum
- Q_M_BAT_VOLT_MAX: Battery voltage compensation maximum voltage
- Q_M_BAT_VOLT_MIN: Battery voltage compensation minimum voltage
- Q_M_BAT_CURR_MAX: Motor Current Max
- Q_M_PWM_TYPE: Output PWM type
- Q_M_PWM_MIN: PWM output miniumum
- Q_M_PWM_MAX: PWM output maximum
- Q_M_SPIN_MIN: Motor Spin minimum
- Q_M_SPIN_ARM: Motor Spin armed
- Q_M_BAT_CURR_TC: Motor Current Max Time Constant
- Q_M_THST_HOVER: Thrust Hover Value
- Q_M_HOVER_LEARN: Hover Value Learning
- Q_M_SAFE_DISARM: Motor PWM output disabled when disarmed
- Q_M_YAW_SV_ANGLE: Yaw Servo Max Lean Angle
- Q_M_SPOOL_TIME: Spool up time
- Q_M_BOOST_SCALE: Motor boost scale
- Q_M_BAT_IDX: Battery compensation index
- Q_P_ Parameters
- Q_P__ACC_XY_FILT: XY Acceleration filter cutoff frequency
- Q_P__POSZ_P: Position (vertical) controller P gain
- Q_P__VELZ_P: Velocity (vertical) controller P gain
- Q_P__ACCZ_P: Acceleration (vertical) controller P gain
- Q_P__ACCZ_I: Acceleration (vertical) controller I gain
- Q_P__ACCZ_IMAX: Acceleration (vertical) controller I gain maximum
- Q_P__ACCZ_D: Acceleration (vertical) controller D gain
- Q_P__ACCZ_FILT: Acceleration (vertical) controller filter
- Q_P__POSXY_P: Position (horizonal) controller P gain
- Q_P__VELXY_P: Velocity (horizontal) P gain
- Q_P__VELXY_I: Velocity (horizontal) I gain
- Q_P__VELXY_D: Velocity (horizontal) D gain
- Q_P__VELXY_IMAX: Velocity (horizontal) integrator maximum
- Q_P__VELXY_FILT: Velocity (horizontal) input filter
- Q_P__VELXY_D_FILT: Velocity (horizontal) input filter
- Q_P__ANGLE_MAX: Position Control Angle Max
- Q_WP_ Parameters
- Q_WP_SPEED: Waypoint Horizontal Speed Target
- Q_WP_RADIUS: Waypoint Radius
- Q_WP_SPEED_UP: Waypoint Climb Speed Target
- Q_WP_SPEED_DN: Waypoint Descent Speed Target
- Q_WP_ACCEL: Waypoint Acceleration
- Q_WP_ACCEL_Z: Waypoint Vertical Acceleration
- Q_WP_RFND_USE: Waypoint missions use rangefinder for terrain following
- RALLY_ Parameters
- RC Parameters
- RC10_ Parameters
- RC11_ Parameters
- RC12_ Parameters
- RC13_ Parameters
- RC14_ Parameters
- RC15_ Parameters
- RC16_ Parameters
- RC1_ Parameters
- RC2_ Parameters
- RC3_ Parameters
- RC4_ Parameters
- RC5_ Parameters
- RC6_ Parameters
- RC7_ Parameters
- RC8_ Parameters
- RC9_ Parameters
- RCMAP_ Parameters
- RELAY_ Parameters
- RLL2SRV_ Parameters
- RNGFND Parameters
- RNGFND_TYPE: Rangefinder type
- RNGFND_PIN: Rangefinder pin
- RNGFND_SCALING: Rangefinder scaling
- RNGFND_OFFSET: rangefinder offset
- RNGFND_FUNCTION: Rangefinder function
- RNGFND_MIN_CM: Rangefinder minimum distance
- RNGFND_MAX_CM: Rangefinder maximum distance
- RNGFND_STOP_PIN: Rangefinder stop pin
- RNGFND_SETTLE: Rangefinder settle time
- RNGFND_RMETRIC: Ratiometric
- RNGFND_PWRRNG: Powersave range
- RNGFND_GNDCLEAR: Distance (in cm) from the range finder to the ground
- RNGFND_ADDR: Bus address of sensor
- RNGFND_POS_X: X position offset
- RNGFND_POS_Y: Y position offset
- RNGFND_POS_Z: Z position offset
- RNGFND_ORIENT: Rangefinder orientation
- RNGFND2_TYPE: Second Rangefinder type
- RNGFND2_PIN: Rangefinder pin
- RNGFND2_SCALING: Rangefinder scaling
- RNGFND2_OFFSET: rangefinder offset
- RNGFND2_FUNCTION: Rangefinder function
- RNGFND2_MIN_CM: Rangefinder minimum distance
- RNGFND2_MAX_CM: Rangefinder maximum distance
- RNGFND2_STOP_PIN: Rangefinder stop pin
- RNGFND2_SETTLE: Sonar settle time
- RNGFND2_RMETRIC: Ratiometric
- RNGFND2_GNDCLEAR: Distance (in cm) from the second range finder to the ground
- RNGFND2_ADDR: Bus address of second rangefinder
- RNGFND2_POS_X: X position offset
- RNGFND2_POS_Y: Y position offset
- RNGFND2_POS_Z: Z position offset
- RNGFND2_ORIENT: Rangefinder 2 orientation
- RNGFND3_TYPE: Third Rangefinder type
- RNGFND3_PIN: Rangefinder pin
- RNGFND3_SCALING: Rangefinder scaling
- RNGFND3_OFFSET: rangefinder offset
- RNGFND3_FUNCTION: Rangefinder function
- RNGFND3_MIN_CM: Rangefinder minimum distance
- RNGFND3_MAX_CM: Rangefinder maximum distance
- RNGFND3_STOP_PIN: Rangefinder stop pin
- RNGFND3_SETTLE: Sonar settle time
- RNGFND3_RMETRIC: Ratiometric
- RNGFND3_GNDCLEAR: Distance (in cm) from the third range finder to the ground
- RNGFND3_ADDR: Bus address of third rangefinder
- RNGFND3_POS_X: X position offset
- RNGFND3_POS_Y: Y position offset
- RNGFND3_POS_Z: Z position offset
- RNGFND3_ORIENT: Rangefinder 3 orientation
- RNGFND4_TYPE: Fourth Rangefinder type
- RNGFND4_PIN: Rangefinder pin
- RNGFND4_SCALING: Rangefinder scaling
- RNGFND4_OFFSET: rangefinder offset
- RNGFND4_FUNCTION: Rangefinder function
- RNGFND4_MIN_CM: Rangefinder minimum distance
- RNGFND4_MAX_CM: Rangefinder maximum distance
- RNGFND4_STOP_PIN: Rangefinder stop pin
- RNGFND4_SETTLE: Sonar settle time
- RNGFND4_RMETRIC: Ratiometric
- RNGFND4_GNDCLEAR: Distance (in cm) from the fourth range finder to the ground
- RNGFND4_ADDR: Bus address of fourth rangefinder
- RNGFND4_POS_X: X position offset
- RNGFND4_POS_Y: Y position offset
- RNGFND4_POS_Z: Z position offset
- RNGFND4_ORIENT: Rangefinder 4 orientation
- RNGFND2_ Parameters
- RNGFND3_ Parameters
- RNGFND4_ Parameters
- RNGFND_ Parameters
- RPM Parameters
- RSSI_ Parameters
- SCHED_ Parameters
- SERIAL Parameters
- SERIAL0_BAUD: Serial0 baud rate
- SERIAL0_PROTOCOL: Console protocol selection
- SERIAL1_PROTOCOL: Telem1 protocol selection
- SERIAL1_BAUD: Telem1 Baud Rate
- SERIAL2_PROTOCOL: Telemetry 2 protocol selection
- SERIAL2_BAUD: Telemetry 2 Baud Rate
- SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection
- SERIAL3_BAUD: Serial 3 (GPS) Baud Rate
- SERIAL4_PROTOCOL: Serial4 protocol selection
- SERIAL4_BAUD: Serial 4 Baud Rate
- SERIAL5_PROTOCOL: Serial5 protocol selection
- SERIAL5_BAUD: Serial 5 Baud Rate
- SERVO Parameters
- SERVO10_ Parameters
- SERVO11_ Parameters
- SERVO12_ Parameters
- SERVO13_ Parameters
- SERVO14_ Parameters
- SERVO15_ Parameters
- SERVO16_ Parameters
- SERVO1_ Parameters
- SERVO2_ Parameters
- SERVO3_ Parameters
- SERVO4_ Parameters
- SERVO5_ Parameters
- SERVO6_ Parameters
- SERVO7_ Parameters
- SERVO8_ Parameters
- SERVO9_ Parameters
- SERVO_BLH_ Parameters
- SERVO_SBUS_ Parameters
- SERVO_VOLZ_ Parameters
- SOAR_ Parameters
- SOAR_ENABLE: Is the soaring mode enabled or not
- SOAR_VSPEED: Vertical v-speed
- SOAR_DIST_AHEAD: Distance to thermal center
- SOAR_MIN_THML_S: Minimum thermalling time
- SOAR_MIN_CRSE_S: Minimum cruising time
- SOAR_POLAR_K: Cl factor
- SOAR_ALT_MAX: Maximum soaring altitude, relative to the home location
- SOAR_ALT_MIN: Minimum soaring altitude, relative to the home location
- SOAR_ALT_CUTOFF: Maximum power altitude, relative to the home location
- SOAR_ENABLE_CH: (Optional) RC channel that toggles the soaring controller on and off
- SR0_ Parameters
- SR0_RAW_SENS: Raw sensor stream rate
- SR0_EXT_STAT: Extended status stream rate to ground station
- SR0_RC_CHAN: RC Channel stream rate to ground station
- SR0_RAW_CTRL: Raw Control stream rate to ground station
- SR0_POSITION: Position stream rate to ground station
- SR0_EXTRA1: Extra data type 1 stream rate to ground station
- SR0_EXTRA2: Extra data type 2 stream rate to ground station
- SR0_EXTRA3: Extra data type 3 stream rate to ground station
- SR0_PARAMS: Parameter stream rate to ground station
- SR0_ADSB: ADSB stream rate to ground station
- SR1_ Parameters
- SR1_RAW_SENS: Raw sensor stream rate
- SR1_EXT_STAT: Extended status stream rate to ground station
- SR1_RC_CHAN: RC Channel stream rate to ground station
- SR1_RAW_CTRL: Raw Control stream rate to ground station
- SR1_POSITION: Position stream rate to ground station
- SR1_EXTRA1: Extra data type 1 stream rate to ground station
- SR1_EXTRA2: Extra data type 2 stream rate to ground station
- SR1_EXTRA3: Extra data type 3 stream rate to ground station
- SR1_PARAMS: Parameter stream rate to ground station
- SR1_ADSB: ADSB stream rate to ground station
- SR2_ Parameters
- SR2_RAW_SENS: Raw sensor stream rate
- SR2_EXT_STAT: Extended status stream rate to ground station
- SR2_RC_CHAN: RC Channel stream rate to ground station
- SR2_RAW_CTRL: Raw Control stream rate to ground station
- SR2_POSITION: Position stream rate to ground station
- SR2_EXTRA1: Extra data type 1 stream rate to ground station
- SR2_EXTRA2: Extra data type 2 stream rate to ground station
- SR2_EXTRA3: Extra data type 3 stream rate to ground station
- SR2_PARAMS: Parameter stream rate to ground station
- SR2_ADSB: ADSB stream rate to ground station
- SR3_ Parameters
- SR3_RAW_SENS: Raw sensor stream rate
- SR3_EXT_STAT: Extended status stream rate to ground station
- SR3_RC_CHAN: RC Channel stream rate to ground station
- SR3_RAW_CTRL: Raw Control stream rate to ground station
- SR3_POSITION: Position stream rate to ground station
- SR3_EXTRA1: Extra data type 1 stream rate to ground station
- SR3_EXTRA2: Extra data type 2 stream rate to ground station
- SR3_EXTRA3: Extra data type 3 stream rate to ground station
- SR3_PARAMS: Parameter stream rate to ground station
- SR3_ADSB: ADSB stream rate to ground station
- STAT Parameters
- STEER2SRV_ Parameters
- STEER2SRV_TCONST: Steering Time Constant
- STEER2SRV_P: Steering turning gain
- STEER2SRV_I: Integrator Gain
- STEER2SRV_D: Damping Gain
- STEER2SRV_IMAX: Integrator limit
- STEER2SRV_MINSPD: Minimum speed
- STEER2SRV_FF: Steering feed forward
- STEER2SRV_DRTSPD: Derating speed
- STEER2SRV_DRTFCT: Derating factor
- STEER2SRV_DRTMIN: Minimum angle of wheel
- TECS_ Parameters
- TECS_CLMB_MAX: Maximum Climb Rate (metres/sec)
- TECS_SINK_MIN: Minimum Sink Rate (metres/sec)
- TECS_TIME_CONST: Controller time constant (sec)
- TECS_THR_DAMP: Controller throttle damping
- TECS_INTEG_GAIN: Controller integrator
- TECS_VERT_ACC: Vertical Acceleration Limit (metres/sec^2)
- TECS_HGT_OMEGA: Height complementary filter frequency (radians/sec)
- TECS_SPD_OMEGA: Speed complementary filter frequency (radians/sec)
- TECS_RLL2THR: Bank angle compensation gain
- TECS_SPDWEIGHT: Weighting applied to speed control
- TECS_PTCH_DAMP: Controller pitch damping
- TECS_SINK_MAX: Maximum Descent Rate (metres/sec)
- TECS_LAND_ARSPD: Airspeed during landing approach (m/s)
- TECS_LAND_THR: Cruise throttle during landing approach (percentage)
- TECS_LAND_SPDWGT: Weighting applied to speed control during landing.
- TECS_PITCH_MAX: Maximum pitch in auto flight
- TECS_PITCH_MIN: Minimum pitch in auto flight
- TECS_LAND_SINK: Sink rate for final landing stage
- TECS_LAND_TCONST: Land controller time constant (sec)
- TECS_LAND_DAMP: Controller sink rate to pitch gain during flare
- TECS_LAND_PMAX: Maximum pitch during final stage of landing
- TECS_APPR_SMAX: Sink rate max for landing approach stage
- TECS_LAND_SRC: Land sink rate change
- TECS_LAND_TDAMP: Controller throttle damping when landing
- TECS_LAND_IGAIN: Controller integrator during landing
- TECS_TKOFF_IGAIN: Controller integrator during takeoff
- TECS_LAND_PDAMP: Pitch damping gain when landing
- TECS_SYNAIRSPEED: Enable the use of synthetic airspeed
- TERRAIN_ Parameters
- TUNE_ Parameters
- TUNE_PARAM: Transmitter tuning parameter or set of parameters
- TUNE_CHAN: Transmitter tuning channel
- TUNE_CHAN_MIN: Transmitter tuning channel minimum pwm
- TUNE_CHAN_MAX: Transmitter tuning channel maximum pwm
- TUNE_SELECTOR: Transmitter tuning selector channel
- TUNE_RANGE: Transmitter tuning range
- TUNE_MODE_REVERT: Revert on mode change
- TUNE_ERR_THRESH: Controller error threshold
- YAW2SRV_ Parameters
- ArduPlane Parameters
- Parameter Reset
- RC Input Channel Mapping (RCMAP)
- RC Output Channel Mapping
- Sensor Position Offset Compensation
- Sensor Testing
- Telemetry / Serial Port Setup
- UAVCAN Setup
- Vibration Damping
- QuadPlane Support
- Mission Planning
- Planning a Mission with Waypoints and Events
- Mission Command List
- Overview
- Commands supported by Plane
- Navigation commands
- MAV_CMD_NAV_WAYPOINT
- MAV_CMD_NAV_TAKEOFF
- MAV_CMD_NAV_LOITER_UNLIM
- MAV_CMD_NAV_LOITER_TURNS
- MAV_CMD_NAV_LOITER_TIME
- MAV_CMD_NAV_RETURN_TO_LAUNCH
- MAV_CMD_NAV_LAND
- MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT
- MAV_CMD_NAV_SPLINE_WAYPOINT
- MAV_CMD_NAV_GUIDED_ENABLE
- MAV_CMD_NAV_ALTITUDE_WAIT
- MAV_CMD_NAV_LOITER_TO_ALT
- MAV_CMD_DO_JUMP
- Conditional commands
- DO commands
- MAV_CMD_DO_SET_MODE
- MAV_CMD_DO_CHANGE_SPEED
- MAV_CMD_DO_SET_HOME
- MAV_CMD_DO_SET_RELAY
- MAV_CMD_DO_REPEAT_RELAY
- MAV_CMD_DO_SET_SERVO
- MAV_CMD_DO_REPEAT_SERVO
- MAV_CMD_DO_LAND_START
- MAV_CMD_DO_SET_ROI
- MAV_CMD_DO_DIGICAM_CONFIGURE
- MAV_CMD_DO_DIGICAM_CONTROL
- MAV_CMD_DO_MOUNT_CONTROL
- MAV_CMD_DO_SET_CAM_TRIGG_DIST
- MAV_CMD_DO_FENCE_ENABLE
- MAV_CMD_DO_PARACHUTE
- MAV_CMD_DO_INVERTED_FLIGHT
- MAV_CMD_DO_GRIPPER
- MAV_CMD_DO_GUIDED_LIMITS
- MAV_CMD_DO_AUTOTUNE_ENABLE
- Camera Control and Auto Missions
- Rally Points
- Geotagging Images with Mission Planner
- Terrain Following
- Logs
- Optional Hardware
- ADS-B Receiver
- Airspeed Sensor
- Battery Monitors (aka Power Modules)
- Buzzer
- Cameras & Gimbals
- Companion Computers
- Display (Onboard)
- DShot and BLHeli pass-through support
- eCalc Motor and Prop Efficiency Guide
- GPS/Compass
- Mayan Robotics M8N Gps+Compass Module
- JDrones GPS Options
- Emlid Reach RTK Receiver
- Here+ RTK Receiver
- Where to buy
- Connecting the vehicle and base station GPSs
- Installing the Drivers
- Upgrading to U-blox 1.30 Firmware
- Downloading U-centre UI and 1.30 Firmware
- Connect your HERE+ Base and Rover to Computer
- Upgrading Process
- Check current Rover/Base firmware version
- Basic opperating manual
- Base module setting using Mission Planner
- Rover Module and Flight Controller Setup
- Use U-centre for live data recording/replaying
- Use U-Centre for debugging/advanced configuration
- Change Base Antenna and Testing
- Swift Navigation’s Piksi Multi RTK GPS Receiver
- Septentrio AsteRx-mUAS RTK GPS
- Trimble BD930 RTK GPS
- Zubax GNSS 2: GNSS + Compass + Barometer
- GPS Blending (aka Dual GPS)
- GPS – How it Works
- Grippers
- LEDs (external)
- Optical Flow Sensor
- PX4FLOW
- Overview
- Install Drivers (Windows only)
- Using MissionPlanner
- Using QGroundControl
- Connect to the Pixhawk
- Mounting to the Frame
- Enabling the sensor
- Testing the sensor
- Calibrating the sensor
- Range Sensor Check
- Pre-Arm checks
- First Flight (Copter Only)
- Second Flight (Copter only)
- Example Video (Copter-3.4)
- ADNS3080 Mouse Sensor (no longer supported)
- PX4FLOW
- OSD for FPV
- Power Tether
- PPM Encoder
- Rangefinders (Sonar, Lidar)
- Attollo Engineering Wasp200
- Benewake TF02
- Benewake TFmini
- EchoLogger ECT400
- LightWare SF20 / LW20 Lidar
- LightWare SF10 / SF11 Lidar
- Lightware SF02 Lidar
- Lightware SF40c (360 degree)
- Maxbotic I2C Sonar
- Maxbotic Analog Sonar
- TeraRanger One Rangefinder
- TerraRanger Tower (360 degree)
- Leddar One Lidar
- LIDAR-Lite
- RPLidar A2 360 degree laser scanner
- ST VL53L0X Lidar
- Received Signal Strength Indication (RSSI)
- Viewing RSSI value in the Mission Planner HUD
- How to utilize Futaba S.BUS2 “Frame Error Rate” information to be used as RSSI in your flight controller
- Provide RSSI from FrSky receiver to APM.
- Complete System with RSSI addition
- RSSI Filter
- RSSI Connections
- RSSI embedded in PWM from UHF systems (Pixhawk & Cube)
- Relay Switch
- Safety Switch
- SBus Out
- Servo
- Telemetry Radio
- Bluetooth
- ESP8266 wifi telemetry
- FlightDeck FrSky Transmitter App
- FrSky telemetry
- Passthrough FrSky Telemetry
- FlightDeck
- FrSky Telemetry Using Repurposed Messages
- Configuration with OpenTX
- Configuration with ErSky9x
- MavLink to FrSky Telemetry Converters
- Protocol Information
- Hardware Selection Guide
- Connecting Equipment to the SmartPort Bus
- FrSky Telemetry Configuration in Mission Planner
- OpenTX Scripts
- Turnigy 9XR Pro
- RFD900
- Robsense SwarmLink
- SiK Radio v2
- XBee
- Telemetry Radio Regional Regulations
- SiK Radio configuration
- SiK Radio advanced configuration
- Monitoring the link quality
- Diagnosing range problems
- Serial and air rates ‘one byte form’
- Choosing the air data rate
- Error correction
- MAVLink framing
- MAVLink reporting
- Power levels
- Using the AT command set
- Available frequency ranges
- DUTY_CYCLE setting
- Low latency mode
- Listen Before Talk (LBT)
- Upgrading radio firmware
- Using a FTDI-to-USB cable to configure SiK radios
- Forcing bootloader mode
- Technical Details
- SiK Radio v1
- UAVCAN ESCs
- AutoPilot Hardware
- Use-Cases and Applications
- Antenna Tracking
- Simulation
- Appendix
- Wiki Editing Guide
- Wiki Infrastructure
- Making a quick edit
- Making a big edit
- Creating a new wiki page
- How to get changes approved
- Building/testing docs locally
- RST editing/previewing
- Working with common pages
- General Editing/Style Guide
- Code
- Archiving topics
- Deleting wiki pages
- Legal information
- Translating wiki pages
- FAQ
- Acknowledgments
- Commercial Support
- Donating to ArduPilot
- Glossary
- History of ArduPilot
- Partners
- Ready-To-Use vehicles
- Stores
- Top Contributors
- Advanced user tools (downloads)
- Tools
- Tarot Gimbal firmware
- Copter Firmware
- Rover Firmware
- 3DR PPM Encoder V3 Manual
- USB Driver for PX4 Boards
- 3DR-uBlox configuration file
- APM2 / Ublox passthrough
- ArduCAM OSD Config (For MinimOSD’s Firmware v2.0)
- ArduCopter APM 1.0 Firmware
- ArduCopter APM 2.x Firmware
- ArduPPM Encoder 3DR Manual v2.3.16.pdf
- ArduPPM v2.3.16 ATMega32U2 firmware for APM 2.x (recommended APM2.x)
- ArduPPM v2.3.16 ATMega328p firmware for APM1.x Copter and standalone PPM encoder.
- ArduPPM v2.3.16 ATMega328p firmware for APM1.x Plane and standalone PPM encoder.
- ArduPPM v2.3.16 ATMega32U2 firmware for APM 2.x
- MediaTek GPS firmware update and utility
- MinimOSD Firmware v2.0
- MinimOSD Firmware v2.2 (Beta) - New Flight Modes
- OpticalFlow test sketch / APM2
- PX4Flow-KLT
- USB Driver for APM 2
- License
- Safety
- Tools
- Developer tools (downloads)
- Tools
- Odroid Ubuntu 14.04 hostapd
- Arduino code to test an airspeed sensor
- Arduino 1.0.3 with modifications required for ArduPilot (Mac OS X)
- ArduPilot-Arduino-1.0.3-windows.zip
- CrossTrack demo (flash version)
- Data dump of three attitude solutions
- Declination Lookup - Test EMM
- mavproxybeta1.msi
- mavproxyBetaNoNeworkTest.msi
- Serial port test program
- License
- Safety
- Tools
- Firmware (downloads)
- Common Airframe Builds
- Plane News
- Training Centers
- Archived Topics
- Wiki Editing Guide
- Fixed Wing FAQ
- How do you stop a Nitro plane from cutting the engine in flight?
- How do you prevent the servo demo and have faster startups?
- Tuning is too difficult, how do I make it easier?
- How do I setup reverse throttle on a IC plane?
- What happens if an airspeed sensor fails in flight?
- Why don’t my surfaces move enough with FLAPERON_OUTPUT, VTAIL_OUTPUT or ELEVON_OUTPUT?
- How do I get a good flare in automatic landing?
- How do I reset all parameters to defaults?
- What does “Bad AHRS” mean on a ground station?
- How do I reduce throttle oscillation in auto flight?
- Why do I get small surface movements in ground tests?
- How would I setup crow flaps?
- Why do my servos jitter when on the ground?
- How is airspeed used with no airspeed sensor?
- Why does my trim change when I change modes?
- Full Table of Contents