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.

ArduPlane Parameters

FORMAT_VERSION: Eeprom format version number

Note: This parameter is for advanced users

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

AUTOTUNE_LEVEL: Autotune level

Level of aggressiveness for autotune. When autotune is run a lower AUTOTUNE_LEVEL will result in a ‘softer’ tune, with less aggressive gains. For most users a level of 6 is recommended.

Range Increment
1 - 10 1

TELEM_DELAY: Telemetry startup delay

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
Bit Meaning
0 Roll
1 Pitch
2 Yaw
3 Steering
4 Landing

KFF_RDDRMIX: Rudder Mix

The amount of rudder mix to apply during aileron movement 0 = 0 %, 1 = 100%

Range Increment
0 - 1 0.01

KFF_THR2PTCH: Throttle to Pitch Mix

Note: This parameter is for advanced users

Throttle to pitch feed-forward gain.

Range Increment
0 - 5 0.01

STAB_PITCH_DOWN: Low throttle pitch down trim

Note: This parameter is for advanced users

This controls the amount of down pitch to add in FBWA and AUTOTUNE modes when at low throttle. No down trim is added when throttle is above TRIM_THROTTLE. Below TRIM_THROTTLE downtrim is added in proportion to the amount the throttle is below TRIM_THROTTLE. At zero throttle the full downpitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying in FBWA mode with low throttle, such as when on a landing approach, without relying on an airspeed sensor. A value of 2 degrees is good for many planes, although a higher value may be needed for high drag aircraft.

Range Increment Units
0 - 15 0.1 degrees

GLIDE_SLOPE_MIN: Glide slope minimum

Note: This parameter is for advanced users

This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don’t want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude.

Range Increment Units
0 - 1000 1 meters

GLIDE_SLOPE_THR: Glide slope threshold

Note: This parameter is for advanced users

This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff

Range Increment Units
0 - 100 1 meters

STICK_MIXING: Stick Mixing

Note: This parameter is for advanced users

When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use “fly by wire” mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode.

Values
Value Meaning
0 Disabled
1 FBWMixing
2 DirectMixing

AUTO_FBW_STEER: Use FBWA steering in AUTO

Note: This parameter is for advanced users

When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. THIS OPTION IS NOT RECOMMENDED FOR NORMAL USE.

Values
Value Meaning
0 Disabled
42 Enabled

TKOFF_THR_MINSPD: Takeoff throttle min speed

Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.

Range Increment Units
0 - 30 0.1 meters per second

TKOFF_THR_MINACC: Takeoff throttle min acceleration

Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15.

Range Increment Units
0 - 30 0.1 meters per square second

TKOFF_THR_DELAY: Takeoff throttle delay

This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started.

Range Increment Units
0 - 127 1 deciseconds

TKOFF_TDRAG_ELEV: Takeoff tail dragger elevator

This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial “tail hold” stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn’t grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.

Range Increment Units
-100 - 100 1 percent

TKOFF_TDRAG_SPD1: Takeoff tail dragger speed1

This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to “rotate” the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.

Range Increment Units
0 - 30 0.1 meters per second

TKOFF_ROTATE_SPD: Takeoff rotate speed

This parameter sets the airspeed at which the aircraft will “rotate”, setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent

Range Increment Units
0 - 30 0.1 meters per second

TKOFF_THR_SLEW: Takeoff throttle slew rate

This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff.

Range Increment Units
-1 - 127 1 percent per second

TKOFF_PLIM_SEC: Takeoff pitch limit reduction

Note: This parameter is for advanced users

This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be.

Range Increment Units
0 - 10 0.5 seconds

TKOFF_FLAP_PCNT: Takeoff flap percentage

Note: This parameter is for advanced users

The amount of flaps (as a percentage) to apply in automatic takeoff

Range Units
0 - 100 percent

FBWA_TDRAG_CHAN: FBWA taildragger channel

This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option.

LEVEL_ROLL_LIMIT: Level flight roll limit

This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach.

Range Increment Units
0 - 45 1 degrees

USE_REV_THRUST: Bitmask for when to allow negative reverse thrust

Note: This parameter is for advanced users

This controls when to use reverse thrust. If set to zero then reverse thrust is never used. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. Note that reverse thrust is only ever auto-enabled in auto-throttle modes. In modes where throttle control is pilot controlled the ability to do reverse thrust is controlled by throttle stick input. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages.

Bitmask Values
Bit Meaning
0 AUTO_ALWAYS
1 AUTO_LAND
2 AUTO_LOITER_TO_ALT
3 AUTO_LOITER_ALL
4 AUTO_WAYPOINTS
5 LOITER
6 RTL
7 CIRCLE
8 CRUISE
9 FBWB
10 GUIDED
Value Meaning
0 Never
1 AutoAlways
2 AutoLanding

ALT_CTRL_ALG: Altitude control algorithm

Note: This parameter is for advanced users

This sets what algorithm will be used for altitude control. The default is zero, which selects the most appropriate algorithm for your airframe. Currently the default is to use TECS (total energy control system). From time to time we will add other experimental altitude control algorithms which will be selected using this parameter.

Values
Value Meaning
0 Automatic

ALT_OFFSET: Altitude offset

Note: This parameter is for advanced users

This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission

Range Increment Units
-32767 - 32767 1 meters

WP_RADIUS: Waypoint Radius

Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a “finish line” passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.

Range Increment Units
1 - 32767 1 meters

WP_MAX_RADIUS: Waypoint Maximum Radius

Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the “cross the finish line” logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.

Range Increment Units
0 - 32767 1 meters

WP_LOITER_RAD: Waypoint Loiter Radius

Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise.

Range Increment Units
-32767 - 32767 1 meters

RTL_RADIUS: RTL loiter radius

Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used.

Range Increment Units
-32767 - 32767 1 meters

FENCE_ACTION: Action on geofence breach

What to do on fence breach. If this is set to 0 then no action is taken, and geofencing is disabled. If this is set to 1 then the plane will enter GUIDED mode, with the target waypoint as the fence return point. If this is set to 2 then the fence breach is reported to the ground station, but no other action is taken. If set to 3 then the plane enters guided mode but the pilot retains manual throttle control. If set to 4 the plane enters RTL mode, with the target waypoint as the closest rally point (or home point if there are no rally points).

Values
Value Meaning
0 None
1 GuidedMode
2 ReportOnly
3 GuidedModeThrPass
4 RTL_Mode

FENCE_TOTAL: Fence Total

Note: This parameter is for advanced users

Number of geofence points currently loaded

FENCE_CHANNEL: Fence Channel

RC Channel to use to enable geofence. PWM input above 1750 enables the geofence

FENCE_MINALT: Fence Minimum Altitude

Minimum altitude allowed before geofence triggers

Range Increment Units
0 - 32767 1 meters

FENCE_MAXALT: Fence Maximum Altitude

Maximum altitude allowed before geofence triggers

Range Increment Units
0 - 32767 1 meters

FENCE_RETALT: Fence Return Altitude

Altitude the aircraft will transit to when a fence breach occurs. If FENCE_RETALT is <= 0 then the midpoint between FENCE_MAXALT and FENCE_MINALT is used, unless FENCE_MAXALT < FENCE_MINALT. If FENCE_MAXALT < FENCE_MINALT AND FENCE_RETALT is <= 0 then ALT_HOLD_RTL is the altitude used on a fence breach.

Range Increment Units
0 - 32767 1 meters

FENCE_AUTOENABLE: Fence automatic enable

When set to 1, geofence automatically enables after an auto takeoff and automatically disables at the beginning of an auto landing. When on the ground before takeoff the fence is disabled. When set to 2, the fence autoenables after an auto takeoff, but only disables the fence floor during landing. It is highly recommended to not use this option for line of sight flying and use a fence enable channel instead.

Values
Value Meaning
0 NoAutoEnable
1 AutoEnable
2 AutoEnableDisableFloorOnly

FENCE_RET_RALLY: Fence Return to Rally

When set to 1: on fence breach the plane will return to the nearest rally point rather than the fence return point. If no rally points have been defined the plane will return to the home point.

Values
Value Meaning
0 FenceReturnPoint
1 NearestRallyPoint

STALL_PREVENTION: Enable stall prevention

This controls the use of stall prevention techniques, including roll limits at low speed and raising the minimum airspeed in turns. The limits are based on the aerodynamic load factor of a banked turn. This option relies on the correct ARSPD_FBW_MIN value being set correctly. Note that if you don’t have an airspeed sensor then stall prevention will use an airspeed estimate based on the ground speed plus a wind estimate taken from the response of the autopilot banked turns. That synthetic airspeed estimate may be inaccurate, so you should not assume that stall prevention with no airspeed sensor will be effective.

Values
Value Meaning
0 Disabled
1 Enabled

ARSPD_FBW_MIN: Minimum Airspeed

This is the minimum airspeed you want to fly at in modes where the autopilot controls the airspeed. This should be set to a value around 20% higher than the level flight stall speed for the airframe. This value is also used in the STALL_PREVENTION code.

Range Increment Units
5 - 100 1 meters per second

ARSPD_FBW_MAX: Maximum Airspeed

This is the maximum airspeed that you want to allow for your airframe in auto-throttle modes. You should ensure that this value is sufficiently above the ARSPD_FBW_MIN value to allow for a sufficient flight envelope to accurately control altitude using airspeed. A value at least 50% above ARSPD_FBW_MIN is recommended.

Range Increment Units
5 - 100 1 meters per second

FBWB_ELEV_REV: Fly By Wire elevator reverse

Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.

Values
Value Meaning
0 Disabled
1 Enabled

TERRAIN_FOLLOW: Use terrain following

This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission.

Values
Value Meaning
0 Disabled
1 Enabled

TERRAIN_LOOKAHD: Terrain lookahead

This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode.

Range Units
0 - 10000 meters

FBWB_CLIMB_RATE: Fly By Wire B altitude change rate

This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.

Range Increment Units
1 - 10 0.1 meters per second

THR_MIN: Minimum Throttle

The minimum throttle setting (as a percentage) which the autopilot will apply. For the final stage of an automatic landing this is always zero. If your ESC supports reverse, use a negative value to configure for reverse thrust.

Range Increment Units
-100 - 100 1 percent

THR_MAX: Maximum Throttle

The maximum throttle setting (as a percentage) which the autopilot will apply.

Range Increment Units
0 - 100 1 percent

TKOFF_THR_MAX: Maximum Throttle for takeoff

Note: This parameter is for advanced users

The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.

Range Increment Units
0 - 100 1 percent

THR_SLEWRATE: Throttle slew rate

maximum percentage change in throttle per second. A setting of 10 means to not change the throttle by more than 10% of the full throttle range in one second. Note that the minimum throttle change is 1 microsecond per loop, which provides a lower limit on the throttle slew rate, especially for quadplanes that run at 300 loops per second by default.

Range Increment Units
0 - 127 1 percent per second

FLAP_SLEWRATE: Flap slew rate

Note: This parameter is for advanced users

maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting.

Range Increment Units
0 - 100 1 percent per second

THR_SUPP_MAN: Throttle suppress manual passthru

Note: This parameter is for advanced users

When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff

Values
Value Meaning
0 Disabled
1 Enabled

THR_PASS_STAB: Throttle passthru in stabilize

Note: This parameter is for advanced users

If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.

Values
Value Meaning
0 Disabled
1 Enabled

THR_FAILSAFE: 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

THR_FS_VALUE: Throttle Failsafe Value

The PWM level on channel 3 below which throttle failsafe triggers

Range Increment
925 - 2200 1

TRIM_THROTTLE: Throttle cruise percentage

The target percentage of throttle to apply for normal flight

Range Increment Units
0 - 100 1 percent

THROTTLE_NUDGE: Throttle nudge enable

When enabled, this uses the throttle input in auto-throttle modes to ‘nudge’ the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.

Values
Value Meaning
0 Disabled
1 Enabled

FS_SHORT_ACTN: Short failsafe action

The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe even can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause an change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, and a change to FBWA mode if FS_SHORT_ACTN is 2. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change is FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1 and will change to FBWA mode if set to 2. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe.

Values
Value Meaning
0 CIRCLE/no change(if already in AUTO|GUIDED|LOITER)
1 CIRCLE
2 FBWA
3 Disable

FS_SHORT_TIMEOUT: Short failsafe timeout

The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds

Range Increment Units
1 - 100 0.5 seconds

FS_LONG_ACTN: Long failsafe action

The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled).

Values
Value Meaning
0 Continue
1 ReturnToLaunch
2 Glide
3 Deploy Parachute

FS_LONG_TIMEOUT: Long failsafe timeout

The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds.

Range Increment Units
1 - 300 0.5 seconds

FS_GCS_ENABL: GCS failsafe enable

Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are two possible enabled settings. Seeing FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED.

Values
Value Meaning
0 Disabled
1 Heartbeat
2 HeartbeatAndREMRSSI
3 HeartbeatAndAUTO

FLTMODE_CH: Flightmode channel

Note: This parameter is for advanced users

RC Channel to use for flight mode control

FLTMODE1: FlightMode1

Flight mode for switch position 1 (910 to 1230 and above 2049)

Values
Value Meaning
0 Manual
1 CIRCLE
2 STABILIZE
3 TRAINING
4 ACRO
5 FBWA
6 FBWB
7 CRUISE
8 AUTOTUNE
10 Auto
11 RTL
12 Loiter
14 AVOID_ADSB
15 Guided
17 QSTABILIZE
18 QHOVER
19 QLOITER
20 QLAND
21 QRTL

FLTMODE2: FlightMode2

Flight mode for switch position 2 (1231 to 1360)

Values
Value Meaning
0 Manual
1 CIRCLE
2 STABILIZE
3 TRAINING
4 ACRO
5 FBWA
6 FBWB
7 CRUISE
8 AUTOTUNE
10 Auto
11 RTL
12 Loiter
14 AVOID_ADSB
15 Guided
17 QSTABILIZE
18 QHOVER
19 QLOITER
20 QLAND
21 QRTL

FLTMODE3: FlightMode3

Flight mode for switch position 3 (1361 to 1490)

Values
Value Meaning
0 Manual
1 CIRCLE
2 STABILIZE
3 TRAINING
4 ACRO
5 FBWA
6 FBWB
7 CRUISE
8 AUTOTUNE
10 Auto
11 RTL
12 Loiter
14 AVOID_ADSB
15 Guided
17 QSTABILIZE
18 QHOVER
19 QLOITER
20 QLAND
21 QRTL

FLTMODE4: FlightMode4

Flight mode for switch position 4 (1491 to 1620)

Values
Value Meaning
0 Manual
1 CIRCLE
2 STABILIZE
3 TRAINING
4 ACRO
5 FBWA
6 FBWB
7 CRUISE
8 AUTOTUNE
10 Auto
11 RTL
12 Loiter
14 AVOID_ADSB
15 Guided
17 QSTABILIZE
18 QHOVER
19 QLOITER
20 QLAND
21 QRTL

FLTMODE5: FlightMode5

Flight mode for switch position 5 (1621 to 1749)

Values
Value Meaning
0 Manual
1 CIRCLE
2 STABILIZE
3 TRAINING
4 ACRO
5 FBWA
6 FBWB
7 CRUISE
8 AUTOTUNE
10 Auto
11 RTL
12 Loiter
14 AVOID_ADSB
15 Guided
17 QSTABILIZE
18 QHOVER
19 QLOITER
20 QLAND
21 QRTL

FLTMODE6: FlightMode6

Flight mode for switch position 6 (1750 to 2049)

Values
Value Meaning
0 Manual
1 CIRCLE
2 STABILIZE
3 TRAINING
4 ACRO
5 FBWA
6 FBWB
7 CRUISE
8 AUTOTUNE
10 Auto
11 RTL
12 Loiter
14 AVOID_ADSB
15 Guided
17 QSTABILIZE
18 QHOVER
19 QLOITER
20 QLAND
21 QRTL

INITIAL_MODE: Initial flight mode

Note: This parameter is for advanced users

This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.

Values
Value Meaning
0 Manual
1 CIRCLE
2 STABILIZE
3 TRAINING
4 ACRO
5 FBWA
6 FBWB
7 CRUISE
8 AUTOTUNE
10 Auto
11 RTL
12 Loiter
14 AVOID_ADSB
15 Guided
17 QSTABILIZE
18 QHOVER
19 QLOITER
20 QLAND
21 QRTL

LIM_ROLL_CD: Maximum Bank Angle

The maximum commanded bank angle in either direction

Range Increment Units
0 - 9000 1 centidegrees

LIM_PITCH_MAX: Maximum Pitch Angle

The maximum commanded pitch up angle

Range Increment Units
0 - 9000 1 centidegrees

LIM_PITCH_MIN: Minimum Pitch Angle

The minimum commanded pitch down angle

Range Increment Units
-9000 - 0 1 centidegrees

ACRO_ROLL_RATE: ACRO mode roll rate

The maximum roll rate at full stick deflection in ACRO mode

Range Increment Units
10 - 500 1 degrees per second

ACRO_PITCH_RATE: ACRO mode pitch rate

The maximum pitch rate at full stick deflection in ACRO mode

Range Increment Units
10 - 500 1 degrees per second

ACRO_LOCKING: ACRO mode attitude locking

Enable attitude locking when sticks are released

Values
Value Meaning
0 Disabled
1 Enabled

GROUND_STEER_ALT: Ground steer altitude

Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude.

Range Increment Units
-100 - 100 0.1 meters

GROUND_STEER_DPS: Ground steer rate

Note: This parameter is for advanced users

Ground steering rate in degrees per second for full rudder stick deflection

Range Increment Units
10 - 360 1 degrees per second

TRIM_AUTO: Automatic trim adjustment

Set RC trim PWM levels to current levels when switching away from manual mode. When this option is enabled and you change from MANUAL to any other mode then the APM will take the current position of the control sticks as the trim values for aileron, elevator and rudder. It will use those to set the SERVOn_TRIM values and the RCn_TRIM values. This option is disabled by default as if a pilot is not aware of this option and changes from MANUAL to another mode while control inputs are not centered then the trim could be changed to a dangerously bad value. You can enable this option to assist with trimming your plane, by enabling it before takeoff then switching briefly to MANUAL in flight, and seeing how the plane reacts. You can then switch back to FBWA, trim the surfaces then again test MANUAL mode. Each time you switch from MANUAL the APM will take your control inputs as the new trim. After you have good trim on your aircraft you can disable TRIM_AUTO for future flights. You should also see the newer and much safer SERVO_AUTO_TRIM parameter.

Values
Value Meaning
0 Disabled
1 Enabled

MIXING_GAIN: Mixing Gain

The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn’t saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don’t have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.

Range
0.5 - 1.2

RUDDER_ONLY: Rudder only aircraft

Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.

Values
Value Meaning
0 Disabled
1 Enabled

MIXING_OFFSET: Mixing Offset

The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response.

Range Units
-1000 - 1000 decipercent

DSPOILR_RUD_RATE: Differential spoilers rudder rate

Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect).

Range Units
-100 - 100 percent

SYS_NUM_RESETS: Num Resets

Note: This parameter is for advanced users

Number of APM board resets

ReadOnly
True

LOG_BITMASK: Log bitmask

Note: This parameter is for advanced users

Bitmap of what log types to enable in dataflash. This values is made up of the sum of each of the log types you want to be saved on dataflash. On a PX4 or Pixhawk the large storage size of a microSD card means it is usually best just to enable all log types by setting this to 65535. On APM2 the smaller 4 MByte dataflash means you need to be more selective in your logging or you may run out of log space while flying (in which case it will wrap and overwrite the start of the log). The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535

Bitmask Values
Bit Meaning
0 ATTITUDE_FAST
1 ATTITUDE_MED
2 GPS
3 PM
4 CTUN
5 NTUN
6 MODE
7 IMU
8 CMD
9 CURRENT
10 COMPASS
11 TECS
12 CAMERA
13 RC
14 SONAR
15 ARM/DISARM
19 IMU_RAW
Value Meaning
0 Disabled
65535 PX4/Pixhawk-Default

RST_SWITCH_CH: Reset Switch Channel

Note: This parameter is for advanced users

RC channel to use to reset to last flight mode after geofence takeover.

RST_MISSION_CH: Reset Mission Channel

Note: This parameter is for advanced users

RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable.

TRIM_ARSPD_CM: Target airspeed

Airspeed in cm/s to aim for when airspeed is enabled in auto mode. This is a calibrated (apparent) airspeed.

Units
centimeters per second

SCALING_SPEED: speed used for speed scaling calculations

Note: This parameter is for advanced users

Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values

Units
meters per second

MIN_GNDSPD_CM: Minimum ground speed

Note: This parameter is for advanced users

Minimum ground speed in cm/s when under airspeed control

Units
centimeters per second

TRIM_PITCH_CD: Pitch angle offset

Note: This parameter is for advanced users

offset to add to pitch - used for in-flight pitch trimming. It is recommended that instead of using this parameter you level your plane correctly on the ground for good flight attitude.

Units
centidegrees

ALT_HOLD_RTL: RTL altitude

Return to launch target altitude. This is the relative altitude the plane will aim for and loiter at when returning home. If this is negative (usually -1) then the plane will use the current altitude at the time of entering RTL. Note that when transiting to a Rally Point the altitude of the Rally Point is used instead of ALT_HOLD_RTL.

Units
centimeters

ALT_HOLD_FBWCM: Minimum altitude for FBWB mode

This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit.

Units
centimeters

MAG_ENABLE: Enable Compass

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

Values
Value Meaning
0 Disabled
1 Enabled

FLAP_IN_CHANNEL: Flap input channel

An RC input channel to use for flaps control. If this is set to a RC channel number then that channel will be used for manual flaps control. When enabled, the percentage of flaps is taken as the percentage travel from the TRIM value of the channel to the MIN value of the channel. A value above the TRIM values will give inverse flaps (spoilers). This option needs to be enabled in conjunction with a FUNCTION setting on an output channel to one of the flap functions. When a FLAP_IN_CHANNEL is combined with auto-flaps the higher of the two flap percentages is taken.

FLAP_1_PERCNT: Flap 1 percentage

Note: This parameter is for advanced users

The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps

Range Units
0 - 100 percent

FLAP_1_SPEED: Flap 1 speed

Note: This parameter is for advanced users

The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED

Range Increment Units
0 - 100 1 meters per second

FLAP_2_PERCNT: Flap 2 percentage

Note: This parameter is for advanced users

The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps

Range Units
0 - 100 percent

FLAP_2_SPEED: Flap 2 speed

Note: This parameter is for advanced users

The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED

Range Increment Units
0 - 100 1 meters per second

OVERRIDE_CHAN: PX4IO override channel

Note: This parameter is for advanced users

If set to a non-zero value then this is an RC input channel number to use for giving PX4IO manual control in case the main FMU microcontroller on a PX4 or Pixhawk fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the PX4IO microcontroller will directly control the servos. Note that PX4IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Please also see the docs on OVERRIDE_SAFETY. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get PX4IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on Pixhawk will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels.

OVERRIDE_SAFETY: PX4IO override safety switch

Note: This parameter is for advanced users

This controls whether the safety switch is turned off when you activate override with OVERRIDE_CHAN. When set to 1 the safety switch is de-activated (activating the servos) then a PX4IO override is triggered. In that case the safety remains de-activated after override is disabled. If OVERRIDE_SAFETTY is set to 0 then the safety switch state does not change. Note that regardless of the value of this parameter the servos will be active while override is active.

INVERTEDFLT_CH: Inverted flight channel

A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the corresponding RC input channel and will enable inverted flight when the channel goes above 1750.

Values
Value Meaning
0 Disabled
1 Channel1
2 Channel2
3 Channel3
4 Channel4
5 Channel5
6 Channel6
7 Channel7
8 Channel8

HIL_MODE: HIL mode enable

Note: This parameter is for advanced users

This enables and disables hardware in the loop mode. If HIL_MODE is 1 then on the next reboot all sensors are replaced with HIL sensors which come from the GCS.

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
True

HIL_SERVOS: HIL Servos enable

Note: This parameter is for advanced users

This controls whether real servo controls are used in HIL mode. If you enable this then the APM will control the real servos in HIL mode. If disabled it will report servo values, but will not output to the real servos. Be careful that your motor and propeller are not connected if you enable this option.

Values
Value Meaning
0 Disabled
1 Enabled

HIL_ERR_LIMIT: Limit of error in HIL attitude before reset

Note: This parameter is for advanced users

This controls the maximum error in degrees on any axis before HIL will reset the DCM attitude to match the HIL_STATE attitude. This limit will prevent poor timing on HIL from causing a major attitude error. If the value is zero then no limit applies.

Range Increment Units
0 - 90 0.1 degrees

RTL_AUTOLAND: RTL auto land

Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location.

Values
Value Meaning
0 Disable
1 Enable - go HOME then land
2 Enable - go directly to landing sequence

CRASH_ACC_THRESH: Crash Deceleration Threshold

Note: This parameter is for advanced users

X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don’t vibrate much during fight a value of 25 is good (that’s about 2.5G). For petrol/nitro planes you’ll want a higher value. Set to 0 to disable the collision detector.

Range Units
10 - 127 meters per square second

CRASH_DETECT: Crash Detection

Note: This parameter is for advanced users

Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Setting the mode to manual will help save the servos from burning out by overexerting if the aircraft crashed in an odd orientation such as upsidedown. Set to 0 to disable crash detection.

Bitmask
Bit Meaning
0 Disarm

CHUTE_CHAN: Parachute release channel

Note: This parameter is for advanced users

If set to a non-zero value then this is an RC input channel number to use for manually releasing the parachute. When this channel goes above 1700 the parachute will be released

RNGFND_LANDING: Enable rangefinder for landing

This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare

Values
Value Meaning
0 Disabled
1 Enabled

SYSID_ENFORCE: GCS sysid enforcement

Note: This parameter is for advanced users

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

Values
Value Meaning
0 NotEnforced
1 Enforced

RUDD_DT_GAIN: rudder differential thrust gain

gain control from rudder to differential thrust

Range Increment Units
0 - 100 1 percent

MANUAL_RCMASK: Manual R/C pass-through mask

Note: This parameter is for advanced users

Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes.

Bitmask
Bit Meaning
0 Chan1
1 Chan2
2 Chan3
3 Chan4
4 Chan5
5 Chan6
6 Chan7
7 Chan8
8 Chan9
9 Chan10
10 Chan11
11 Chan12
12 Chan13
13 Chan14
14 Chan15
15 Chan16

HOME_RESET_ALT: Home reset altitude threshold

Note: This parameter is for advanced users

When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continously reset it.

Range Values Units
-1 - 127
Value Meaning
-1 Never reset
0 Always reset
meters

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 identification number

Note: This parameter is for advanced users

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

Range
-1 - 16777215

ADSB_EMIT_TYPE: Emitter type

Note: This parameter is for advanced users

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

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

ADSB_LEN_WIDTH: Aircraft length and width

Note: This parameter is for advanced users

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

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

ADSB_OFFSET_LAT: GPS antenna lateral offset

Note: This parameter is for advanced users

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

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

ADSB_OFFSET_LON: GPS antenna longitudinal offset

Note: This parameter is for advanced users

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

Values
Value Meaning
0 NO_DATA
1 AppliedBySensor

ADSB_RF_SELECT: Transceiver RF selection

Note: This parameter is for advanced users

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

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

ADSB_SQUAWK: Squawk code

Note: This parameter is for advanced users

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

Units
octal

ADSB_RF_CAPABLE: RF capabilities

Note: This parameter is for advanced users

Describes your hardware RF In/Out capabilities.

Bitmask Values
Bit Meaning
0 UAT_in
1 1090ES_in
2 UAT_out
3 1090ES_out
Value Meaning
0 Unknown
1 Rx UAT only
3 Rx UAT and 1090ES
7 Rx&Tx UAT and 1090ES

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. Please consult the wiki for more information on the possible values of the parameter

AFS_TERM_PIN: Terminate Pin

Note: This parameter is for advanced users

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

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

AHRS_ Parameters

AHRS_GPS_GAIN: AHRS GPS gain

Note: This parameter is for advanced users

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

Range Increment
0.0 - 1.0 .01

AHRS_GPS_USE: AHRS use GPS for navigation

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

AHRS_YAW_P: Yaw P

Note: This parameter is for advanced users

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

Range Increment
0.1 - 0.4 .01

AHRS_RP_P: AHRS RP_P

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Range Increment
0.1 - 0.4 .01

AHRS_WIND_MAX: Maximum wind

Note: This parameter is for advanced users

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

Range Increment Units
0 - 127 1 meters per second

AHRS_TRIM_X: AHRS Trim Roll

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

Range Increment Units
-0.1745 - +0.1745 0.01 radians

AHRS_TRIM_Y: AHRS Trim Pitch

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

Range Increment Units
-0.1745 - +0.1745 0.01 radians

AHRS_TRIM_Z: AHRS Trim Yaw

Note: This parameter is for advanced users

Not Used

Range Increment Units
-0.1745 - +0.1745 0.01 radians

AHRS_ORIENTATION: Board Orientation

Note: This parameter is for advanced users

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

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

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient

Note: This parameter is for advanced users

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

Range Increment
0.001 - 0.5 .01

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites

Note: This parameter is for advanced users

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

Range Increment
0 - 10 1

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
2 Enable EKF2
3 Enable EKF3

AHRS_CUSTOM_ROLL: Board orientation roll offset

Note: This parameter is for advanced users

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

Range Increment Units
-180 - 180 1 degrees

AHRS_CUSTOM_PIT: Board orientation pitch offset

Note: This parameter is for advanced users

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

Range Increment Units
-180 - 180 1 degrees

AHRS_CUSTOM_YAW: Board orientation yaw offset

Note: This parameter is for advanced users

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

Range Increment Units
-180 - 180 1 degrees

ARMING_ Parameters

ARMING_RUDDER: Rudder Arming

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 ArmingOnly
2 ArmOrDisarm

ARMING_REQUIRE: Require Arming Motors

Note: This parameter is for advanced users

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

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

ARMING_CHECK: Arm Checks to Peform (bitmask)

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

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

ARMING_ACCTHRESH: Accelerometer error threshold

Note: This parameter is for advanced users

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

Range Units
0.25 - 3.0 meters per square second

ARMING_VOLT_MIN: Arming voltage minimum on the first battery

The minimum voltage of the first battery required to arm, 0 disables the check

Increment Units
0.1 volt

ARMING_VOLT2_MIN: Arming voltage minimum on the second battery

The minimum voltage of the second battery required to arm, 0 disables the check

Increment Units
0.1 volt

ARSPD Parameters

ARSPD_TYPE: Airspeed type

Type of airspeed sensor

Values
Value Meaning
0 None
1 I2C-MS4525D0
2 Analog
3 I2C-MS5525
4 I2C-MS5525 (0x76)
5 I2C-MS5525 (0x77)
6 I2C-SDP3X

ARSPD_USE: Airspeed use

use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won’t be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller

Values
Value Meaning
0 Don’t Use
1 use
2 UseWhenZeroThrottle

ARSPD_OFFSET: Airspeed offset

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD_RATIO: Airspeed ratio

Note: This parameter is for advanced users

Airspeed calibration ratio

Increment
0.1

ARSPD_PIN: Airspeed pin

Note: This parameter is for advanced users

The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.

ARSPD_AUTOCAL: Automatic airspeed ratio calibration

Note: This parameter is for advanced users

If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended.

ARSPD_TUBE_ORDER: Control pitot tube order

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed.

ARSPD_SKIP_CAL: Skip airspeed calibration on startup

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

Values
Value Meaning
0 Disable
1 Enable

ARSPD_PSI_RANGE: The PSI range of the device

Note: This parameter is for advanced users

This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

ARSPD_BUS: Airspeed I2C bus

Note: This parameter is for advanced users

The bus number of the I2C bus to look for the sensor on

Values
Value Meaning
0 Bus0(internal)
1 Bus1(external)
2 Bus2(auxillary)

ARSPD_PRIMARY: Primary airspeed sensor

Note: This parameter is for advanced users

This selects which airspeed sensor will be the primary if multiple sensors are found

Values
Value Meaning
0 FirstSensor
1 2ndSensor

ARSPD2_TYPE: Second Airspeed type

Type of 2nd airspeed sensor

Values
Value Meaning
0 None
1 I2C-MS4525D0
2 Analog
3 I2C-MS5525
4 I2C-MS5525 (0x76)
5 I2C-MS5525 (0x77)
6 I2C-SDP3X

ARSPD2_USE: Enable use of 2nd airspeed sensor

use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won’t be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller

Values
Value Meaning
0 Don’t Use
1 use
2 UseWhenZeroThrottle

ARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor

Note: This parameter is for advanced users

Airspeed calibration ratio

Increment
0.1

ARSPD2_PIN: Airspeed pin for 2nd airspeed sensor

Note: This parameter is for advanced users

The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.

ARSPD2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor

Note: This parameter is for advanced users

If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended.

ARSPD2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed.

ARSPD2_SKIP_CAL: Skip airspeed calibration on startup for 2nd sensor

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

Values
Value Meaning
0 Disable
1 Enable

ARSPD2_PSI_RANGE: The PSI range of the device for 2nd sensor

Note: This parameter is for advanced users

This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

ARSPD2_BUS: Airspeed I2C bus for 2nd sensor

Note: This parameter is for advanced users

The bus number of the I2C bus to look for the sensor on

Values
Value Meaning
0 Bus0(internal)
1 Bus1(external)
2 Bus2(auxillary)

AVD_ Parameters

AVD_ENABLE: Enable Avoidance using ADSB

Note: This parameter is for advanced users

Enable Avoidance using ADSB

Values
Value Meaning
0 Disabled
1 Enabled

AVD_F_RCVRY: Recovery behaviour after a fail event

Note: This parameter is for advanced users

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

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

AVD_OBS_MAX: Maximum number of obstacles to track

Note: This parameter is for advanced users

Maximum number of obstacles to track

AVD_W_TIME: Time Horizon Warn

Note: This parameter is for advanced users

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

Units
seconds

AVD_F_TIME: Time Horizon Fail

Note: This parameter is for advanced users

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

Units
seconds

AVD_W_DIST_XY: Distance Warn XY

Note: This parameter is for advanced users

Closest allowed projected distance before W_ACTION is undertaken

Units
meters

AVD_F_DIST_XY: Distance Fail XY

Note: This parameter is for advanced users

Closest allowed projected distance before F_ACTION is undertaken

Units
meters

AVD_W_DIST_Z: Distance Warn Z

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_W is undertaken

Units
meters

AVD_F_DIST_Z: Distance Fail Z

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_F is undertaken

Units
meters

AVD_F_ALT_MIN: ADS-B avoidance minimum altitude

Note: This parameter is for advanced users

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

Units
meters

BATT2_ Parameters

BATT2_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

Values RebootRequired
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Maxell
8 UAVCAN-BatteryInfo
9 BLHeli ESC
True

BATT2_VOLT_PIN: Battery Voltage sensing pin

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

Values RebootRequired
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2
100 PX4-v1
True

BATT2_CURR_PIN: Battery Current sensing pin

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

Values RebootRequired
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
101 PX4-v1
True

BATT2_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT2_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT2_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

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

Increment Units
1 watt

BATT2_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Range Increment Units
0 - 120 1 seconds

BATT2_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT2_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT2_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT2_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT2_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 RTL
2 Land
3 Terminate

BATT2_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None
1 RTL
2 Land
3 Terminate

BATT_ Parameters

BATT_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

Values RebootRequired
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Maxell
8 UAVCAN-BatteryInfo
9 BLHeli ESC
True

BATT_VOLT_PIN: Battery Voltage sensing pin

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

Values RebootRequired
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2
100 PX4-v1
True

BATT_CURR_PIN: Battery Current sensing pin

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

Values RebootRequired
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
101 PX4-v1
True

BATT_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

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

Increment Units
1 watt

BATT_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Range Increment Units
0 - 120 1 seconds

BATT_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 RTL
2 Land
3 Terminate

BATT_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None
1 RTL
2 Land
3 Terminate

BRD_ Parameters

BRD_PWM_COUNT: Auxiliary pin config

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
2 Auto
True

BRD_SER2_RTSCTS: Serial 2 flow control

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
2 Auto
True

BRD_SAFETYENABLE: Enable use of safety arming switch

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
True

BRD_SBUS_OUT: SBUS output rate

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz

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

BRD_SERIAL_NUM: User-defined serial number

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

Range
-32768 - 32767

BRD_SAFETY_MASK: Channels to which ignore the safety switch state

Note: This parameter is for advanced users

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

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

BRD_IMU_TARGTEMP: Target IMU temperature

Note: This parameter is for advanced users

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

Range Units
-1 - 80 degrees Celsius

BRD_TYPE: Board type

Note: This parameter is for advanced users

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

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

BRD_IO_ENABLE: Enable IO co-processor

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
True

BRD_SAFETYOPTION: Options for safety button behavior

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

Bitmask
Bit Meaning
0 ActiveForSafetyEnable
1 ActiveForSafetyDisable
2 ActiveWhenArmed

BRD_RADIO Parameters

BRD_RADIO_TYPE: Set type of direct attached radio

Note: This parameter is for advanced users

This enables support for direct attached radio receivers

Values
Value Meaning
0 None
1 CYRF6936

BRD_RADIO_PROT: protocol

Note: This parameter is for advanced users

Select air protocol

Values
Value Meaning
0 Auto
1 DSM2
2 DSMX

BRD_RADIO_DEBUG: debug level

Note: This parameter is for advanced users

radio debug level

Range
0 - 4

BRD_RADIO_DISCRC: disable receive CRC

Note: This parameter is for advanced users

disable receive CRC (for debug)

Values
Value Meaning
0 NotDisabled
1 Disabled

BRD_RADIO_SIGCH: RSSI signal strength

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_PPSCH: Packet rate channel

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TELEM: Enable telemetry

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

BRD_RADIO_TXPOW: Telemetry Transmit power

Note: This parameter is for advanced users

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

Range
1 - 8

BRD_RADIO_FCCTST: Put radio into FCC test mode

Note: This parameter is for advanced users

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

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

BRD_RADIO_STKMD: Stick input mode

Note: This parameter is for advanced users

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

Values
Value Meaning
1 Mode1
2 Mode2

BRD_RADIO_TESTCH: Set radio to factory test channel

Note: This parameter is for advanced users

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

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

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Range
0 - 16

BRD_RADIO_TPPSCH: Telemetry PPS channel

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TXMAX: Transmitter transmit power

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Range
1 - 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range
0 - 40

BRD_RADIO_ABTIME: Auto-bind time

Note: This parameter is for advanced users

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

Range
0 - 120

BRD_RADIO_ABLVL: Auto-bind level

Note: This parameter is for advanced users

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

Range
0 - 31

BRD_RTC Parameters

BRD_RTC_TYPES: Allowed sources of RTC time

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Bitmask
Bit Meaning
0 GPS
1 MAVLINK_SYSTEM_TIME
2 HW

BTN_ Parameters

BTN_ENABLE: Enable button reporting

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

BTN_PIN1: First button Pin

Digital pin number for first button input.

Values
Value Meaning
-1 Disabled
50 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

CAM_ Parameters

CAM_TRIGG_TYPE: Camera shutter (trigger) type

how to trigger the camera to take a picture

Values
Value Meaning
0 Servo
1 Relay

CAM_DURATION: Duration that shutter is held open

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

Range Units
0 - 50 deciseconds

CAM_SERVO_ON: Servo ON PWM value

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

Range Units
1000 - 2000 PWM in microseconds

CAM_SERVO_OFF: Servo OFF PWM value

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

Range Units
1000 - 2000 PWM in microseconds

CAM_TRIGG_DIST: Camera trigger distance

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

Range Units
0 - 1000 meters

CAM_RELAY_ON: Relay ON value

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

Values
Value Meaning
0 Low
1 High

CAM_MIN_INTERVAL: Minimum time between photos

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

Range Units
0 - 10000 milliseconds

CAM_MAX_ROLL: Maximum photo roll angle.

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

Range Units
0 - 180 degrees

CAM_FEEDBACK_PIN: Camera feedback pin

pin number to use for save accurate camera feedback messages. If set to -1 then don’t use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option. 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 RebootRequired
Value Meaning
-1 Disabled
50 PX4 AUX1
51 PX4 AUX2
52 PX4 AUX3
53 PX4 AUX4(fast capture)
54 PX4 AUX5
55 PX4 AUX6
True

CAM_FEEDBACK_POL: Camera feedback pin polarity

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

Values
Value Meaning
0 TriggerLow
1 TriggerHigh

CAM_AUTO_ONLY: Distance-trigging in AUTO mode only

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

Values
Value Meaning
0 Always
1 Only when in AUTO

CAN_D1_ Parameters

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 UAVCAN
True

CAN_D1_UC_ Parameters

CAN_D1_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

CAN_D1_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range Units
1 - 200 hertz

CAN_D2_ Parameters

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 UAVCAN
True

CAN_D2_UC_ Parameters

CAN_D2_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

CAN_D2_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range Units
1 - 200 hertz

CAN_D3_ Parameters

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 UAVCAN
True

CAN_D3_UC_ Parameters

CAN_D3_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

CAN_D3_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range Units
1 - 200 hertz

CAN_P1_ Parameters

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

Enabling this option enables use of CAN buses.

Values RebootRequired
Value Meaning
0 Disabled
1 First driver
2 Second driver
True

CAN_P1_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P1_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning
0 Disabled
1 Major messages
2 All messages

CAN_P2_ Parameters

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

Enabling this option enables use of CAN buses.

Values RebootRequired
Value Meaning
0 Disabled
1 First driver
2 Second driver
True

CAN_P2_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P2_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning
0 Disabled
1 Major messages
2 All messages

CAN_P3_ Parameters

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

Enabling this option enables use of CAN buses.

Values RebootRequired
Value Meaning
0 Disabled
1 First driver
2 Second driver
True

CAN_P3_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P3_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning
0 Disabled
1 Major messages
2 All messages

CHUTE_ Parameters

CHUTE_ENABLED: Parachute release enabled or disabled

Parachute release enabled or disabled

Values
Value Meaning
0 Disabled
1 Enabled

CHUTE_TYPE: Parachute release mechanism type (relay or servo)

Parachute release mechanism type (relay or servo)

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

CHUTE_SERVO_ON: Parachute Servo ON PWM value

Parachute Servo PWM value in microseconds when parachute is released

Range Increment Units
1000 - 2000 1 PWM in microseconds

CHUTE_SERVO_OFF: Servo OFF PWM value

Parachute Servo PWM value in microseconds when parachute is not released

Range Increment Units
1000 - 2000 1 PWM in microseconds

CHUTE_ALT_MIN: Parachute min altitude in meters above home

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

Range Increment Units
0 - 32000 1 meters

CHUTE_DELAY_MS: Parachute release delay

Delay in millseconds between motor stop and chute release

Range Increment Units
0 - 5000 1 milliseconds

COMPASS_ Parameters

COMPASS_OFS_X: Compass offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_DEC: Compass declination

An angle to compensate between the true north and magnetic north

Range Increment Units
-3.142 - 3.142 0.01 radians

COMPASS_LEARN: Learn compass offsets automatically

Note: This parameter is for advanced users

Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle.

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

COMPASS_ORIENT: Compass orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERNAL: Compass is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

COMPASS_PRIMARY: Choose primary compass

Note: This parameter is for advanced users

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

Values
Value Meaning
0 FirstCompass
1 SecondCompass
2 ThirdCompass

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

COMPASS_DEV_ID: Compass device id

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

COMPASS_DEV_ID2: Compass2 device id

Note: This parameter is for advanced users

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

COMPASS_DEV_ID3: Compass3 device id

Note: This parameter is for advanced users

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

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

COMPASS_EXTERN2: Compass2 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_USE3: Compass3 used for yaw

Note: This parameter is for advanced users

Enable or disable the third compass for determining heading.

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_ORIENT3: Compass3 orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERN3: Compass3 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component

Note: This parameter is for advanced users

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

COMPASS_DIA_Y: Compass soft-iron diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_DIA_Z: Compass soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component

Note: This parameter is for advanced users

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

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component

Note: This parameter is for advanced users

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

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_CAL_FIT: Compass calibration fitness

Note: This parameter is for advanced users

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

Range Values Increment
4 - 32
Value Meaning
4 Very Strict
8 Strict
16 Default
32 Relaxed
0.1

COMPASS_OFFS_MAX: Compass maximum offset

Note: This parameter is for advanced users

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

Range Increment
500 - 3000 1

COMPASS_TYPEMASK: Compass disable driver type mask

Note: This parameter is for advanced users

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

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

COMPASS_FLTR_RNG: Range in which sample is accepted

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

Range Increment Units
0 - 100 1 percent

COMPASS_AUTO_ROT: Automatically check orientation

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

Values
Value Meaning
0 Disabled
1 CheckOnly
2 CheckAndFix

COMPASS_EXP_DID: Compass device id expected

Note: This parameter is for advanced users

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

COMPASS_EXP_DID2: Compass2 device id expected

Note: This parameter is for advanced users

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

COMPASS_EXP_DID3: Compass3 device id expected

Note: This parameter is for advanced users

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

COMPASS_PMOT Parameters

COMPASS_PMOT_EN: per-motor compass correction enable

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_PMOT_EXP: per-motor exponential correction

Note: This parameter is for advanced users

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

Range Increment
0 - 2 0.01

COMPASS_PMOT1_X: Compass per-motor1 X

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor4

EK2_ Parameters

EK2_ENABLE: Enable EKF2

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
True

EK2_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 5.0 0.05 meters per second

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

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 5.0 0.05 meters per second

EK2_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK2_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

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

Range Increment Units
10 - 100 5 meters

EK2_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

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

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

EK2_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK2_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 250 10 milliseconds True

EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 0.5 0.01 gauss

EK2_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

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

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

EK2_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 5.0 0.1 meters per second

EK2_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK2_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Range Increment Units
1.0 - 4.0 0.1 radians per second

EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 radians per second

EK2_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 127 10 milliseconds True

EK2_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.0001 - 0.1 0.0001 radians per second

EK2_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.01 meters per square second

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 radians per square second

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

Note: This parameter is for advanced users

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

Range Units
0.000001 - 0.001 hertz

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 meters per cubic second

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

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.1 meters per square second

EK2_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

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

Range Increment
0.0 - 1.0 0.1

EK2_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

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

EK2_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

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

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

EK2_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range Units
50 - 200 percent

EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range Units
0.5 - 50.0 meters

EK2_LOG_MASK: EKF sensor logging IMU mask

Note: This parameter is for advanced users

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

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

EK2_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 radians

EK2_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

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

Note: This parameter is for advanced users

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

Range Increment Units
10 - 50 5 centiseconds

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.01 gauss per second

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.01 gauss per second

EK2_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

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

Range Increment Units
-1 - 70 1 percent

EK2_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Range Increment
0 - 0.2 0.01

EK2_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK2_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 127 10 milliseconds True

EK2_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

Range Increment Units
2.0 - 6.0 0.5 meters per second

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

Note: This parameter is for advanced users

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

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

EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

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

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

EK3_ Parameters

EK3_ENABLE: Enable EKF3

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
True

EK3_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 5.0 0.05 meters per second

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

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 5.0 0.05 meters per second

EK3_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK3_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

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

Range Increment Units
10 - 100 5 meters

EK3_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

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

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

EK3_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK3_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 250 10 milliseconds True

EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 0.5 0.01 gauss

EK3_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

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

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

EK3_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 5.0 0.1 meters per second

EK3_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK3_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Range Increment Units
1.0 - 4.0 0.1 radians per second

EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 radians per second

EK3_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 250 10 milliseconds True

EK3_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.0001 - 0.1 0.0001 radians per second

EK3_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.01 meters per square second

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 radians per square second

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 meters per cubic second

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

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.1 meters per square second

EK3_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

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

Range Increment
0.0 - 1.0 0.1

EK3_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

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

EK3_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

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

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

EK3_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range Units
50 - 200 percent

EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range Units
0.5 - 50.0 meters

EK3_LOG_MASK: EKF sensor logging IMU mask

Note: This parameter is for advanced users

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

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

EK3_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 radians

EK3_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

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

Note: This parameter is for advanced users

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

Range Increment Units
10 - 50 5 centiseconds

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.01 gauss per second

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.01 gauss per second

EK3_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

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

Range Increment Units
-1 - 70 1 percent

EK3_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Range Increment
0 - 0.2 0.01

EK3_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK3_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 250 10 milliseconds True

EK3_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

Range Increment Units
2.0 - 6.0 0.5 meters per second

EK3_ACC_BIAS_LIM: Accelerometer bias limit

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 2.5 0.1 meters per square second

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

Note: This parameter is for advanced users

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

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

EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

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

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

EK3_VIS_VERR_MIN: Visual odometry minimum velocity error

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 0.5 0.05 meters per second

EK3_VIS_VERR_MAX: Visual odometry maximum velocity error

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 5.0 0.1 meters per second

EK3_WENC_VERR: Wheel odometry velocity error

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.1 meters per second

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

FLOW_POS_X: X position offset

Note: This parameter is for advanced users

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

Units
meters

FLOW_POS_Y: Y position offset

Note: This parameter is for advanced users

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

Units
meters

FLOW_POS_Z: Z position offset

Note: This parameter is for advanced users

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

Units
meters

FLOW_ADDR: Address on the bus

Note: This parameter is for advanced users

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

Range
0 - 127

GND_ Parameters

GND_ABS_PRESS: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

ReadOnly Volatile Increment Units
True True 1 pascal

GND_TEMP: ground temperature

Note: This parameter is for advanced users

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

Volatile Increment Units
True 1 degrees Celsius

GND_ALT_OFFSET: altitude offset

Note: This parameter is for advanced users

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

Increment Units
0.1 meters

GND_PRIMARY: Primary barometer

Note: This parameter is for advanced users

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

Values
Value Meaning
0 FirstBaro
1 2ndBaro
2 3rdBaro

GND_EXT_BUS: External baro bus

Note: This parameter is for advanced users

This selects the bus number for looking for an I2C barometer

Values
Value Meaning
-1 Disabled
0 Bus0
1 Bus1

GND_SPEC_GRAV: Specific Gravity (For water depth measurement)

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

Values
1.0:Freshwater,1.024:Saltwater

GND_ABS_PRESS2: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

ReadOnly Volatile Increment Units
True True 1 pascal

GND_ABS_PRESS3: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

ReadOnly Volatile Increment Units
True True 1 pascal

GND_FLTR_RNG: Range in which sample is accepted

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

Range Increment Units
0 - 100 1 percent

GPS_ Parameters

GPS_TYPE: GPS type

Note: This parameter is for advanced users

GPS type

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

GPS_TYPE2: 2nd GPS type

Note: This parameter is for advanced users

GPS type of 2nd GPS

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

GPS_NAVFILTER: Navigation filter setting

Note: This parameter is for advanced users

Navigation filter engine setting

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

GPS_AUTO_SWITCH: Automatic Switchover Setting

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock

Values
Value Meaning
0 Disabled
1 UseBest
2 Blend

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

GPS_RAW_DATA: Raw data logging

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

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

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

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE2: GNSS system configuration

Note: This parameter is for advanced users

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

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

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disables automatic configuration
1 Enable automatic configuration

GPS_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

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

Range Values Units
50 - 200
Value Meaning
100 10Hz
125 8Hz
200 5Hz
milliseconds

GPS_RATE_MS2: GPS 2 update rate in milliseconds

Note: This parameter is for advanced users

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

Range Values Units
50 - 200
Value Meaning
100 10Hz
125 8Hz
200 5Hz
milliseconds

GPS_POS1_X: Antenna X position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_POS1_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_POS1_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_POS2_X: Antenna X position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_POS2_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_POS2_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users

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

Range Units RebootRequired
0 - 250 milliseconds True

GPS_DELAY_MS2: GPS 2 delay in milliseconds

Note: This parameter is for advanced users

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

Range Units RebootRequired
0 - 250 milliseconds True

GPS_BLEND_MASK: Multi GPS Blending Mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning
0 Horiz Pos
1 Vert Pos
2 Speed

GPS_BLEND_TC: Blending time constant

Note: This parameter is for advanced users

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

Range Units
5.0 - 30.0 seconds

GRIP_ Parameters

GRIP_ENABLE: Gripper Enable/Disable

Gripper enable/disable

Values
Value Meaning
0 Disabled
1 Enabled

GRIP_TYPE: Gripper Type

Gripper enable/disable

Values
Value Meaning
0 None
1 Servo
2 EPM

GRIP_GRAB: Gripper Grab PWM

Note: This parameter is for advanced users

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

Range Units
1000 - 2000 PWM in microseconds

GRIP_RELEASE: Gripper Release PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Range Units
1000 - 2000 PWM in microseconds

GRIP_NEUTRAL: Neutral PWM

Note: This parameter is for advanced users

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

Range Units
1000 - 2000 PWM in microseconds

GRIP_REGRAB: Gripper Regrab interval

Note: This parameter is for advanced users

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

Range Units
0 - 255 seconds

GRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID

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

Range
0 - 255

ICE_ Parameters

ICE_ENABLE: Enable ICEngine control

Note: This parameter is for advanced users

This enables internal combusion engine control

Values
Value Meaning
0 Disabled
1 Enabled

ICE_START_CHAN: Input channel for engine start

This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disamed.

Values
Value Meaning
0 None
1 Chan1
2 Chan2
3 Chan3
4 Chan4
5 Chan5
6 Chan6
7 Chan7
8 Chan8
9 Chan9
10 Chan10
11 Chan11
12 Chan12
13 Chan13
14 Chan14
15 Chan15
16 Chan16

ICE_STARTER_TIME: Time to run starter

This is the number of seconds to run the starter when trying to start the engine

Range Units
0.1 - 5 seconds

ICE_START_DELAY: Time to wait between starts

Delay between start attempts

Range Units
1 - 10 seconds

ICE_RPM_THRESH: RPM threshold

This is the measured RPM above which tne engine is considered to be running

Range
100 - 100000

ICE_PWM_IGN_ON: PWM value for ignition on

This is the value sent to the ignition channel when on

Range
1000 - 2000

ICE_PWM_IGN_OFF: PWM value for ignition off

This is the value sent to the ignition channel when off

Range
1000 - 2000

ICE_PWM_STRT_ON: PWM value for starter on

This is the value sent to the starter channel when on

Range
1000 - 2000

ICE_PWM_STRT_OFF: PWM value for starter off

This is the value sent to the starter channel when off

Range
1000 - 2000

ICE_RPM_CHAN: RPM instance channel to use

This is which of the RPM instances to use for detecting the RPM of the engine

Values
Value Meaning
0 None
1 RPM1
2 RPM2

ICE_START_PCT: Throttle percentage for engine start

This is the percentage throttle output for engine start

Range
0 - 100

INS_ Parameters

INS_PRODUCT_ID: IMU Product ID

Note: This parameter is for advanced users

unused

INS_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR2OFFS_X: Gyro2 offsets of X axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR2OFFS_Y: Gyro2 offsets of Y axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR2OFFS_Z: Gyro2 offsets of Z axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR3OFFS_X: Gyro3 offsets of X axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR3OFFS_Y: Gyro3 offsets of Y axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR3OFFS_Z: Gyro3 offsets of Z axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Range Units
-3.5 - 3.5 meters per square second

INS_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Range Units
-3.5 - 3.5 meters per square second

INS_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

Range Units
-3.5 - 3.5 meters per square second

INS_ACC2SCAL_X: Accelerometer2 scaling of X axis

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2OFFS_X: Accelerometer2 offsets of X axis

Note: This parameter is for advanced users

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

Range Units
-3.5 - 3.5 meters per square second

INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis

Note: This parameter is for advanced users

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

Range Units
-3.5 - 3.5 meters per square second

INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis

Note: This parameter is for advanced users

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

Range Units
-3.5 - 3.5 meters per square second

INS_ACC3SCAL_X: Accelerometer3 scaling of X axis

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3OFFS_X: Accelerometer3 offsets of X axis

Note: This parameter is for advanced users

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

Range Units
-3.5 - 3.5 meters per square second

INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis

Note: This parameter is for advanced users

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

Range Units
-3.5 - 3.5 meters per square second

INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis

Note: This parameter is for advanced users

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

Range Units
-3.5 - 3.5 meters per square second

INS_GYRO_FILTER: Gyro filter cutoff frequency

Note: This parameter is for advanced users

Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)

Range Units
0 - 127 hertz

INS_ACCEL_FILTER: Accel filter cutoff frequency

Note: This parameter is for advanced users

Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. This option takes effect on the next reboot. A value of zero means no filtering (not recommended!)

Range Units
0 - 127 hertz

INS_USE: Use first IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values
Value Meaning
0 Disabled
1 Enabled

INS_USE2: Use second IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

Values
Value Meaning
0 Disabled
1 Enabled

INS_USE3: Use third IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

Values
Value Meaning
0 Disabled
1 Enabled

INS_STILL_THRESH: Stillness threshold for detecting if we are moving

Note: This parameter is for advanced users

Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5

Range
0.05 - 50

INS_GYR_CAL: Gyro Calibration scheme

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

Values
Value Meaning
0 Never
1 Start-up only

INS_TRIM_OPTION: Accel cal trim option

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

Values
Value Meaning
0 Don’t adjust the trims
1 Assume first orientation was level
2 Assume ACC_BODYFIX is perfectly aligned to the vehicle

INS_ACC_BODYFIX: Body-fixed accelerometer

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

Values
Value Meaning
1 IMU 1
2 IMU 2
3 IMU 3

INS_POS1_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Units
meters

INS_POS1_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Units
meters

INS_POS1_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Units
meters

INS_POS2_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Units
meters

INS_POS2_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Units
meters

INS_POS2_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Units
meters

INS_POS3_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Units
meters

INS_POS3_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Units
meters

INS_POS3_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Units
meters

INS_GYR_ID: Gyro ID

Note: This parameter is for advanced users

Gyro sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_GYR2_ID: Gyro2 ID

Note: This parameter is for advanced users

Gyro2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_GYR3_ID: Gyro3 ID

Note: This parameter is for advanced users

Gyro3 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

Accelerometer sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_ACC2_ID: Accelerometer2 ID

Note: This parameter is for advanced users

Accelerometer2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_ACC3_ID: Accelerometer3 ID

Note: This parameter is for advanced users

Accelerometer3 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_FAST_SAMPLE: Fast sampling mask

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

Bitmask Values
Bit Meaning
0 FirstIMU
1 SecondIMU
2 ThirdIMU
Value Meaning
1 FirstIMUOnly
3 FirstAndSecondIMU

INS_LOG_ Parameters

INS_LOG_BAT_CNT: sample count per batch

Note: This parameter is for advanced users

Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32.

Increment
32

INS_LOG_BAT_MASK: Sensor Bitmask

Note: This parameter is for advanced users

Bitmap of which IMUs to log batch data for

Bitmask Values
Bit Meaning
0 IMU1
1 IMU2
2 IMU3
Value Meaning
0 None
1 First IMU
255 All

INS_LOG_BAT_OPT: Batch Logging Options Mask

Note: This parameter is for advanced users

Options for the BatchSampler

Bitmask
Bit Meaning
0 Sensor-Rate Logging (sample at full sensor rate seen by AP)

INS_LOG_BAT_LGIN: logging interval

Interval between pushing samples to the DataFlash log

Units Increment
milliseconds 10

INS_LOG_BAT_LGCT: logging count

Number of samples to push to count every INS_LOG_BAT_LGIN

Increment
1

INS_NOTCH_ Parameters

INS_NOTCH_ENABLE: Enable

Note: This parameter is for advanced users

Enable notch filter

Values
Value Meaning
0 Disabled
1 Enabled

INS_NOTCH_FREQ: Frequency

Note: This parameter is for advanced users

Notch center frequency in Hz

Range Units
10 - 200 hertz

INS_NOTCH_BW: Bandwidth

Note: This parameter is for advanced users

Notch bandwidth in Hz

Range Units
5 - 50 hertz

INS_NOTCH_ATT: Attenuation

Note: This parameter is for advanced users

Notch attenuation in dB

Range Units
5 - 30 decibel

LAND_ Parameters

LAND_SLOPE_RCALC: Landing slope re-calc threshold

Note: This parameter is for advanced users

This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m.

Range Increment Units
0 - 5 0.5 meters

LAND_ABORT_DEG: Landing auto-abort slope threshold

Note: This parameter is for advanced users

This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the original slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.

Range Increment Units
0 - 90 0.1 degrees

LAND_PITCH_CD: Landing Pitch

Note: This parameter is for advanced users

Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate.

Units
centidegrees

LAND_FLARE_ALT: Landing flare altitude

Note: This parameter is for advanced users

Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC.

Increment Units
0.1 meters

LAND_FLARE_SEC: Landing flare time

Note: This parameter is for advanced users

Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate. Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT).

Increment Units
0.1 seconds

LAND_PF_ALT: Landing pre-flare altitude

Note: This parameter is for advanced users

Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0.

Range Increment Units
0 - 30 0.1 meters

LAND_PF_SEC: Landing pre-flare time

Note: This parameter is for advanced users

Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0.

Range Increment Units
0 - 10 0.1 seconds

LAND_PF_ARSPD: Landing pre-flare airspeed

Note: This parameter is for advanced users

Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable.

Range Increment Units
0 - 30 0.1 meters per second

LAND_THR_SLEW: Landing throttle slew rate

This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough.

Range Increment Units
0 - 127 1 percent

LAND_DISARMDELAY: Landing disarm delay

Note: This parameter is for advanced users

After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm.

Range Increment Units
0 - 127 1 seconds

LAND_THEN_NEUTRL: Set servos to neutral after landing

Note: This parameter is for advanced users

When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain.

Values
Value Meaning
0 Disabled
1 Servos to Neutral
2 Servos to Zero PWM

LAND_ABORT_THR: Landing abort using throttle

Note: This parameter is for advanced users

Allow a landing abort to trigger with a throttle > 95%

Values
Value Meaning
0 Disabled
1 Enabled

LAND_FLAP_PERCNT: Landing flap percentage

Note: This parameter is for advanced users

The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing

Range Units
0 - 100 percent

LAND_TYPE: Auto-landing type

Specifies the auto-landing type to use

Values
Value Meaning
0 Standard Glide Slope
1 Deepstall

LAND_DS_ Parameters

LAND_DS_V_FWD: Deepstall forward velocity

Note: This parameter is for advanced users

The forward velocity of the aircraft while stalled

Range Units
0 - 20 meters per second

LAND_DS_SLOPE_A: Deepstall slope a

Note: This parameter is for advanced users

The a component of distance = a*wind + b

LAND_DS_SLOPE_B: Deepstall slope b

Note: This parameter is for advanced users

The a component of distance = a*wind + b

LAND_DS_APP_EXT: Deepstall approach extension

Note: This parameter is for advanced users

The forward velocity of the aircraft while stalled

Range Units
10 - 200 meters

LAND_DS_V_DWN: Deepstall velocity down

Note: This parameter is for advanced users

The downward velocity of the aircraft while stalled

Range Units
0 - 20 meters per second

LAND_DS_SLEW_SPD: Deepstall slew speed

Note: This parameter is for advanced users

The speed at which the elevator slews to deepstall

Range Units
0 - 2 seconds

LAND_DS_ELEV_PWM: Deepstall elevator PWM

Note: This parameter is for advanced users

The PWM value in microseconds for the elevator at full deflection in deepstall

Range Units
900 - 2100 PWM in microseconds

LAND_DS_ARSP_MAX: Deepstall enabled airspeed

Note: This parameter is for advanced users

The maximum aispeed where the deepstall steering controller is allowed to have control

Range Units
5 - 20 meters per second

LAND_DS_ARSP_MIN: Deepstall minimum derating airspeed

Note: This parameter is for advanced users

Deepstall lowest airspeed where the deepstall controller isn’t allowed full control

Range Units
5 - 20 meters per second

LAND_DS_L1: Deepstall L1 period

Note: This parameter is for advanced users

Deepstall L1 navigational controller period

Range Units
5 - 50 meters

LAND_DS_L1_I: Deepstall L1 I gain

Note: This parameter is for advanced users

Deepstall L1 integratior gain

Range
0 - 1

LAND_DS_AIL_SCL: Aileron landing gain scalaing

Note: This parameter is for advanced users

A scalar to reduce or increase the aileron control

Range
0 - 2.0

LAND_DS_DS_ Parameters

LAND_DS_DS_P: PID Proportional Gain

P Gain which produces an output value that is proportional to the current error value

LAND_DS_DS_I: PID Integral Gain

I Gain which produces an output that is proportional to both the magnitude and the duration of the error

LAND_DS_DS_D: PID Derivative Gain

D Gain which produces an output that is proportional to the rate of change of the error

LAND_DS_DS_IMAX: PID Integral Maximum

The maximum/minimum value that the I term can output

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

LOG_FILE_DSRMROT: Stop logging to current file on disarm

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened.

Values
Value Meaning
0 Disabled
1 Enabled

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

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Resume Mission
1 Restart Mission

MIS_OPTIONS: Mission options bitmask

Note: This parameter is for advanced users

Bitmask of what options to use in missions.

Bitmask
Bit Meaning
0 Clear Mission on reboot

MNT Parameters

MNT_DEFLT_MODE: Mount default operating mode

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

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

MNT_RETRACT_X: Mount roll angle when in retracted position

Mount roll angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position

Mount tilt/pitch angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position

Mount yaw/pan angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_NEUTRAL_X: Mount roll angle when in neutral position

Mount roll angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position

Mount tilt/pitch angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position

Mount pan/yaw angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_STAB_ROLL: Stabilize mount’s roll angle

enable roll stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT_STAB_TILT: Stabilize mount’s pitch/tilt angle

enable tilt/pitch stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT_STAB_PAN: Stabilize mount pan/yaw angle

enable pan/yaw stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT_RC_IN_ROLL: roll RC input channel

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

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

MNT_ANGMIN_ROL: Minimum roll angle

Minimum physical roll angular position of mount.

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_ANGMAX_ROL: Maximum roll angle

Maximum physical roll angular position of the mount

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_RC_IN_TILT: tilt (pitch) RC input channel

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

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

MNT_ANGMIN_TIL: Minimum tilt angle

Minimum physical tilt (pitch) angular position of mount.

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_ANGMAX_TIL: Maximum tilt angle

Maximum physical tilt (pitch) angular position of the mount

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_RC_IN_PAN: pan (yaw) RC input channel

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

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

MNT_ANGMIN_PAN: Minimum pan angle

Minimum physical pan (yaw) angular position of mount.

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_ANGMAX_PAN: Maximum pan angle

Maximum physical pan (yaw) angular position of the mount

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_JSTICK_SPD: mount joystick speed

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

Range Increment
0 - 100 1

MNT_LEAD_RLL: Roll stabilization lead time

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

Range Increment Units
0.0 - 0.2 .005 seconds

MNT_LEAD_PTCH: Pitch stabilization lead time

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

Range Increment Units
0.0 - 0.2 .005 seconds

MNT_TYPE: Mount Type

Mount Type (None, Servo or MAVLink)

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

MNT2_DEFLT_MODE: Mount default operating mode

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

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

MNT2_RETRACT_X: Mount2 roll angle when in retracted position

Mount2 roll angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position

Mount2 tilt/pitch angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position

Mount2 yaw/pan angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position

Mount2 roll angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position

Mount2 tilt/pitch angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position

Mount2 pan/yaw angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_STAB_ROLL: Stabilize Mount2’s roll angle

enable roll stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT2_STAB_TILT: Stabilize Mount2’s pitch/tilt angle

enable tilt/pitch stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle

enable pan/yaw stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT2_RC_IN_ROLL: Mount2’s roll RC input channel

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

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

MNT2_ANGMIN_ROL: Mount2’s minimum roll angle

Mount2’s minimum physical roll angular position

Range Increment Units
-18000 - 17999 1 centidegrees

MNT2_ANGMAX_ROL: Mount2’s maximum roll angle

Mount2’s maximum physical roll angular position

Range Increment Units
-18000 - 17999 1 centidegrees

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

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

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

MNT2_ANGMIN_TIL: Mount2’s minimum tilt angle

Mount2’s minimum physical tilt (pitch) angular position

Range Increment Units
-18000 - 17999 1 centidegrees

MNT2_ANGMAX_TIL: Mount2’s maximum tilt angle

Mount2’s maximum physical tilt (pitch) angular position

Range Increment Units
-18000 - 17999 1 centidegrees

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

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

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

MNT2_ANGMIN_PAN: Mount2’s minimum pan angle

Mount2’s minimum physical pan (yaw) angular position

Range Increment Units
-18000 - 17999 1 centidegrees

MNT2_ANGMAX_PAN: Mount2’s maximum pan angle

MOunt2’s maximum physical pan (yaw) angular position

Range Increment Units
-18000 - 17999 1 centidegrees

MNT2_LEAD_RLL: Mount2’s Roll stabilization lead time

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

Range Increment Units
0.0 - 0.2 .005 seconds

MNT2_LEAD_PTCH: Mount2’s Pitch stabilization lead time

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

Range Increment Units
0.0 - 0.2 .005 seconds

MNT2_TYPE: Mount2 Type

Mount Type (None, Servo or MAVLink)

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

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

NTF_DISPLAY_TYPE: Type of on-board I2C display

Note: This parameter is for advanced users

This sets up the type of on-board I2C display. Disabled by default.

Values
Value Meaning
0 Disable
1 ssd1306
2 sh1106

NTF_OREO_THEME: OreoLED Theme

Note: This parameter is for advanced users

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

Values
Value Meaning
0 Disabled
1 Aircraft
2 Rover

NTF_BUZZ_PIN: Buzzer pin

Note: This parameter is for advanced users

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!

Values
Value Meaning
0 Disabled

NTF_LED_TYPES: LED Driver Types

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

Bitmask
Bit Meaning
0 Build in LED
1 Internal ToshibaLED
2 External ToshibaLED
3 External PCA9685
4 Oreo LED
5 UAVCAN
6 NCP5623 External
7 NCP5623 Internal

OSD Parameters

OSD_TYPE: OSD type

OSD type

Values RebootRequired
Value Meaning
0 None
1 MAX7456
True

OSD_CHAN: Screen switch transmitter channel

This sets the channel used to switch different OSD screens.

Values
Value Meaning
0 Disable
5 Chan5
6 Chan6
7 Chan7
8 Chan8
9 Chan9
10 Chan10
11 Chan11
12 Chan12
13 Chan13
14 Chan14
15 Chan15
16 Chan16

OSD_OPTIONS: OSD Options

This sets options that change the display

Bitmask
Bit Meaning
0 UseDecimalPack
1 InvertedWindPointer
2 InvertedAHRoll

OSD_FONT: OSD Font

This sets which OSD font to use. It is an integer from 0 to the number of fonts available

RebootRequired
True

OSD_V_OFFSET: OSD vertical offset

Sets vertical offset of the osd inside image

Range RebootRequired
0 - 31 True

OSD_H_OFFSET: OSD horizontal offset

Sets horizontal offset of the osd inside image

Range RebootRequired
0 - 63 True

OSD_W_RSSI: RSSI warn level (in %)

Set level at which RSSI item will flash

Range
0 - 99

OSD_W_NSAT: NSAT warn level

Set level at which NSAT item will flash

Range
1 - 30

OSD_W_BATVOLT: BAT_VOLT warn level

Set level at which BAT_VOLT item will flash

Range
0 - 100

OSD_UNITS: Display Units

Sets the units to use in displaying items

Values
Value Meaning
0 Metric
1 Imperial
2 SI
3 Aviation

OSD_MSG_TIME: Message display duration in seconds

Sets message duration seconds

Range
1 - 20

OSD1_ Parameters

OSD1_ENABLE: Enable screen

Enable this screen

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD1_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD1_ALTITUDE Parameters

OSD1_ALTITUDE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_ALTITUDE_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_ALTITUDE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BATUSED Parameters

OSD1_BATUSED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BATUSED_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BATUSED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BATVOLT Parameters

OSD1_BATVOLT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BATVOLT_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BATVOLT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BLHAMPS Parameters

OSD1_BLHAMPS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BLHAMPS_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BLHAMPS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BLHRPM Parameters

OSD1_BLHRPM_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BLHRPM_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BLHRPM_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BLHTEMP Parameters

OSD1_BLHTEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BLHTEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BLHTEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_CURRENT Parameters

OSD1_CURRENT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_CURRENT_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_CURRENT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_DIST Parameters

OSD1_DIST_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_DIST_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_DIST_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_FLTIME Parameters

OSD1_FLTIME_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_FLTIME_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_FLTIME_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_FLTMODE Parameters

OSD1_FLTMODE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_FLTMODE_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_FLTMODE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_GPSLAT Parameters

OSD1_GPSLAT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_GPSLAT_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_GPSLAT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_GPSLONG Parameters

OSD1_GPSLONG_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_GPSLONG_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_GPSLONG_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_GSPEED Parameters

OSD1_GSPEED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_GSPEED_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_GSPEED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_HDOP Parameters

OSD1_HDOP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_HDOP_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_HDOP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_HOME Parameters

OSD1_HOME_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_HOME_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_HOME_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_HORIZON Parameters

OSD1_HORIZON_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_HORIZON_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_HORIZON_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_MESSAGE Parameters

OSD1_MESSAGE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_MESSAGE_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_MESSAGE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_PITCH Parameters

OSD1_PITCH_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_PITCH_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_PITCH_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_ROLL Parameters

OSD1_ROLL_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_ROLL_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_ROLL_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_RSSI Parameters

OSD1_RSSI_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_RSSI_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_RSSI_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_SATS Parameters

OSD1_SATS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_SATS_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_SATS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_STATS Parameters

OSD1_STATS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_STATS_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_STATS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_TEMP Parameters

OSD1_TEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_TEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_TEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_WAYPOINT Parameters

OSD1_WAYPOINT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_WAYPOINT_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_WAYPOINT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_XTRACK Parameters

OSD1_XTRACK_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_XTRACK_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_XTRACK_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_ Parameters

OSD2_ENABLE: Enable screen

Enable this screen

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD2_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD2_ALTITUDE Parameters

OSD2_ALTITUDE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_ALTITUDE_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_ALTITUDE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BATUSED Parameters

OSD2_BATUSED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BATUSED_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BATUSED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BATVOLT Parameters

OSD2_BATVOLT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BATVOLT_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BATVOLT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BLHAMPS Parameters

OSD2_BLHAMPS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BLHAMPS_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BLHAMPS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BLHRPM Parameters

OSD2_BLHRPM_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BLHRPM_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BLHRPM_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BLHTEMP Parameters

OSD2_BLHTEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BLHTEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BLHTEMP_Y: Y position

Vertical position on screen

Range
0 - 15