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

SYSID_SW_TYPE: Software Type

Note: This parameter is for advanced users

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

ReadOnly
True

CLI_ENABLED: CLI Enable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

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.

Range Increment Units
0 - 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

Typically THR_MIN will be clipped to zero unless reverse thrust is available. Since you may not want negative thrust available at all times this bitmask allows THR_MIN to go below 0 while executing certain auto-mission commands.

Bitmask
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

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.

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

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_BATT_VOLTAGE: Failsafe battery voltage

Battery voltage to trigger failsafe. Set to 0 to disable battery voltage failsafe. If the battery voltage drops below this voltage continuously for 10 seconds then the plane will switch to RTL mode.

Increment Units
0.1 volt

FS_BATT_MAH: Failsafe battery milliAmpHours

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

Increment Units
50 milliampere hour

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 RC1_TRIM, RC2_TRIM and RC4_TRIM. 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.

Values
Value Meaning
0 Disabled
1 Enabled

ELEVON_MIXING: Elevon mixing

This enables an older form of elevon mixing which is now deprecated. Please see the ELEVON_OUTPUT option for setting up elevons. The ELEVON_MIXING option should be set to 0 for elevon planes except for backwards compatibility with older setups.

Values
Value Meaning
0 Disabled
1 Enabled

ELEVON_REVERSE: Elevon reverse

Reverse elevon mixing

Values
Value Meaning
0 Disabled
1 Enabled

ELEVON_CH1_REV: Elevon reverse

Reverse elevon channel 1

Values
Value Meaning
-1 Disabled
1 Enabled

ELEVON_CH2_REV: Elevon reverse

Reverse elevon channel 2

Values
Value Meaning
-1 Disabled
1 Enabled

VTAIL_OUTPUT: VTail output

Enable VTail output in software. If enabled then the APM will provide software VTail mixing on the elevator and rudder channels. There are 8 different mixing modes available, which refer to the 8 ways the elevator can be mapped to the two VTail servos. Please also see the MIXING_GAIN parameter for the output gain of the mixer.

Values
Value Meaning
0 Disabled
1 UpUp
2 UpDown
3 DownUp
4 DownDown
5 UpUpSwap
6 UpDownSwap
7 DownUpSwap
8 DownDownSwap

ELEVON_OUTPUT: Elevon output

Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 8 different mixing modes available, which refer to the 8 ways the elevator can be mapped to the two elevon servos. Please also see the MIXING_GAIN parameter for the output gain of the mixer.

Values
Value Meaning
0 Disabled
1 UpUp
2 UpDown
3 DownUp
4 DownDown
5 UpUpSwap
6 UpDownSwap
7 DownUpSwap
8 DownDownSwap

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
-1000 - 1000 decipercent

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. You must also enable a FLAPERON_OUTPUT flaperon mixer setting if using flaperons.

FLAPERON_OUTPUT: Flaperon output

Enable flaperon output in software. If enabled then the APM will provide software flaperon mixing on the FLAPERON1 and FLAPERON2 output channels specified using the FUNCTION on two auxiliary channels. There are 8 different mixing modes available, which refer to the 8 ways the flap and aileron outputs can be mapped to the two flaperon servos. Please also see the MIXING_GAIN parameter for the output gain of the mixer. FLAPERON_OUTPUT cannot be combined with ELEVON_OUTPUT or ELEVON_MIXING.

Values
Value Meaning
0 Disabled
1 UpUp
2 UpDown
3 DownUp
4 DownDown
5 UpUpSwap
6 UpDownSwap
7 DownUpSwap
8 DownDownSwap

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

RC_TRIM_AT_START: RC Trims auto set at start.

Automatically set roll/pitch trim from Tx at ground start. This makes the assumption that the RC transmitter has not been altered since trims were last captured.

Values
Value Meaning
0 Disable
1 Enable

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

ADSB_ Parameters

ADSB_ENABLE: Enable ADSB

Enable ADS-B

Values
Value Meaning
0 Disabled
1 Enabled

ADSB_LIST_MAX: ADSB vehicle list size

Note: This parameter is for advanced users

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

Range
1 - 100

ADSB_LIST_RADIUS: ADSB vehicle list radius filter

Note: This parameter is for advanced users

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

Range
1 - 100000

ADSB_ICAO_ID: ICAO_ID vehicle identifaction number

Note: This parameter is for advanced users

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

Range
-1 - 16777215

ADSB_EMIT_TYPE: Emitter type

Note: This parameter is for advanced users

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

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

ADSB_LEN_WIDTH: Aircraft length and width

Note: This parameter is for advanced users

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

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

ADSB_OFFSET_LAT: GPS antenna lateral offset

Note: This parameter is for advanced users

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

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

ADSB_OFFSET_LON: GPS antenna longitudinal offset

Note: This parameter is for advanced users

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

Values
Value Meaning
0 NO_DATA
1 AppliedBySensor

ADSB_RF_SELECT: Transceiver RF selection

Note: This parameter is for advanced users

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

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

AFS_ Parameters

AFS_ENABLE: Enable Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_MAN_PIN: Manual Pin

Note: This parameter is for advanced users

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

AFS_HB_PIN: Heartbeat Pin

Note: This parameter is for advanced users

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

AFS_WP_COMMS: Comms Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

AFS_GPS_LOSS: GPS Loss Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

AFS_TERMINATE: Force Terminate

Note: This parameter is for advanced users

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

AFS_TERM_ACTION: Terminate action

Note: This parameter is for advanced users

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

AFS_TERM_PIN: Terminate Pin

Note: This parameter is for advanced users

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

AFS_AMSL_LIMIT: AMSL limit

Note: This parameter is for advanced users

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

Units
meters

AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit

Note: This parameter is for advanced users

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

Units
meters

AFS_QNH_PRESSURE: QNH pressure

Note: This parameter is for advanced users

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

Units
millibar

AFS_MAX_GPS_LOSS: Maximum number of GPS loss events

Note: This parameter is for advanced users

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

AFS_MAX_COM_LOSS: Maximum number of comms loss events

Note: This parameter is for advanced users

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

AFS_GEOFENCE: Enable geofence Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_RC: Enable RC Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes

Note: This parameter is for advanced users

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

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

Note: This parameter is for advanced users

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

AFS_RC_FAIL_TIME: RC failure time

Note: This parameter is for advanced users

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

Units
seconds

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.

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 Roll270Yaw136
24 Pitch90
25 Pitch270
26 Pitch180Yaw90
27 Pitch180Yaw270
28 Roll90Pitch90
29 Roll180Pitch90
30 Roll270Pitch90
31 Roll90Pitch180
32 Roll270Pitch180
33 Roll90Pitch270
34 Roll180Pitch270
35 Roll270Pitch270
36 Roll90Pitch180Yaw90
37 Roll90Yaw270

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient

Note: This parameter is for advanced users

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

Range Increment
0.001 - 0.5 .01

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites

Note: This parameter is for advanced users

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

Range Increment
0 - 10 1

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
2 Enable EKF2
3 Enable EKF3

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. This parameter is relevant for ArduPlane only.

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 All
1 Barometer
2 Compass
3 GPS lock
4 INS
5 Parameters
6 RC
7 Board voltage
8 Battery Level
9 Airspeed
10 Logging Available
11 Hardware safety switch
12 GPS Configuration
Value Meaning
0 None
1 All
2 Barometer
4 Compass
8 GPS Lock
16 INS(INertial Sensors - accels & gyros)
32 Parameters(unused)
64 RC Failsafe
128 Board voltage
256 Battery Level
512 Airspeed
1024 LoggingAvailable
2048 Hardware safety switch
4096 GPS configuration

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_MIN_VOLT: Minimum arming voltage on the first battery

The minimum voltage on the first battery to arm, 0 disables the check. This parameter is relevant for ArduPlane only.

Increment Units
0.1 volt

ARMING_MIN_VOLT2: Minimum arming voltage on the second battery

The minimum voltage on the first battery to arm, 0 disables the check. This parameter is relevant for ArduPlane only.

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

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 APM 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
1 Bus1

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

BATT Parameters

BATT_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

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

BATT_VOLT_PIN: Battery Voltage sensing pin

Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13.

Values
Value Meaning
-1 Disabled
0 A0
1 A1
2 Pixhawk/Pixracer/Navio2
13 Pixhawk2_PM2
100 PX4-v1

BATT_CURR_PIN: Battery Current sensing pin

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14.

Values
Value Meaning
-1 Disabled
1 A1
2 A2
3 Pixhawk/Pixracer/Navio2
14 Pixhawk2_PM2
101 PX4-v1

BATT_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.

BATT_AMP_PERVOLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
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

BATT2_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

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

BATT2_VOLT_PIN: Battery Voltage sensing pin

Setting this to 0 ~ 13 will enable battery voltage sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 100. On the Pixhawk, Pixracer and NAVIO boards it should be set to 2, Pixhawk2 Power2 is 13.

Values
Value Meaning
-1 Disabled
0 A0
1 A1
2 Pixhawk/Pixracer/Navio2
13 Pixhawk2_PM2
100 PX4-v1

BATT2_CURR_PIN: Battery Current sensing pin

Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. On the PX4-v1 it should be set to 101. On the Pixhawk, Pixracer and NAVIO boards it should be set to 3, Pixhawk2 Power2 is 14.

Values
Value Meaning
-1 Disabled
1 A1
2 A2
3 Pixhawk/Pixracer/Navio2
14 Pixhawk2_PM2
101 PX4-v1

BATT2_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick on APM2 or Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX4 using the PX4IO power supply this should be set to 1.

BATT2_AMP_PERVOL: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. On the APM2 or Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
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 current

Note: This parameter is for advanced users

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

Increment Units
1 ampere

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

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_LOW_TYPE: Low voltage type

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

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 PX4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
2 Auto
True

BRD_SAFETYENABLE: Enable use of safety arming switch

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
True

BRD_SBUS_OUT: SBUS output rate

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. A value of -1 disables heating.

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 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_CAN_ Parameters

BRD_CAN_ENABLE: Enable use of CAN buses

Note: This parameter is for advanced users

Enabling this option enables use of CAN buses.

Values
Value Meaning
0 Disabled
1 Enabled first channel
2 Enabled both channels

BRD_CAN_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

BRD_CAN_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

BRD_CAN_UC_EN: Enable use of UAVCAN devices

Note: This parameter is for advanced users

Enabling this option starts UAVCAN protocol.

Values
Value Meaning
0 Disabled
1 Enabled

BRD_CAN_UC_ Parameters

BRD_CAN_UC_NODE: UAVCAN node that is used for Ardupilot

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

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

CAM_FEEDBACK_POL: Camera feedback pin polarity

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

Values
Value Meaning
0 TriggerLow
1 TriggerHigh

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

Values
Value Meaning
0 None
1 Yaw45
2 Yaw90
3 Yaw135
4 Yaw180
5 Yaw225
6 Yaw270
7 Yaw315
8 Roll180
9 Roll180Yaw45
10 Roll180Yaw90
11 Roll180Yaw135
12 Pitch180
13 Roll180Yaw225
14 Roll180Yaw270
15 Roll180Yaw315
16 Roll90
17 Roll90Yaw45
18 Roll90Yaw90
19 Roll90Yaw135
20 Roll270
21 Roll270Yaw45
22 Roll270Yaw90
23 Roll270Yaw136
24 Pitch90
25 Pitch270
26 Pitch180Yaw90
27 Pitch180Yaw270
28 Roll90Pitch90
29 Roll180Pitch90
30 Roll270Pitch90
31 Roll90Pitch180
32 Roll270Pitch180
33 Roll90Pitch270
34 Roll180Pitch270
35 Roll270Pitch270
36 Roll90Pitch180Yaw90
37 Roll90Yaw270
38 Yaw293Pitch68Roll90

COMPASS_EXTERNAL: Compass is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis

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. Normally 0=External, 1=Internal. If no External compass is attached this parameter is ignored

Values
Value Meaning
0 FirstCompass
1 SecondCompass
2 ThirdCompass

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis

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

Values
Value Meaning
0 None
1 Yaw45
2 Yaw90
3 Yaw135
4 Yaw180
5 Yaw225
6 Yaw270
7 Yaw315
8 Roll180
9 Roll180Yaw45
10 Roll180Yaw90
11 Roll180Yaw135
12 Pitch180
13 Roll180Yaw225
14 Roll180Yaw270
15 Roll180Yaw315
16 Roll90
17 Roll90Yaw45
18 Roll90Yaw90
19 Roll90Yaw135
20 Roll270
21 Roll270Yaw45
22 Roll270Yaw90
23 Roll270Yaw136
24 Pitch90
25 Pitch270
26 Pitch180Yaw90
27 Pitch180Yaw270
28 Roll90Pitch90
29 Roll180Pitch90
30 Roll270Pitch90
31 Roll90Pitch180
32 Roll270Pitch180
33 Roll90Pitch270
34 Roll180Pitch270
35 Roll270Pitch270
36 Roll90Pitch180Yaw90
37 Roll90Yaw270
38 Yaw293Pitch68Roll90

COMPASS_EXTERN2: Compass2 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_USE3: Compass3 used for yaw

Note: This parameter is for advanced users

Enable or disable the third compass for determining heading.

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_ORIENT3: Compass3 orientation

Note: This parameter is for advanced users

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

Values
Value Meaning
0 None
1 Yaw45
2 Yaw90
3 Yaw135
4 Yaw180
5 Yaw225
6 Yaw270
7 Yaw315
8 Roll180
9 Roll180Yaw45
10 Roll180Yaw90
11 Roll180Yaw135
12 Pitch180
13 Roll180Yaw225
14 Roll180Yaw270
15 Roll180Yaw315
16 Roll90
17 Roll90Yaw45
18 Roll90Yaw90
19 Roll90Yaw135
20 Roll270
21 Roll270Yaw45
22 Roll270Yaw90
23 Roll270Yaw136
24 Pitch90
25 Pitch270
26 Pitch180Yaw90
27 Pitch180Yaw270
28 Roll90Pitch90
29 Roll180Pitch90
30 Roll270Pitch90
31 Roll90Pitch180
32 Roll270Pitch180
33 Roll90Pitch270
34 Roll180Pitch270
35 Roll270Pitch270
36 Roll90Pitch180Yaw90
37 Roll90Yaw270
38 Yaw293Pitch68Roll90

COMPASS_EXTERN3: Compass3 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component

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

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_GPS_DELAY: GPS measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 250 10 milliseconds True

EK2_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

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

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

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

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

Range Increment Units
-1 - 70 1 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 (default) or to the reported EKF origin height.

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

This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK3_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. 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

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

Range Increment Units
-1 - 70 1 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 (default) or to the reported EKF origin height.

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

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_BUS_ID: ID on the bus

Note: This parameter is for advanced users

This is used to select between multiple possible bus IDs 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

calibrated ground temperature in degrees Celsius

ReadOnly Volatile Increment Units
True 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

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
12 QURT
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
12 QURT
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

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

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

GPS_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

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

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

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE2: GNSS system configuration

Note: This parameter is for advanced users

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

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

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disables automatic configuration
1 Enable automatic configuration

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

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

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 veloicty 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_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

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

PTCH2SRV_ Parameters

PTCH2SRV_TCONST: Pitch Time Constant

Note: This parameter is for advanced users

This controls the time constant in seconds from demanded to achieved pitch angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.

Range Increment Units
0.4 - 1.0 0.1 seconds

PTCH2SRV_P: Proportional Gain

This is the gain from pitch angle to elevator. This gain works the same way as PTCH2SRV_P in the old PID controller and can be set to the same value.

Range Increment
0.1 - 3.0 0.1

PTCH2SRV_D: Damping Gain

This is the gain from pitch rate to elevator. This adjusts the damping of the pitch control loop. It has the same effect as PTCH2SRV_D in the old PID controller and can be set to the same value, but without the spikes in servo demands. This gain helps to reduce pitching in turbulence. Some airframes such as flying wings that have poor pitch damping can benefit from increasing this gain term. This should be increased in 0.01 increments as too high a value can lead to a high frequency pitch oscillation that could overstress the airframe.

Range Increment
0 - 0.1 0.01

PTCH2SRV_I: Integrator Gain

This is the gain applied to the integral of pitch angle. It has the same effect as PTCH2SRV_I in the old PID controller and can be set to the same value. Increasing this gain causes the controller to trim out constant offsets between demanded and measured pitch angle.

Range Increment
0 - 0.5 0.05

PTCH2SRV_RMAX_UP: Pitch up max rate

Note: This parameter is for advanced users

This sets the maximum nose up pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.

Range Increment Units
0 - 100 1 degrees per second

PTCH2SRV_RMAX_DN: Pitch down max rate

Note: This parameter is for advanced users

This sets the maximum nose down pitch rate that the controller will demand (degrees/sec). Setting it to zero disables the limit.

Range Increment Units
0 - 100 1 degrees per second

PTCH2SRV_RLL: Roll compensation

This is the gain term that is applied to the pitch rate offset calculated as required to keep the nose level during turns. The default value is 1 which will work for all models. Advanced users can use it to correct for height variation in turns. If height is lost initially in turns this can be increased in small increments of 0.05 to compensate. If height is gained initially in turns then it can be decreased.

Range Increment
0.7 - 1.5 0.05

PTCH2SRV_IMAX: Integrator limit

Note: This parameter is for advanced users

This limits the number of centi-degrees of elevator over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 degrees, so the default value represents a 2/3rd of the total control throw which is adequate for most aircraft unless they are severely out of trim or have very limited elevator control effectiveness.

Range Increment
0 - 4500 1

PTCH2SRV_FF: Feed forward Gain

This is the gain from demanded rate to elevator output.

Range Increment
0.1 - 4.0 0.1

Q_ Parameters

Q_ENABLE: Enable QuadPlane

This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode.

Values
Value Meaning
0 Disable
1 Enable
2 Enable VTOL AUTO

Q_ANGLE_MAX: Angle Max

Note: This parameter is for advanced users

Maximum lean angle in all VTOL flight modes

Range Units
1000 - 8000 centidegrees

Q_TRANSITION_MS: Transition time

Note: This parameter is for advanced users

Transition time in milliseconds after minimum airspeed is reached

Range Units
0 - 30000 milliseconds

Q_PZ_P: Position (vertical) controller P gain

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

Range
1.000 - 3.000

Q_PXY_P: Position (horizonal) controller P gain

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

Range
0.500 - 2.000

Q_VXY_P: Velocity (horizontal) P gain

Note: This parameter is for advanced users

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

Range Increment
0.1 - 6.0 0.1

Q_VXY_I: Velocity (horizontal) I gain

Note: This parameter is for advanced users

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

Range Increment
0.02 - 1.00 0.01

Q_VXY_IMAX: Velocity (horizontal) integrator maximum

Note: This parameter is for advanced users

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

Range Increment Units
0 - 4500 10 centimeters per square second

Q_VZ_P: Velocity (vertical) P gain

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

Range
1.000 - 8.000

Q_AZ_P: Throttle acceleration controller P gain

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

Range
0.500 - 1.500

Q_AZ_I: Throttle acceleration controller I gain

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

Range
0.000 - 3.000

Q_AZ_IMAX: Throttle acceleration controller I gain maximum

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

Range Units
0 - 1000 decipercent

Q_AZ_D: Throttle acceleration controller D gain

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

Range
0.000 - 0.400

Q_AZ_FILT_HZ: Throttle acceleration filter

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

Range Units
1.000 - 100.000 hertz

Q_VELZ_MAX: Pilot maximum vertical speed

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

Range Increment Units
50 - 500 10 centimeters per second

Q_ACCEL_Z: Pilot vertical acceleration

The vertical acceleration used when pilot is controlling the altitude

Range Increment Units
50 - 500 10 centimeters per square second

Q_RC_SPEED: RC output speed in Hz

This is the PWM refresh rate in Hz for QuadPlane quad motors

Range Increment Units
50 - 500 10 hertz

Q_THR_MIN_PWM: Minimum PWM output

This is the minimum PWM output for the quad motors

Range Increment Units
800 - 2200 1 hertz

Q_THR_MAX_PWM: Maximum PWM output

This is the maximum PWM output for the quad motors

Range Increment Units
800 - 2200 1 hertz

Q_ASSIST_SPEED: Quadplane assistance speed

This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. Zero means no assistance except during transition

Range Increment Units
0 - 100 0.1 meters per second

Q_YAW_RATE_MAX: Maximum yaw rate

This is the maximum yaw rate in degrees/second

Range Increment Units
50 - 500 1 degrees per second

Q_LAND_SPEED: Land speed

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

Range Increment Units
30 - 200 10 centimeters per second

Q_LAND_FINAL_ALT: Land final altitude

The altitude at which we should switch to Q_LAND_SPEED descent rate

Range Increment Units
0.5 - 50 0.1 meters

Q_TRAN_PIT_MAX: Transition max pitch

Maximum pitch during transition to auto fixed wing flight

Range Increment Units
0 - 30 1 degrees

Q_FRAME_CLASS: Frame Class

Controls major frame class for multicopter component

Values
Value Meaning
0 Undefined
1 Quad
2 Hexa
3 Octa
4 OctaQuad
5 Y6
7 Tri
10 TailSitter

Q_FRAME_TYPE: Frame Type (+, X or V)

Controls motor mixing for multicopter component

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

Q_VFWD_GAIN: Forward velocity hold gain

Controls use of forward motor in vtol modes. If this is zero then the forward motor will not be used for position control in VTOL modes. A value of 0.05 is a good place to start if you want to use the forward motor for position control. No forward motor will be used in QSTABILIZE or QHOVER modes. Use QLOITER for position hold with the forward motor.

Range Increment
0 - 0.5 0.01

Q_WVANE_GAIN: Weathervaning gain

This controls the tendency to yaw to face into the wind. A value of 0.1 is to start with and will give a slow turn into the wind. Use a value of 0.4 for more rapid response. The weathervaning works by turning into the direction of roll.

Range Increment
0 - 1 0.01

Q_WVANE_MINROLL: Weathervaning min roll

This set the minimum roll in degrees before active weathervaning will start. This may need to be larger if your aircraft has bad roll trim.

Range Increment
0 - 10 0.1

Q_RTL_ALT: QRTL return altitude

The altitude which QRTL mode heads to initially

Range Increment Units
1 - 200 1 meters

Q_RTL_MODE: VTOL RTL mode

If this is set to 1 then an RTL will change to QRTL when the loiter target is reached

Values
Value Meaning
0 Disabled
1 Enabled

Q_TILT_MASK: Tiltrotor mask

This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type.

Q_TILT_RATE_UP: Tiltrotor upwards tilt rate

This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover

Range Increment Units
10 - 300 1 degrees per second

Q_TILT_MAX: Tiltrotor maximum VTOL angle

This is the maximum angle of the tiltable motors at which multicopter control will be enabled. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT_RATE

Range Increment Units
20 - 80 1 degrees

Q_GUIDED_MODE: Enable VTOL in GUIDED mode

This enables use of VTOL in guided mode. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination.

Values
Value Meaning
0 Disabled
1 Enabled

Q_ESC_CAL: ESC Calibration

This is used to calibrate the throttle range of the VTOL motors. Please read http://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using.

Values
Value Meaning
0 Disabled
1 ThrottleInput
2 FullInput

Q_VFWD_ALT: Forward velocity alt cutoff

Controls altitude to disable forward velocity assist when below this relative altitude. This is useful to keep the forward velocity propeller from hitting the ground. Rangefinder height data is incorporated when available.

Range Increment
0 - 10 0.25

Q_LAND_ICE_CUT: Cut IC engine on landing

This controls stopping an internal combustion engine in the final landing stage of a VTOL. This is important for aircraft where the forward thrust engine may experience prop-strike if left running during landing. This requires the engine controls are enabled using the ICE_* parameters.

Values
Value Meaning
0 Disabled
1 Enabled

Q_ASSIST_ANGLE: Quadplane assistance angle

This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance. This will only be used if Q_ASSIST_SPEED is also non-zero. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least 1 second. Set to zero to disable angle assistance.

Range Increment Units
0 - 90 1 degrees

Q_TILT_TYPE: Tiltrotor type

This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can’t move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover

Values
Value Meaning
0 Continuous
1 Binary
2 VectoredYaw

Q_TAILSIT_ANGLE: Tailsitter transition angle

This is the angle at which tailsitter aircraft will change from VTOL control to fixed wing control.

Range
5 - 80

Q_TILT_RATE_DN: Tiltrotor downwards tilt rate

This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP value is used.

Range Increment Units
10 - 300 1 degrees per second

Q_TAILSIT_INPUT: Tailsitter input type

This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When multicopter input is selected the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When using fixed wing input the roll and yaw sticks will control the aircraft in body frame.

Values
Value Meaning
0 MultiCopterInput
1 FixedWingInput

Q_TAILSIT_MASK: Tailsitter input mask

This controls what channels have full manual control when hovering as a tailsitter and the Q_TAILSIT_MASKCH channel in high. This can be used to teach yourself to prop-hang a 3D plane by learning one or more channels at a time.

Bitmask
Bit Meaning
0 Aileron
1 Elevator
2 Throttle
3 Rudder

Q_TAILSIT_MASKCH: Tailsitter input mask channel

This controls what input channel will activate the Q_TAILSIT_MASK mask. When this channel goes above 1700 then the pilot will have direct manual control of the output channels specified in Q_TAILSIT_MASK. Set to zero to disable.

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

Q_TAILSIT_VFGAIN: Tailsitter vector thrust gain in forward flight

This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter

Range Increment
0 - 1 0.01

Q_TAILSIT_VHGAIN: Tailsitter vector thrust gain in hover

This controls the amount of vectored thrust control used in hover for a vectored tailsitter

Range Increment
0 - 1 0.01

Q_TILT_YAW_ANGLE: Tilt minimum angle for vectored yaw

This is the angle of the tilt servos when in VTOL mode and at minimum output. This needs to be set for Q_TILT_TYPE=3 to enable vectored control for yaw of tricopter tilt quadplanes.

Range
0 - 30

Q_TAILSIT_VHPOW: Tailsitter vector thrust gain power

This controls the amount of extra pitch given to the vectored control when at high pitch errors

Range Increment
0 - 4 0.1

Q_A_ Parameters

Q_A_RAT_RLL_P: Roll axis rate controller P gain

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

Range Increment
0.08 - 0.30 0.005

Q_A_RAT_RLL_I: Roll axis rate controller I gain

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

Range Increment
0.01 - 0.5 0.01

Q_A_RAT_RLL_IMAX: Roll axis rate controller I gain maximum

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

Range Increment Units
0 - 1 0.01 percent

Q_A_RAT_RLL_D: Roll axis rate controller D gain

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

Range Increment
0.0 - 0.02 0.001

Q_A_RAT_RLL_FF: Roll axis rate controller feed forward

Roll axis rate controller feed forward

Range Increment
0 - 0.5 0.001

Q_A_RAT_RLL_FILT: Roll axis rate controller input frequency in Hz

Roll axis rate controller input frequency in Hz

Range Increment Units
1 - 100 1 hertz

Q_A_RAT_PIT_P: Pitch axis rate controller P gain

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

Range Increment
0.08 - 0.30 0.005

Q_A_RAT_PIT_I: Pitch axis rate controller I gain

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

Range Increment
0.01 - 0.5 0.01

Q_A_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum

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

Range Increment Units
0 - 1 0.01 percent

Q_A_RAT_PIT_D: Pitch axis rate controller D gain

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

Range Increment
0.0 - 0.02 0.001

Q_A_RAT_PIT_FF: Pitch axis rate controller feed forward

Pitch axis rate controller feed forward

Range Increment
0 - 0.5 0.001

Q_A_RAT_PIT_FILT: Pitch axis rate controller input frequency in Hz

Pitch axis rate controller input frequency in Hz

Range Increment Units
1 - 100 1 hertz

Q_A_RAT_YAW_P: Yaw axis rate controller P gain

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

Range Increment
0.10 - 0.50 0.005

Q_A_RAT_YAW_I: Yaw axis rate controller I gain

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

Range Increment
0.010 - 0.05 0.01

Q_A_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum

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

Range Increment Units
0 - 1 0.01 percent

Q_A_RAT_YAW_D: Yaw axis rate controller D gain

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

Range Increment
0.000 - 0.02 0.001

Q_A_RAT_YAW_FF: Yaw axis rate controller feed forward

Yaw axis rate controller feed forward

Range Increment
0 - 0.5 0.001

Q_A_RAT_YAW_FILT: Yaw axis rate controller input frequency in Hz

Yaw axis rate controller input frequency in Hz

Range Increment Units
1 - 100 1 hertz

Q_A_THR_MIX_MIN: Throttle Mix Minimum

Note: This parameter is for advanced users

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

Range
0.1 - 0.25

Q_A_THR_MIX_MAX: Throttle Mix Maximum

Note: This parameter is for advanced users

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

Range
0.5 - 0.9

Q_A_THR_MIX_MAN: Throttle Mix Manual

Note: This parameter is for advanced users

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

Range
0.5 - 0.9

Q_M_ Parameters

Q_M_YAW_HEADROOM: Matrix Yaw Min

Note: This parameter is for advanced users

Yaw control is given at least this pwm in microseconds range

Range Units
0 - 500 PWM in microseconds

Q_M_THST_EXPO: Thrust Curve Expo

Note: This parameter is for advanced users

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

Range
0.25 - 0.8

Q_M_SPIN_MAX: Motor Spin maximum

Note: This parameter is for advanced users

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

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

Q_M_BAT_VOLT_MAX: Battery voltage compensation maximum voltage

Note: This parameter is for advanced users

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

Range Units
6 - 35 volt

Q_M_BAT_VOLT_MIN: Battery voltage compensation minimum voltage

Note: This parameter is for advanced users

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

Range Units
6 - 35 volt

Q_M_BAT_CURR_MAX: Motor Current Max

Note: This parameter is for advanced users

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

Range Units
0 - 200 ampere

Q_M_PWM_TYPE: Output PWM type

Note: This parameter is for advanced users

This selects the output PWM type, allowing for normal PWM continuous output, OneShot or brushed motor output

Values RebootRequired
Value Meaning
0 Normal
1 OneShot
2 OneShot125
3 Brushed
True

Q_M_PWM_MIN: PWM output miniumum

Note: This parameter is for advanced users

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

Range Units
0 - 2000 PWM in microseconds

Q_M_PWM_MAX: PWM output maximum

Note: This parameter is for advanced users

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

Range Units
0 - 2000 PWM in microseconds

Q_M_SPIN_MIN: Motor Spin minimum

Note: This parameter is for advanced users

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

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

Q_M_SPIN_ARM: Motor Spin armed

Note: This parameter is for advanced users

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

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

Q_M_BAT_CURR_TC: Motor Current Max Time Constant

Note: This parameter is for advanced users

Time constant used to limit the maximum current

Range Units
0 - 10 seconds

Q_M_THST_HOVER: Thrust Hover Value

Note: This parameter is for advanced users

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

Range
0.2 - 0.8

Q_M_HOVER_LEARN: Hover Value Learning

Note: This parameter is for advanced users

Enable/Disable automatic learning of hover throttle

Values
Value Meaning
0 Disabled
1 Learn
2 LearnAndSave

Q_M_SAFE_DISARM: Motor PWM output disabled when disarmed

Note: This parameter is for advanced users

Disables motor PWM output when disarmed

Values
Value Meaning
0 PWM enabled while disarmed
1 PWM disabled while disarmed

Q_M_YAW_SV_ANGLE: Yaw Servo Max Lean Angle

Yaw servo’s maximum lean angle

Range Increment Units
5 - 80 1 degrees

Q_M_SPOOL_TIME: Spool up time

Note: This parameter is for advanced users

Time in seconds to spool up the motors from zero to min throttle.

Range Increment Units
0 - 2 0.1 seconds

Q_M_BOOST_SCALE: Motor boost scale

Note: This parameter is for advanced users

This is a scaling factor for vehicles with a vertical booster motor used for extra lift. It is used with electric multicopters that have an internal combusion booster motor for longer endurance. The output to the BoostThrottle servo function is set to the current motor thottle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.

Range Increment
0 - 5 0.1

Q_P_ Parameters

Q_P__ACC_XY_FILT: XY Acceleration filter cutoff frequency

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 5 0.1 hertz

Q_WP_ Parameters

Q_WP_SPEED: Waypoint Horizontal Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission

Range Increment Units
20 - 2000 50 centimeters per second

Q_WP_RADIUS: Waypoint Radius

Defines the distance from a waypoint, that when crossed indicates the wp has been hit.

Range Increment Units
10 - 1000 1 centimeters

Q_WP_SPEED_UP: Waypoint Climb Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission

Range Increment Units
10 - 1000 50 centimeters per second

Q_WP_SPEED_DN: Waypoint Descent Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission

Range Increment Units
10 - 500 10 centimeters per second

Q_WP_LOIT_SPEED: Loiter Horizontal Maximum Speed

Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode

Range Increment Units
20 - 2000 50 centimeters per second

Q_WP_ACCEL: Waypoint Acceleration

Defines the horizontal acceleration in cm/s/s used during missions

Range Increment Units
50 - 500 10 centimeters per square second

Q_WP_ACCEL_Z: Waypoint Vertical Acceleration

Defines the vertical acceleration in cm/s/s used during missions

Range Increment Units
50 - 500 10 centimeters per square second

Q_WP_LOIT_JERK: Loiter maximum jerk

Note: This parameter is for advanced users

Loiter maximum jerk in cm/s/s/s

Range Increment Units
500 - 5000 1 centimeters per cubic second

Q_WP_LOIT_MAXA: Loiter maximum acceleration

Note: This parameter is for advanced users

Loiter maximum acceleration in cm/s/s. Higher values cause the copter to accelerate and stop more quickly.

Range Increment Units
100 - 981 1 centimeters per square second

Q_WP_LOIT_MINA: Loiter minimum acceleration

Note: This parameter is for advanced users

Loiter minimum acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered, but cause a larger jerk when the copter stops.

Range Increment Units
25 - 250 1 centimeters per square second

Q_WP_RFND_USE: Use rangefinder for terrain following

Note: This parameter is for advanced users

This controls the use of a rangefinder for terrain following

Values
Value Meaning
0 Disable
1 Enable

RALLY_ Parameters

RALLY_TOTAL: Rally Total

Note: This parameter is for advanced users

Number of rally points currently loaded

RALLY_LIMIT_KM: Rally Limit

Note: This parameter is for advanced users

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

Increment Units
0.1 kilometers

RALLY_INCL_HOME: Rally Include Home

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

Values
Value Meaning
0 DoNotIncludeHome
1 IncludeHome

RC10_ Parameters

RC10_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC10_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC10_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC10_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC10_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC11_ Parameters

RC11_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC11_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC11_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC11_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC11_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC12_ Parameters

RC12_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC12_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC12_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC12_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC12_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC13_ Parameters

RC13_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC13_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC13_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC13_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC13_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC14_ Parameters

RC14_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC14_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC14_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC14_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC14_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC15_ Parameters

RC15_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC15_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC15_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC15_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC15_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC16_ Parameters

RC16_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC16_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC16_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC16_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC16_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC1_ Parameters

RC1_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC1_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC1_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC1_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC1_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC2_ Parameters

RC2_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC2_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC2_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC2_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC2_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC3_ Parameters

RC3_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC3_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC3_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC3_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC3_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC4_ Parameters

RC4_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC4_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC4_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC4_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC4_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC5_ Parameters

RC5_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC5_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC5_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC5_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC5_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC6_ Parameters

RC6_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC6_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC6_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC6_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC6_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC7_ Parameters

RC7_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC7_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC7_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC7_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC7_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC8_ Parameters

RC8_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC8_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC8_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC8_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC8_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC9_ Parameters

RC9_MIN: RC min PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC9_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC9_MAX: RC max PWM

Note: This parameter is for advanced users

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

Range Increment Units
800 - 2200 1 PWM in microseconds

RC9_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning
0 Normal
1 Reversed

RC9_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RCMAP_ Parameters

RCMAP_ROLL: Roll channel

Note: This parameter is for advanced users

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

Range Increment RebootRequired
1 - 8 1 True

RCMAP_PITCH: Pitch channel

Note: This parameter is for advanced users

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

Range Increment RebootRequired
1 - 8 1 True

RCMAP_THROTTLE: Throttle channel

Note: This parameter is for advanced users

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

Range Increment RebootRequired
1 - 8 1 True

RCMAP_YAW: Yaw channel

Note: This parameter is for advanced users

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

Range Increment RebootRequired
1 - 8 1 True

RCMAP_FORWARD: Forward channel

Note: This parameter is for advanced users

Forward channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Range Increment RebootRequired
1 - 8 1 True

RCMAP_LATERAL: Lateral channel

Note: This parameter is for advanced users

Lateral channel number. This is useful when you have a RC transmitter that can’t change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Range Increment RebootRequired
1 - 8 1 True

RELAY_ Parameters

RELAY_PIN: First Relay Pin

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

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

RELAY_PIN2: Second Relay Pin

Digital pin number for 2nd relay control.

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

RELAY_PIN3: Third Relay Pin

Digital pin number for 3rd relay control.

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

RELAY_PIN4: Fourth Relay Pin

Digital pin number for 4th relay control.

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

RELAY_DEFAULT: Default relay state

The state of the relay on boot.

Values
Value Meaning
0 Off
1 On
2 NoChange

RLL2SRV_ Parameters

RLL2SRV_TCONST: Roll Time Constant

Note: This parameter is for advanced users

This controls the time constant in seconds from demanded to achieved bank angle. A value of 0.5 is a good default and will work with nearly all models. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the aircraft can achieve.

Range Increment Units
0.4 - 1.0 0.1 seconds

RLL2SRV_P: Proportional Gain

This is the gain from bank angle error to aileron.

Range Increment
0.1 - 4.0 0.1

RLL2SRV_D: Damping Gain

This is the gain from roll rate to aileron. This adjusts the damping of the roll control loop. It has the same effect as RLL2SRV_D in the old PID controller but without the spikes in servo demands. This gain helps to reduce rolling in turbulence. It should be increased in 0.01 increments as too high a value can lead to a high frequency roll oscillation that could overstress the airframe.

Range Increment
0 - 0.1 0.01

RLL2SRV_I: Integrator Gain

This is the gain from the integral of bank angle to aileron. It has the same effect as RLL2SRV_I in the old PID controller. Increasing this gain causes the controller to trim out steady offsets due to an out of trim aircraft.

Range Increment
0 - 1.0 0.05

RLL2SRV_RMAX: Maximum Roll Rate

Note: This parameter is for advanced users

This sets the maximum roll rate that the controller will demand (degrees/sec). Setting it to zero disables the limit. If this value is set too low, then the roll can’t keep up with the navigation demands and the plane will start weaving. If it is set too high (or disabled by setting to zero) then ailerons will get large inputs at the start of turns. A limit of 60 degrees/sec is a good default.

Range Increment Units
0 - 180 1 degrees per second

RLL2SRV_IMAX: Integrator limit

Note: This parameter is for advanced users

This limits the number of degrees of aileron in centi-degrees over which the integrator will operate. At the default setting of 3000 centi-degrees, the integrator will be limited to +- 30 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 2/3rd of the total control throw which is adequate unless the aircraft is severely out of trim.

Range Increment
0 - 4500 1

RLL2SRV_FF: Feed forward Gain

This is the gain from demanded rate to aileron output.

Range Increment
0.1 - 4.0 0.1

RNGFND Parameters

RNGFND_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning
0 None
1 Analog
2 MaxbotixI2C
3 LidarLiteV2-I2C
5 PX4-PWM
6 BBB-PRU
7 LightWareI2C
8 LightWareSerial
9 Bebop
10 MAVLink
11 uLanding
12 LeddarOne
13 MaxbotixSerial
14 TrOneI2C
15 LidarLiteV3-I2C
16 VL53L0X

RNGFND_PIN: Rangefinder pin

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

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

RNGFND_SCALING: Rangefinder scaling

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

Increment Units
0.001 meters per volt

RNGFND_OFFSET: rangefinder offset

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

Increment Units
0.001 volt

RNGFND_FUNCTION: Rangefinder function

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

Values
Value Meaning
0 Linear
1 Inverted
2 Hyperbolic

RNGFND_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND_STOP_PIN: Rangefinder stop pin

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

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

RNGFND_SETTLE: Rangefinder settle time

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

Increment Units
1 milliseconds

RNGFND_RMETRIC: Ratiometric

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

Values
Value Meaning
0 No
1 Yes

RNGFND_PWRRNG: Powersave range

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

Range Units
0 - 32767 meters

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

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

Range Increment Units
5 - 127 1 centimeters

RNGFND_ADDR: Bus address of sensor

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

Range Increment
0 - 127 1

RNGFND_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning
0 Forward
1 Forward-Right
2 Right
3 Back-Right
4 Back
5 Back-Left
6 Left
7 Forward-Left
24 Up
25 Down

RNGFND2_TYPE: Second Rangefinder type

Note: This parameter is for advanced users

What type of rangefinder device that is connected

Values
Value Meaning
0 None
1 Analog
2 MaxbotixI2C
3 LidarLiteV2-I2C
5 PX4-PWM
6 BBB-PRU
7 LightWareI2C
8 LightWareSerial
9 Bebop
10 MAVLink
11 uLanding
12 LeddarOne
13 MaxbotixSerial
14 TrOneI2C
15 LidarLiteV3-I2C
16 VL53L0X

RNGFND2_PIN: Rangefinder pin

Note: This parameter is for advanced users

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

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

RNGFND2_SCALING: Rangefinder scaling

Note: This parameter is for advanced users

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

Increment Units
0.001 meters per volt

RNGFND2_OFFSET: rangefinder offset

Note: This parameter is for advanced users

Offset in volts for zero distance

Increment Units
0.001 volt

RNGFND2_FUNCTION: Rangefinder function

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Linear
1 Inverted
2 Hyperbolic

RNGFND2_MIN_CM: Rangefinder minimum distance

Note: This parameter is for advanced users

Minimum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND2_MAX_CM: Rangefinder maximum distance

Note: This parameter is for advanced users

Maximum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND2_STOP_PIN: Rangefinder stop pin

Note: This parameter is for advanced users

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

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

RNGFND2_SETTLE: Sonar settle time

Note: This parameter is for advanced users

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

Increment Units
1 milliseconds

RNGFND2_RMETRIC: Ratiometric

Note: This parameter is for advanced users

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

Values
Value Meaning
0 No
1 Yes

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

Note: This parameter is for advanced users

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

Range Increment Units
0 - 127 1 centimeters

RNGFND2_ADDR: Bus address of second rangefinder

Note: This parameter is for advanced users

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

Range Increment
0 - 127 1

RNGFND2_POS_X: X position offset

Note: This parameter is for advanced users

X position of the second rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND2_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the second rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND2_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the second rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND2_ORIENT: Rangefinder 2 orientation

Note: This parameter is for advanced users

Orientation of 2nd rangefinder

Values
Value Meaning
0 Forward
1 Forward-Right
2 Right
3 Back-Right
4 Back
5 Back-Left
6 Left
7 Forward-Left
24 Up
25 Down

RNGFND3_TYPE: Third Rangefinder type

Note: This parameter is for advanced users

What type of rangefinder device that is connected

Values
Value Meaning
0 None
1 Analog
2 MaxbotixI2C
3 LidarLiteV2-I2C
5 PX4-PWM
6 BBB-PRU
7 LightWareI2C
8 LightWareSerial
9 Bebop
10 MAVLink
11 uLanding
12 LeddarOne
13 MaxbotixSerial
14 TrOneI2C
15 LidarLiteV3-I2C
16 VL53L0X

RNGFND3_PIN: Rangefinder pin

Note: This parameter is for advanced users

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

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

RNGFND3_SCALING: Rangefinder scaling

Note: This parameter is for advanced users

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

Increment Units
0.001 meters per volt

RNGFND3_OFFSET: rangefinder offset

Note: This parameter is for advanced users

Offset in volts for zero distance

Increment Units
0.001 volt

RNGFND3_FUNCTION: Rangefinder function

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Linear
1 Inverted
2 Hyperbolic

RNGFND3_MIN_CM: Rangefinder minimum distance

Note: This parameter is for advanced users

Minimum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND3_MAX_CM: Rangefinder maximum distance

Note: This parameter is for advanced users

Maximum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND3_STOP_PIN: Rangefinder stop pin

Note: This parameter is for advanced users

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

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

RNGFND3_SETTLE: Sonar settle time

Note: This parameter is for advanced users

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

Increment Units
1 milliseconds

RNGFND3_RMETRIC: Ratiometric

Note: This parameter is for advanced users

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

Values
Value Meaning
0 No
1 Yes

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

Note: This parameter is for advanced users

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

Range Increment Units
0 - 127 1 centimeters

RNGFND3_ADDR: Bus address of third rangefinder

Note: This parameter is for advanced users

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

Range Increment
0 - 127 1

RNGFND3_POS_X: X position offset

Note: This parameter is for advanced users

X position of the third rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND3_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the third rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND3_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the third rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND3_ORIENT: Rangefinder 3 orientation

Note: This parameter is for advanced users

Orientation of 3rd rangefinder

Values
Value Meaning
0 Forward
1 Forward-Right
2 Right
3 Back-Right
4 Back
5 Back-Left
6 Left
7 Forward-Left
24 Up
25 Down

RNGFND4_TYPE: Fourth Rangefinder type

Note: This parameter is for advanced users

What type of rangefinder device that is connected

Values
Value Meaning
0 None
1 Analog
2 MaxbotixI2C
3 LidarLiteV2-I2C
5 PX4-PWM
6 BBB-PRU
7 LightWareI2C
8 LightWareSerial
9 Bebop
10 MAVLink
11 uLanding
12 LeddarOne
13 MaxbotixSerial
14 TrOneI2C
15 LidarLiteV3-I2C
16 VL53L0X

RNGFND4_PIN: Rangefinder pin

Note: This parameter is for advanced users

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

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

RNGFND4_SCALING: Rangefinder scaling

Note: This parameter is for advanced users

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

Increment Units
0.001 meters per volt

RNGFND4_OFFSET: rangefinder offset

Note: This parameter is for advanced users

Offset in volts for zero distance

Increment Units
0.001 volt

RNGFND4_FUNCTION: Rangefinder function

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Linear
1 Inverted
2 Hyperbolic

RNGFND4_MIN_CM: Rangefinder minimum distance

Note: This parameter is for advanced users

Minimum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND4_MAX_CM: Rangefinder maximum distance

Note: This parameter is for advanced users

Maximum distance in centimeters that rangefinder can reliably read

Increment Units
1 centimeters

RNGFND4_STOP_PIN: Rangefinder stop pin

Note: This parameter is for advanced users

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

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

RNGFND4_SETTLE: Sonar settle time

Note: This parameter is for advanced users

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

Increment Units
1 milliseconds

RNGFND4_RMETRIC: Ratiometric

Note: This parameter is for advanced users

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

Values
Value Meaning
0 No
1 Yes

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

Note: This parameter is for advanced users

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

Range Increment Units
0 - 127 1 centimeters

RNGFND4_ADDR: Bus address of fourth rangefinder

Note: This parameter is for advanced users

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

Range Increment
0 - 127 1

RNGFND4_POS_X: X position offset

Note: This parameter is for advanced users

X position of the fourth rangefinder in body frame. Use the zero range datum point if supplied.

Units
meters

RNGFND4_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the fourth rangefinder in body frame. Use the zero range datum point if supplied.

Units
meters

RNGFND4_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the fourth rangefinder in body frame. Use the zero range datum point if supplied.

Units
meters

RNGFND4_ORIENT: Rangefinder 4 orientation

Note: This parameter is for advanced users

Orientation of 4th range finder

Values
Value Meaning
0 Forward
1 Forward-Right
2 Right
3 Back-Right
4 Back
5 Back-Left
6 Left
7 Forward-Left
24 Up
25 Down

RPM Parameters

RPM_TYPE: RPM type

What type of RPM