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.

APMrover2 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

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, Rangefinder=16384, Arming=32768, FullLogs=65535

Bitmask Values
Bit Meaning
0 ATTITUDE_FAST
1 ATTITUDE_MED
2 GPS
3 PM
4 THR
5 NTUN
7 IMU
8 CMD
9 CURRENT
10 RANGEFINDER
11 COMPASS
12 CAMERA
13 STEERING
14 RC
15 ARM/DISARM
19 IMU_RAW
Value Meaning
0 Disabled
5190 APM2-Default
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.

INITIAL_MODE: Initial driving 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. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.

Values
Value Meaning
0 Manual
1 Acro
3 Steering
4 Hold
5 Loiter
6 Follow
7 Simple
10 Auto
11 RTL
12 SmartRTL
15 Guided

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 Values
Bit Meaning
0 Steering
1 Throttle
2 Pitch
3 Left Wheel
4 Right Wheel
Value Meaning
0 None
1 Steering
2 Throttle
4 Pitch
8 Left Wheel
16 Right Wheel

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

AUTO_TRIGGER_PIN: Auto mode trigger pin

pin number to use to enable the throttle in auto mode. If set to -1 then don’t use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a ‘press button to start’ rover with no receiver.

Values
Value Meaning
-1 Disabled
0 APM TriggerPin0
1 APM TriggerPin1
2 APM TriggerPin2
3 APM TriggerPin3
4 APM TriggerPin4
5 APM TriggerPin5
6 APM TriggerPin6
7 APM TriggerPin7
8 APM TriggerPin8
50 Pixhawk TriggerPin50
51 Pixhawk TriggerPin51
52 Pixhawk TriggerPin52
53 Pixhawk TriggerPin53
54 Pixhawk TriggerPin54
55 Pixhawk TriggerPin55

AUTO_KICKSTART: Auto mode trigger kickstart acceleration

X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor

Range Increment Units
0 - 20 0.1 meters per square second

CRUISE_SPEED: Target cruise speed in auto modes

The target speed in auto missions.

Range Increment Units
0 - 100 0.1 meters per second

PIVOT_TURN_ANGLE: Pivot turn angle

Navigation angle threshold in degrees to switch to pivot steering when SKID_STEER_OUT is 1. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns.

Range Increment Units
0 - 360 1 degrees

CRUISE_THROTTLE: Base throttle percentage in auto

The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going.

Range Increment Units
0 - 100 1 percent

PILOT_STEER_TYPE: Pilot input steering type

Set this to 1 for skid steering input rovers (tank track style in RC controller). When enabled, servo1 is used for the left track control, servo3 is used for right track control

Values
Value Meaning
0 Default
1 Two Paddles Input
2 Direction reversed when backing up
3 Direction unchanged when backing up

FS_ACTION: Failsafe Action

What to do on a failsafe event

Values
Value Meaning
0 Nothing
1 RTL
2 Hold
3 SmartRTL or RTL
4 SmartRTL or Hold

FS_TIMEOUT: Failsafe timeout

How long a failsafe event need to happen for before we trigger the failsafe action

Units
seconds

FS_THR_ENABLE: Throttle Failsafe Enable

The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds.

Values
Value Meaning
0 Disabled
1 Enabled

FS_THR_VALUE: Throttle Failsafe Value

The PWM level on the throttle channel below which throttle failsafe triggers.

Range Increment
910 - 1100 1

FS_GCS_ENABLE: GCS failsafe enable

Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds.

Values
Value Meaning
0 Disabled
1 Enabled

FS_CRASH_CHECK: Crash check action

What to do on a crash event. When enabled the rover will go to hold if a crash is detected.

Values
Value Meaning
0 Disabled
1 Hold
2 HoldAndDisarm

RNGFND_TRIGGR_CM: Object avoidance trigger distance

The distance from an obstacle in centimeters at which the rangefinder triggers a turn to avoid the obstacle

Range Increment Units
0 - 1000 1 centimeters

RNGFND_TURN_ANGL: Object avoidance turn aggressiveness and direction

The aggressiveness and direction of turn to avoid an obstacle. Large positive or negative values (i.e. -450 or 450) cause turns up to the vehicle’s maximum lateral acceleration (TURN_MAX_G) while values near zero cause gentle turns. Positive means to turn right, negative means turn left.

Range Increment Units
-450 - 450 1 degrees

RNGFND_TURN_TIME: Object avoidance turn time

The amount of time in seconds to apply the RNGFND_TURN_ANGL after detecting an obstacle.

Range Increment Units
0 - 100 0.1 seconds

RNGFND_DEBOUNCE: Object avoidance rangefinder debounce count

The number of 50Hz rangefinder hits needed to trigger an obstacle avoidance event. If you get a lot of false rangefinder events then raise this number, but if you make it too large then it will cause lag in detecting obstacles, which could cause you go hit the obstacle.

Range Increment
1 - 100 1

MODE_CH: Mode channel

Note: This parameter is for advanced users

RC Channel to use for driving mode control

MODE1: Mode1

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

Values
Value Meaning
0 Manual
1 Acro
3 Steering
4 Hold
5 Loiter
6 Follow
7 Simple
10 Auto
11 RTL
12 SmartRTL
15 Guided

MODE2: Mode2

Driving mode for switch position 2 (1231 to 1360)

Values
Value Meaning
0 Manual
1 Acro
3 Steering
4 Hold
5 Loiter
6 Follow
7 Simple
10 Auto
11 RTL
12 SmartRTL
15 Guided

MODE3: Mode3

Driving mode for switch position 3 (1361 to 1490)

Values
Value Meaning
0 Manual
1 Acro
3 Steering
4 Hold
5 Loiter
6 Follow
7 Simple
10 Auto
11 RTL
12 SmartRTL
15 Guided

MODE4: Mode4

Driving mode for switch position 4 (1491 to 1620)

Values
Value Meaning
0 Manual
1 Acro
3 Steering
4 Hold
5 Loiter
6 Follow
7 Simple
10 Auto
11 RTL
12 SmartRTL
15 Guided

MODE5: Mode5

Driving mode for switch position 5 (1621 to 1749)

Values
Value Meaning
0 Manual
1 Acro
3 Steering
4 Hold
5 Loiter
6 Follow
7 Simple
10 Auto
11 RTL
12 SmartRTL
15 Guided

MODE6: Mode6

Driving mode for switch position 6 (1750 to 2049)

Values
Value Meaning
0 Manual
1 Acro
3 Steering
4 Hold
5 Loiter
6 Follow
7 Simple
10 Auto
11 RTL
12 SmartRTL
15 Guided

WP_RADIUS: Waypoint radius

The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the rover will turn along the next waypoint path.

Range Increment Units
0 - 1000 0.1 meters

WP_OVERSHOOT: Waypoint overshoot maximum

Waypoint overshoot maximum in meters. The vehicle will attempt to stay within this many meters of the track as it completes one waypoint and moves to the next.

Range Increment Units
0 - 10 0.1 meters

TURN_MAX_G: Turning maximum G force

The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns

Range Increment Units
0.1 - 10 0.01 standard acceleration due to gravity

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

TURN_RADIUS: Turn radius of vehicle

Turn radius of vehicle in meters while at low speeds. Lower values produce tighter turns in steering mode

Range Increment Units
0 - 10 0.1 meters

ACRO_TURN_RATE: Acro mode turn rate maximum

Acro mode turn rate maximum

Range Increment Units
0 - 360 1 degrees per second

WP_SPEED: Waypoint speed default

Waypoint speed default. If zero use CRUISE_SPEED.

Range Increment Units
0 - 100 0.1 meters per second

RTL_SPEED: Return-to-Launch speed default

Return-to-Launch speed default. If zero use WP_SPEED or CRUISE_SPEED.

Range Increment Units
0 - 100 0.1 meters per second

FRAME_CLASS: Frame Class

Frame Class

Values
Value Meaning
0 Undefined
1 Rover
2 Boat
3 BalanceBot

PIVOT_TURN_RATE: Pivot turn rate

Desired pivot turn rate in deg/s.

Range Increment Units
0 - 360 1 degrees per second

BAL_PITCH_MAX: BalanceBot Maximum Pitch

Pitch angle in degrees at 100% throttle

Range Increment Units
0 - 5 0.1 degrees

CRASH_ANGLE: Crash Angle

Pitch/Roll angle limit in degrees for crash check. Zero disables check

Range Increment Units
0 - 60 1 degrees

FRAME_TYPE: Frame Type

Frame Type

Values RebootRequired
Value Meaning
0 Undefined
1 Omni3
2 OmniX
3 OmniPlus
True

LOIT_TYPE: Loiter type

Loiter behaviour when around next to a taget point

Values
Value Meaning
0 Reverse to target point
1 Always face bow to target point

SIMPLE_TYPE: Simple_Type

Simple mode types

Values RebootRequired
Value Meaning
0 InitialHeading
1 CardinalDirections
True

CH7_OPTION: Channel 7 option

What to do use channel 7 for

Values
Value Meaning
0 Nothing
1 SaveWaypoint
2 LearnCruiseSpeed
3 ArmDisarm
4 Manual
5 Acro
6 Steering
7 Hold
8 Auto
9 RTL
10 SmartRTL
11 Guided
12 Loiter

AUX_CH: Auxiliary switch channel

Note: This parameter is for advanced users

RC Channel to use for auxiliary functions including saving waypoints

AFS_ Parameters

AFS_ENABLE: Enable Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_MAN_PIN: Manual Pin

Note: This parameter is for advanced users

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

AFS_HB_PIN: Heartbeat Pin

Note: This parameter is for advanced users

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

AFS_WP_COMMS: Comms Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

AFS_GPS_LOSS: GPS Loss Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

AFS_TERMINATE: Force Terminate

Note: This parameter is for advanced users

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

AFS_TERM_ACTION: Terminate action

Note: This parameter is for advanced users

This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter

AFS_TERM_PIN: Terminate Pin

Note: This parameter is for advanced users

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

AFS_AMSL_LIMIT: AMSL limit

Note: This parameter is for advanced users

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

Units
meters

AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit

Note: This parameter is for advanced users

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

Units
meters

AFS_QNH_PRESSURE: QNH pressure

Note: This parameter is for advanced users

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

Units
millibar

AFS_MAX_GPS_LOSS: Maximum number of GPS loss events

Note: This parameter is for advanced users

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

AFS_MAX_COM_LOSS: Maximum number of comms loss events

Note: This parameter is for advanced users

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

AFS_GEOFENCE: Enable geofence Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_RC: Enable RC Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes

Note: This parameter is for advanced users

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

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

Note: This parameter is for advanced users

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

AFS_RC_FAIL_TIME: RC failure time

Note: This parameter is for advanced users

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

Units
seconds

AHRS_ Parameters

AHRS_GPS_GAIN: AHRS GPS gain

Note: This parameter is for advanced users

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

Range Increment
0.0 - 1.0 .01

AHRS_GPS_USE: AHRS use GPS for navigation

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

AHRS_YAW_P: Yaw P

Note: This parameter is for advanced users

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

Range Increment
0.1 - 0.4 .01

AHRS_RP_P: AHRS RP_P

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Range Increment
0.1 - 0.4 .01

AHRS_WIND_MAX: Maximum wind

Note: This parameter is for advanced users

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

Range Increment Units
0 - 127 1 meters per second

AHRS_TRIM_X: AHRS Trim Roll

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

Range Increment Units
-0.1745 - +0.1745 0.01 radians

AHRS_TRIM_Y: AHRS Trim Pitch

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

Range Increment Units
-0.1745 - +0.1745 0.01 radians

AHRS_TRIM_Z: AHRS Trim Yaw

Note: This parameter is for advanced users

Not Used

Range Increment Units
-0.1745 - +0.1745 0.01 radians

AHRS_ORIENTATION: Board Orientation

Note: This parameter is for advanced users

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

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

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient

Note: This parameter is for advanced users

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

Range Increment
0.001 - 0.5 .01

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites

Note: This parameter is for advanced users

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

Range Increment
0 - 10 1

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
2 Enable EKF2
3 Enable EKF3

AHRS_CUSTOM_ROLL: Board orientation roll offset

Note: This parameter is for advanced users

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

Range Increment Units
-180 - 180 1 degrees

AHRS_CUSTOM_PIT: Board orientation pitch offset

Note: This parameter is for advanced users

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

Range Increment Units
-180 - 180 1 degrees

AHRS_CUSTOM_YAW: Board orientation yaw offset

Note: This parameter is for advanced users

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

Range Increment Units
-180 - 180 1 degrees

ARMING_ Parameters

ARMING_REQUIRE: Require Arming Motors

Note: This parameter is for advanced users

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

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

ARMING_CHECK: Arm Checks to Peform (bitmask)

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

Bitmask Values
Bit Meaning
0 All
1 Barometer
2 Compass
3 GPS lock
4 INS
5 Parameters
6 RC Channels
7 Board voltage
8 Battery Level
9 Airspeed
10 Logging Available
11 Hardware safety switch
12 GPS Configuration
13 System
Value Meaning
0 None
1 All
2 Barometer
4 Compass
8 GPS Lock
16 INS(INertial Sensors - accels & gyros)
32 Parameters(unused)
64 RC Channels
128 Board voltage
256 Battery Level
512 Airspeed
1024 LoggingAvailable
2048 Hardware safety switch
4096 GPS configuration
8192 System

ARMING_ACCTHRESH: Accelerometer error threshold

Note: This parameter is for advanced users

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

Range Units
0.25 - 3.0 meters per square second

ARMING_VOLT_MIN: Arming voltage minimum on the first battery

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

Increment Units
0.1 volt

ARMING_VOLT2_MIN: Arming voltage minimum on the second battery

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

Increment Units
0.1 volt

ARMING_RUDDER: Arming with Rudder enable/disable

Note: This parameter is for advanced users

Allow arm/disarm by rudder input. When enabled arming can be 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

ATC Parameters

ATC_STR_RAT_P: Steering control rate P gain

Steering control rate P gain. Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1)

Range Increment
0.000 - 2.000 0.01

ATC_STR_RAT_I: Steering control I gain

Steering control I gain. Corrects long term error between the desired turn rate (in rad/s) and actual

Range Increment
0.000 - 2.000 0.01

ATC_STR_RAT_IMAX: Steering control I gain maximum

Steering control I gain maximum. Constraings the steering output (range -1 to +1) that the I term will generate

Range Increment
0.000 - 1.000 0.01

ATC_STR_RAT_D: Steering control D gain

Steering control D gain. Compensates for short-term change in desired turn rate vs actual

Range Increment
0.000 - 0.400 0.001

ATC_STR_RAT_FF: Steering control feed forward

Steering control feed forward

Range Increment
0.000 - 3.000 0.001

ATC_STR_RAT_FILT: Steering control filter frequency

Steering control input filter. Lower values reduce noise but add delay.

Range Increment Units
0.000 - 100.000 0.1 hertz

ATC_SPEED_P: Speed control P gain

Speed control P gain. Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1)

Range Increment
0.010 - 2.000 0.01

ATC_SPEED_I: Speed control I gain

Speed control I gain. Corrects long term error between the desired speed (in m/s) and actual speed

Range
0.000 - 2.000

ATC_SPEED_IMAX: Speed control I gain maximum

Speed control I gain maximum. Constraings the maximum motor output (range -1 to +1) that the I term will generate

Range Increment
0.000 - 1.000 0.01

ATC_SPEED_D: Speed control D gain

Speed control D gain. Compensates for short-term change in desired speed vs actual

Range Increment
0.000 - 0.400 0.001

ATC_SPEED_FF: Speed control feed forward

Speed control feed forward

Range Increment
0.000 - 0.500 0.001

ATC_SPEED_FILT: Speed control filter frequency

Speed control input filter. Lower values reduce noise but add delay.

Range Increment Units
0.000 - 100.000 0.1 hertz

ATC_ACCEL_MAX: Speed control acceleration (and deceleration) maximum in m/s/s

Speed control acceleration (and deceleration) maximum in m/s/s. 0 to disable acceleration limiting

Range Increment Units
0.0 - 10.0 0.1 meters per square second

ATC_BRAKE: Speed control brake enable/disable

Speed control brake enable/disable. Allows sending a reversed output to the motors to slow the vehicle.

Values
Value Meaning
0 Disable
1 Enable

ATC_STOP_SPEED: Speed control stop speed

Speed control stop speed. Motor outputs to zero once vehicle speed falls below this value

Range Increment Units
0.00 - 0.50 0.01 meters per second

ATC_STR_ANG_P: Steering control angle P gain

Steering control angle P gain. Converts the error between the desired heading/yaw (in radians) and actual heading/yaw to a desired turn rate (in rad/sec)

Range Increment
1.000 - 10.000 0.1

ATC_STR_ACC_MAX: Steering control angular acceleration maximum

Steering control angular acceleartion maximum (in deg/s/s). 0 to disable acceleration limiting

Range Increment Units
0 - 1000 0.1 degrees per square second

ATC_STR_RAT_MAX: Steering control rotation rate maximum

Steering control rotation rate maximum in deg/s. 0 to remove rate limiting

Range Increment Units
0 - 1000 0.1 degrees per second

ATC_DECEL_MAX: Speed control deceleration maximum in m/s/s

Speed control and deceleration maximum in m/s/s. 0 to use ATC_ACCEL_MAX for deceleration

Range Increment Units
0.0 - 10.0 0.1 meters per square second

ATC_BAL_P: Pitch control P gain

Pitch control P gain for BalanceBots. Converts the error between the desired pitch (in radians) and actual pitch to a motor output (in the range -1 to +1)

Range Increment
0.000 - 2.000 0.01

ATC_BAL_I: Pitch control I gain

Pitch control I gain for BalanceBots. Corrects long term error between the desired pitch (in radians) and actual pitch

Range
0.000 - 2.000

ATC_BAL_IMAX: Pitch control I gain maximum

Pitch control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate

Range Increment
0.000 - 1.000 0.01

ATC_BAL_D: Pitch control D gain

Pitch control D gain. Compensates for short-term change in desired pitch vs actual

Range Increment
0.000 - 0.100 0.001

ATC_BAL_FF: Pitch control feed forward

Pitch control feed forward

Range Increment
0.000 - 0.500 0.001

ATC_BAL_FILT: Pitch control filter frequency

Pitch control input filter. Lower values reduce noise but add delay.

Range Increment Units
0.000 - 100.000 0.1 hertz

ATC_BAL_SPD_FF: Pitch control feed forward from speed

Pitch control feed forward from speed

Range Increment
0.0 - 10.0 0.01

AVOID_ Parameters

AVOID_ENABLE: Avoidance control enable/disable

Enabled/disable stopping at fence

Bitmask Values
Bit Meaning
0 StopAtFence
1 UseProximitySensor
2 StopAtBeaconFence
Value Meaning
0 None
1 StopAtFence
2 UseProximitySensor
3 StopAtFence and UseProximitySensor
4 StopAtBeaconFence
7 All

AVOID_ANGLE_MAX: Avoidance max lean angle in non-GPS flight modes

Max lean angle used to avoid obstacles while in non-GPS modes

Range Units
0 - 4500 centidegrees

AVOID_DIST_MAX: Avoidance distance maximum in non-GPS flight modes

Distance from object at which obstacle avoidance will begin in non-GPS modes

Range Units
1 - 30 meters

AVOID_MARGIN: Avoidance distance margin in GPS modes

Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes

Range Units
1 - 10 meters

AVOID_BEHAVE: Avoidance behaviour

Avoidance behaviour (slide or stop)

Values
Value Meaning
0 Slide
1 Stop

BATT2_ Parameters

BATT2_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

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

BATT2_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT2_CURR_PIN: Battery Current sensing pin

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

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

BATT2_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT2_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT2_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

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

Increment Units
1 watt

BATT2_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Range Increment Units
0 - 120 1 seconds

BATT2_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT2_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT2_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT2_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT2_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 RTL
2 Hold
3 SmartRTL
4 SmartRTL or Hold
5 Terminate

BATT2_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None
1 RTL
2 Hold
3 SmartRTL
4 SmartRTL or Hold
5 Terminate

BATT_ Parameters

BATT_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

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

BATT_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT_CURR_PIN: Battery Current sensing pin

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

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

BATT_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

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

Increment Units
1 watt

BATT_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Range Increment Units
0 - 120 1 seconds

BATT_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 RTL
2 Hold
3 SmartRTL
4 SmartRTL or Hold
5 Terminate

BATT_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None
1 RTL
2 Hold
3 SmartRTL
4 SmartRTL or Hold
5 Terminate

BCN Parameters

BCN_TYPE: Beacon based position estimation device type

Note: This parameter is for advanced users

What type of beacon based position estimation device is connected

Values
Value Meaning
0 None
1 Pozyx
2 Marvelmind

BCN_LATITUDE: Beacon origin’s latitude

Note: This parameter is for advanced users

Beacon origin’s latitude

Range Increment Units
-90 - 90 0.000001 degrees

BCN_LONGITUDE: Beacon origin’s longitude

Note: This parameter is for advanced users

Beacon origin’s longitude

Range Increment Units
-180 - 180 0.000001 degrees

BCN_ALT: Beacon origin’s altitude above sealevel in meters

Note: This parameter is for advanced users

Beacon origin’s altitude above sealevel in meters

Range Increment Units
0 - 10000 1 meters

BCN_ORIENT_YAW: Beacon systems rotation from north in degrees

Note: This parameter is for advanced users

Beacon systems rotation from north in degrees

Range Increment Units
-180 - +180 1 degrees

BRD_ Parameters

BRD_PWM_COUNT: Auxiliary pin config

Note: This parameter is for advanced users

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

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

BRD_SER1_RTSCTS: Serial 1 flow control

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
2 Auto
True

BRD_SER2_RTSCTS: Serial 2 flow control

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
2 Auto
True

BRD_SAFETYENABLE: Enable use of safety arming switch

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
True

BRD_SBUS_OUT: SBUS output rate

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz

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

BRD_SERIAL_NUM: User-defined serial number

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

Range
-32768 - 32767

BRD_SAFETY_MASK: Channels which ignore the safety switch state

Note: This parameter is for advanced users

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

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

BRD_IMU_TARGTEMP: Target IMU temperature

Note: This parameter is for advanced users

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

Range Units
-1 - 80 degrees Celsius

BRD_TYPE: Board type

Note: This parameter is for advanced users

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

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

BRD_IO_ENABLE: Enable IO co-processor

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
True

BRD_SAFETYOPTION: Options for safety button behavior

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

Bitmask
Bit Meaning
0 ActiveForSafetyEnable
1 ActiveForSafetyDisable
2 ActiveWhenArmed

BRD_RADIO Parameters

BRD_RADIO_TYPE: Set type of direct attached radio

Note: This parameter is for advanced users

This enables support for direct attached radio receivers

Values
Value Meaning
0 None
1 CYRF6936

BRD_RADIO_PROT: protocol

Note: This parameter is for advanced users

Select air protocol

Values
Value Meaning
0 Auto
1 DSM2
2 DSMX

BRD_RADIO_DEBUG: debug level

Note: This parameter is for advanced users

radio debug level

Range
0 - 4

BRD_RADIO_DISCRC: disable receive CRC

Note: This parameter is for advanced users

disable receive CRC (for debug)

Values
Value Meaning
0 NotDisabled
1 Disabled

BRD_RADIO_SIGCH: RSSI signal strength

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_PPSCH: Packet rate channel

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TELEM: Enable telemetry

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

BRD_RADIO_TXPOW: Telemetry Transmit power

Note: This parameter is for advanced users

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

Range
1 - 8

BRD_RADIO_FCCTST: Put radio into FCC test mode

Note: This parameter is for advanced users

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

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

BRD_RADIO_STKMD: Stick input mode

Note: This parameter is for advanced users

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

Values
Value Meaning
1 Mode1
2 Mode2

BRD_RADIO_TESTCH: Set radio to factory test channel

Note: This parameter is for advanced users

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

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

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Range
0 - 16

BRD_RADIO_TPPSCH: Telemetry PPS channel

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TXMAX: Transmitter transmit power

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Range
1 - 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range
0 - 40

BRD_RADIO_ABTIME: Auto-bind time

Note: This parameter is for advanced users

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

Range
0 - 120

BRD_RADIO_ABLVL: Auto-bind level

Note: This parameter is for advanced users

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

Range
0 - 31

BRD_RTC Parameters

BRD_RTC_TYPES: Allowed sources of RTC time

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Bitmask
Bit Meaning
0 GPS
1 MAVLINK_SYSTEM_TIME
2 HW

BTN_ Parameters

BTN_ENABLE: Enable button reporting

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

BTN_PIN1: First button Pin

Digital pin number for first button input.

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

BTN_PIN2: Second button Pin

Digital pin number for second button input.

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

BTN_PIN3: Third button Pin

Digital pin number for third button input.

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

BTN_PIN4: Fourth button Pin

Digital pin number for fourth button input.

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

BTN_REPORT_SEND: Report send time

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

Range
0 - 3600

CAM_ Parameters

CAM_TRIGG_TYPE: Camera shutter (trigger) type

how to trigger the camera to take a picture

Values
Value Meaning
0 Servo
1 Relay

CAM_DURATION: Duration that shutter is held open

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

Range Units
0 - 50 deciseconds

CAM_SERVO_ON: Servo ON PWM value

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

Range Units
1000 - 2000 PWM in microseconds

CAM_SERVO_OFF: Servo OFF PWM value

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

Range Units
1000 - 2000 PWM in microseconds

CAM_TRIGG_DIST: Camera trigger distance

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

Range Units
0 - 1000 meters

CAM_RELAY_ON: Relay ON value

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

Values
Value Meaning
0 Low
1 High

CAM_MIN_INTERVAL: Minimum time between photos

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

Range Units
0 - 10000 milliseconds

CAM_MAX_ROLL: Maximum photo roll angle.

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

Range Units
0 - 180 degrees

CAM_FEEDBACK_PIN: Camera feedback pin

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

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

CAM_FEEDBACK_POL: Camera feedback pin polarity

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

Values
Value Meaning
0 TriggerLow
1 TriggerHigh

CAM_AUTO_ONLY: Distance-trigging in AUTO mode only

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

Values
Value Meaning
0 Always
1 Only when in AUTO

CAN_D1_ Parameters

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 UAVCAN
True

CAN_D1_UC_ Parameters

CAN_D1_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

CAN_D1_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range Units
1 - 200 hertz

CAN_D2_ Parameters

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 UAVCAN
True

CAN_D2_UC_ Parameters

CAN_D2_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

CAN_D2_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range Units
1 - 200 hertz

CAN_D3_ Parameters

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 UAVCAN
True

CAN_D3_UC_ Parameters

CAN_D3_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

CAN_D3_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range Units
1 - 200 hertz

CAN_P1_ Parameters

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

Enabling this option enables use of CAN buses.

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

CAN_P1_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P1_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning
0 Disabled
1 Major messages
2 All messages

CAN_P2_ Parameters

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

Enabling this option enables use of CAN buses.

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

CAN_P2_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P2_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning
0 Disabled
1 Major messages
2 All messages

CAN_P3_ Parameters

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

Enabling this option enables use of CAN buses.

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

CAN_P3_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P3_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning
0 Disabled
1 Major messages
2 All messages

COMPASS_ Parameters

COMPASS_OFS_X: Compass offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_DEC: Compass declination

An angle to compensate between the true north and magnetic north

Range Increment Units
-3.142 - 3.142 0.01 radians

COMPASS_LEARN: Learn compass offsets automatically

Note: This parameter is for advanced users

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

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

COMPASS_USE: Use compass for yaw

Note: This parameter is for advanced users

Enable or disable the use of the compass (instead of the GPS) for determining heading

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_AUTODEC: Auto Declination

Note: This parameter is for advanced users

Enable or disable the automatic calculation of the declination based on gps location

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_MOTCT: Motor interference compensation type

Note: This parameter is for advanced users

Set motor interference compensation type to disabled, throttle or current. Do not change manually.

Values
Value Meaning
0 Disabled
1 Use Throttle
2 Use Current

COMPASS_MOT_X: Motor interference compensation for body frame X axis

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

COMPASS_ORIENT: Compass orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERNAL: Compass is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

COMPASS_PRIMARY: Choose primary compass

Note: This parameter is for advanced users

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

Values
Value Meaning
0 FirstCompass
1 SecondCompass
2 ThirdCompass

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Range Increment Units
-400 - 400 1 milligauss

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

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

Note: This parameter is for advanced users

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

Range Increment Units
-1000 - 1000 1 milligauss per ampere

COMPASS_DEV_ID: Compass device id

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

COMPASS_DEV_ID2: Compass2 device id

Note: This parameter is for advanced users

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

COMPASS_DEV_ID3: Compass3 device id

Note: This parameter is for advanced users

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

COMPASS_USE2: Compass2 used for yaw

Note: This parameter is for advanced users

Enable or disable the second compass for determining heading.

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_ORIENT2: Compass2 orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERN2: Compass2 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_USE3: Compass3 used for yaw

Note: This parameter is for advanced users

Enable or disable the third compass for determining heading.

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_ORIENT3: Compass3 orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERN3: Compass3 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component

Note: This parameter is for advanced users

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

COMPASS_DIA_Y: Compass soft-iron diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_DIA_Z: Compass soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component

Note: This parameter is for advanced users

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

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component

Note: This parameter is for advanced users

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

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_CAL_FIT: Compass calibration fitness

Note: This parameter is for advanced users

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

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

COMPASS_OFFS_MAX: Compass maximum offset

Note: This parameter is for advanced users

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

Range Increment
500 - 3000 1

COMPASS_TYPEMASK: Compass disable driver type mask

Note: This parameter is for advanced users

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

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

COMPASS_FLTR_RNG: Range in which sample is accepted

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

Range Increment Units
0 - 100 1 percent

COMPASS_AUTO_ROT: Automatically check orientation

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

Values
Value Meaning
0 Disabled
1 CheckOnly
2 CheckAndFix

COMPASS_EXP_DID: Compass device id expected

Note: This parameter is for advanced users

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

COMPASS_EXP_DID2: Compass2 device id expected

Note: This parameter is for advanced users

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

COMPASS_EXP_DID3: Compass3 device id expected

Note: This parameter is for advanced users

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

COMPASS_PMOT Parameters

COMPASS_PMOT_EN: per-motor compass correction enable

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_PMOT_EXP: per-motor exponential correction

Note: This parameter is for advanced users

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

Range Increment
0 - 2 0.01

COMPASS_PMOT1_X: Compass per-motor1 X

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor4

EK2_ Parameters

EK2_ENABLE: Enable EKF2

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
True

EK2_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 5.0 0.05 meters per second

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

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 5.0 0.05 meters per second

EK2_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK2_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

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

Range Increment Units
10 - 100 5 meters

EK2_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

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

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

EK2_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK2_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 250 10 milliseconds True

EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 0.5 0.01 gauss

EK2_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

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

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

EK2_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 5.0 0.1 meters per second

EK2_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK2_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Range Increment Units
1.0 - 4.0 0.1 radians per second

EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 radians per second

EK2_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 127 10 milliseconds True

EK2_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.0001 - 0.1 0.0001 radians per second

EK2_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.01 meters per square second

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 radians per square second

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

Note: This parameter is for advanced users

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

Range Units
0.000001 - 0.001 hertz

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 meters per cubic second

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

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.1 meters per square second

EK2_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

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

Range Increment
0.0 - 1.0 0.1

EK2_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

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

EK2_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

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

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

EK2_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range Units
50 - 200 percent

EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range Units
0.5 - 50.0 meters

EK2_LOG_MASK: EKF sensor logging IMU mask

Note: This parameter is for advanced users

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

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

EK2_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 radians

EK2_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

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

Note: This parameter is for advanced users

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

Range Increment Units
10 - 50 5 centiseconds

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.01 gauss per second

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.01 gauss per second

EK2_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

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

Range Increment Units
-1 - 70 1 percent

EK2_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Range Increment
0 - 0.2 0.01

EK2_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK2_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK2_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 127 10 milliseconds True

EK2_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

Range Increment Units
2.0 - 6.0 0.5 meters per second

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

Note: This parameter is for advanced users

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

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

EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

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

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

EK3_ Parameters

EK3_ENABLE: Enable EKF3

Note: This parameter is for advanced users

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

Values RebootRequired
Value Meaning
0 Disabled
1 Enabled
True

EK3_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 5.0 0.05 meters per second

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

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 5.0 0.05 meters per second

EK3_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK3_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

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

Range Increment Units
10 - 100 5 meters

EK3_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

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

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

EK3_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK3_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 250 10 milliseconds True

EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 0.5 0.01 gauss

EK3_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

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

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

EK3_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 5.0 0.1 meters per second

EK3_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK3_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Range Increment Units
1.0 - 4.0 0.1 radians per second

EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 radians per second

EK3_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 250 10 milliseconds True

EK3_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Range Increment Units
0.0001 - 0.1 0.0001 radians per second

EK3_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.01 meters per square second

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 radians per square second

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.001 meters per cubic second

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

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.1 meters per square second

EK3_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

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

Range Increment
0.0 - 1.0 0.1

EK3_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

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

EK3_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

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

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

EK3_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range Units
50 - 200 percent

EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range Units
0.5 - 50.0 meters

EK3_LOG_MASK: EKF sensor logging IMU mask

Note: This parameter is for advanced users

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

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

EK3_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 1.0 0.05 radians

EK3_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

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

Note: This parameter is for advanced users

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

Range Increment Units
10 - 50 5 centiseconds

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.01 gauss per second

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

Note: This parameter is for advanced users

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

Range Units
0.00001 - 0.01 gauss per second

EK3_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

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

Range Increment Units
-1 - 70 1 percent

EK3_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Range Increment
0 - 0.2 0.01

EK3_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

Range Increment Units
0.1 - 10.0 0.1 meters

EK3_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

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

Range Increment
100 - 1000 25

EK3_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

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

Range Increment Units RebootRequired
0 - 250 10 milliseconds True

EK3_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

Range Increment Units
2.0 - 6.0 0.5 meters per second

EK3_ACC_BIAS_LIM: Accelerometer bias limit

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 2.5 0.1 meters per square second

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

Note: This parameter is for advanced users

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

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

EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

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

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

EK3_VIS_VERR_MIN: Visual odometry minimum velocity error

Note: This parameter is for advanced users

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

Range Increment Units
0.05 - 0.5 0.05 meters per second

EK3_VIS_VERR_MAX: Visual odometry maximum velocity error

Note: This parameter is for advanced users

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

Range Increment Units
0.5 - 5.0 0.1 meters per second

EK3_WENC_VERR: Wheel odometry velocity error

Note: This parameter is for advanced users

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

Range Increment Units
0.01 - 1.0 0.1 meters per second

FENCE_ Parameters

FENCE_ENABLE: Fence enable/disable

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

Values
Value Meaning
0 Disabled
1 Enabled

FENCE_TYPE: Fence Type

Enabled fence types held as bitmask

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

FENCE_ACTION: Fence Action

What action should be taken when fence is breached

Values
Value Meaning
0 Report Only
1 RTL or Land
2 Always land

FENCE_ALT_MAX: Fence Maximum Altitude

Maximum altitude allowed before geofence triggers

Range Increment Units
10 - 1000 1 meters

FENCE_RADIUS: Circular Fence Radius

Circle fence radius which when breached will cause an RTL

Range Units
30 - 10000 meters

FENCE_MARGIN: Fence Margin

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

Range Units
1 - 10 meters

FENCE_TOTAL: Fence polygon point total

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

Range
1 - 20

FENCE_ALT_MIN: Fence Minimum Altitude

Minimum altitude allowed before geofence triggers

Range Increment Units
-100 - 100 1 meters

FOLL Parameters

FOLL_ENABLE: Follow enable/disable

Enabled/disable following a target

Values
Value Meaning
0 Disabled
1 Enabled

FOLL_DIST_MAX: Follow distance maximum

Follow distance maximum. targets further than this will be ignored

Range Units
1 - 1000 meters

FOLL_OFS_TYPE: Follow offset type

Follow offset type

Values
Value Meaning
0 North-East-Down
1 Relative to lead vehicle heading

FOLL_OFS_X: Follow offsets in meters north/forward

Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE

Range Increment Units
-100 - 100 1 meters

FOLL_OFS_Y: Follow offsets in meters east/right

Follow offsets in meters east/right. If positive, this vehicle fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE

Range Increment Units
-100 - 100 1 meters

FOLL_OFS_Z: Follow offsets in meters down

Follow offsets in meters down. If positive, this vehicle fly below the lead vehicle

Range Increment Units
-100 - 100 1 meters

FOLL_YAW_BEHAVE: Follow yaw behaviour

Follow yaw behaviour

Values
Value Meaning
0 None
1 Face Lead Vehicle
2 Same as Lead vehicle
3 Direction of Flight

FOLL_POS_P: Follow position error P gain

Follow position error 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 Increment
0.01 - 1.00 0.01

FOLL_ALT_TYPE: Follow altitude type

Follow altitude type

Values
Value Meaning
0 absolute
1 relative

GND_ Parameters

GND_ABS_PRESS: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

ReadOnly Volatile Increment Units
True True 1 pascal

GND_TEMP: ground temperature

Note: This parameter is for advanced users

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

Volatile Increment Units
True 1 degrees Celsius

GND_ALT_OFFSET: altitude offset

Note: This parameter is for advanced users

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

Increment Units
0.1 meters

GND_PRIMARY: Primary barometer

Note: This parameter is for advanced users

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

Values
Value Meaning
0 FirstBaro
1 2ndBaro
2 3rdBaro

GND_EXT_BUS: External baro bus

Note: This parameter is for advanced users

This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter.

Values
Value Meaning
-1 Disabled
0 Bus0
1 Bus1

GND_SPEC_GRAV: Specific Gravity (For water depth measurement)

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

Values
1.0:Freshwater,1.024:Saltwater

GND_ABS_PRESS2: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

ReadOnly Volatile Increment Units
True True 1 pascal

GND_ABS_PRESS3: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

ReadOnly Volatile Increment Units
True True 1 pascal

GND_FLTR_RNG: Range in which sample is accepted

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

Range Increment Units
0 - 100 1 percent

GND_PROBE_EXT: External barometers to probe

Note: This parameter is for advanced users

This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If GND_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.

Bitmask Values
Bit Meaning
0 BMP085
1 BMP280
2 MS5611
3 MS5607
4 MS5637
5 FBM320
6 DPS280
7 LPS25H
8 Keller
Value Meaning
1 BMP085
2 BMP280
4 MS5611
8 MS5607
16 MS5637
32 FBM320
64 DPS280
128 LPS25H
256 Keller

GPS_ Parameters

GPS_TYPE: GPS type

Note: This parameter is for advanced users

GPS type

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

GPS_TYPE2: 2nd GPS type

Note: This parameter is for advanced users

GPS type of 2nd GPS

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

GPS_NAVFILTER: Navigation filter setting

Note: This parameter is for advanced users

Navigation filter engine setting

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

GPS_AUTO_SWITCH: Automatic Switchover Setting

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock

Values
Value Meaning
0 Disabled
1 UseBest
2 Blend
3 UseSecond

GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS

Note: This parameter is for advanced users

Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.

Values RebootRequired
Value Meaning
0 Any
50 FloatRTK
100 IntegerRTK
True

GPS_SBAS_MODE: SBAS Mode

Note: This parameter is for advanced users

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.

Values
Value Meaning
0 Disabled
1 Enabled
2 NoChange

GPS_MIN_ELEV: Minimum elevation

Note: This parameter is for advanced users

This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.

Range Units
-100 - 90 degrees

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask

Note: This parameter is for advanced users

Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged

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

GPS_RAW_DATA: Raw data logging

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

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

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

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE2: GNSS system configuration

Note: This parameter is for advanced users

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

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

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disables automatic configuration
1 Enable automatic configuration

GPS_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

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

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

GPS_RATE_MS2: GPS 2 update rate in milliseconds

Note: This parameter is for advanced users

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

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

GPS_POS1_X: Antenna X position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_POS1_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_POS1_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_POS2_X: Antenna X position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_POS2_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_POS2_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Units
meters

GPS_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users

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

Range Units RebootRequired
0 - 250 milliseconds True

GPS_DELAY_MS2: GPS 2 delay in milliseconds

Note: This parameter is for advanced users

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

Range Units RebootRequired
0 - 250 milliseconds True

GPS_BLEND_MASK: Multi GPS Blending Mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning
0 Horiz Pos
1 Vert Pos
2 Speed

GPS_BLEND_TC: Blending time constant

Note: This parameter is for advanced users

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

Range Units
5.0 - 30.0 seconds

INS_ Parameters

INS_PRODUCT_ID: IMU Product ID

Note: This parameter is for advanced users

unused

INS_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

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

Units
radians per second

INS_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

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

Units
radians per second

INS_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

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

Units
radians per second

INS_GYR2OFFS_X: Gyro2 offsets of X axis

Note: This parameter is for advanced users

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

Units
radians per second

INS_GYR2OFFS_Y: Gyro2 offsets of Y axis

Note: This parameter is for advanced users

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

Units
radians per second

INS_GYR2OFFS_Z: Gyro2 offsets of Z axis

Note: This parameter is for advanced users

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

Units
radians per second

INS_GYR3OFFS_X: Gyro3 offsets of X axis

Note: This parameter is for advanced users

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

Units
radians per second

INS_GYR3OFFS_Y: Gyro3 offsets of Y axis

Note: This parameter is for advanced users

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

Units
radians per second

INS_GYR3OFFS_Z: Gyro3 offsets of Z axis

Note: This parameter is for advanced users

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

Units
radians per second

INS_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

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

Range Units
-3.5 - 3.5 meters per square second

INS_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

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

Range Units
-3.5 - 3.5 meters per square second

INS_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

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

Range Units
-3.5 - 3.5 meters per square second

INS_ACC2SCAL_X: Accelerometer2 scaling of X axis

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2OFFS_X: Accelerometer2 offsets of X axis

Note: This parameter is for advanced users

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

Range Units
-3.5 - 3.5 meters per square second

INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis

Note: This parameter is for advanced users

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

Range Units
-3.5 - 3.5 meters per square second

INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis

Note: This parameter is for advanced users

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

Range Units
-3.5 - 3.5 meters per square second

INS_ACC3SCAL_X: Accelerometer3 scaling of X axis

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3OFFS_X: Accelerometer3 offsets of X axis

Note: This parameter is for advanced users

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

Range Units
-3.5 - 3.5 meters per square second

INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis

Note: This parameter is for advanced users

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

Range Units
-3.5 - 3.5 meters per square second

INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis

Note: This parameter is for advanced users

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

Range Units
-3.5 - 3.5 meters per square second

INS_GYRO_FILTER: Gyro filter cutoff frequency

Note: This parameter is for advanced users

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

Range Units
0 - 127 hertz

INS_ACCEL_FILTER: Accel filter cutoff frequency

Note: This parameter is for advanced users

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

Range Units
0 - 127 hertz

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

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values
Value Meaning
0 Disabled
1 Enabled

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

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

Values
Value Meaning
0 Disabled
1 Enabled

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

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

Values
Value Meaning
0 Disabled
1 Enabled

INS_STILL_THRESH: Stillness threshold for detecting if we are moving

Note: This parameter is for advanced users

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

Range
0.05 - 50

INS_GYR_CAL: Gyro Calibration scheme

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

Values
Value Meaning
0 Never
1 Start-up only

INS_TRIM_OPTION: Accel cal trim option

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

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

INS_ACC_BODYFIX: Body-fixed accelerometer

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

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

INS_POS1_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Units
meters

INS_POS1_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Units
meters

INS_POS1_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Units
meters

INS_POS2_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Units
meters

INS_POS2_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Units
meters

INS_POS2_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Units
meters

INS_POS3_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Units
meters

INS_POS3_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Units
meters

INS_POS3_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Units
meters

INS_GYR_ID: Gyro ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_GYR2_ID: Gyro2 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_GYR3_ID: Gyro3 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC2_ID: Accelerometer2 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC3_ID: Accelerometer3 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_FAST_SAMPLE: Fast sampling mask

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

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

INS_LOG_ Parameters

INS_LOG_BAT_CNT: sample count per batch

Note: This parameter is for advanced users

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

Increment
32

INS_LOG_BAT_MASK: Sensor Bitmask

Note: This parameter is for advanced users

Bitmap of which IMUs to log batch data for

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

INS_LOG_BAT_OPT: Batch Logging Options Mask

Note: This parameter is for advanced users

Options for the BatchSampler

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

INS_LOG_BAT_LGIN: logging interval

Interval between pushing samples to the DataFlash log

Units Increment
milliseconds 10

INS_LOG_BAT_LGCT: logging count

Number of samples to push to count every INS_LOG_BAT_LGIN

Increment
1

INS_NOTCH_ Parameters

INS_NOTCH_ENABLE: Enable

Note: This parameter is for advanced users

Enable notch filter

Values
Value Meaning
0 Disabled
1 Enabled

INS_NOTCH_FREQ: Frequency

Note: This parameter is for advanced users

Notch center frequency in Hz

Range Units
10 - 200 hertz

INS_NOTCH_BW: Bandwidth

Note: This parameter is for advanced users

Notch bandwidth in Hz

Range Units
5 - 50 hertz

INS_NOTCH_ATT: Attenuation

Note: This parameter is for advanced users

Notch attenuation in dB

Range Units
5 - 30 decibel

LOG Parameters

LOG_BACKEND_TYPE: DataFlash Backend Storage type

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

Values
Value Meaning
0 None
1 File
2 MAVLink
3 BothFileAndMAVLink

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

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

LOG_DISARMED: Enable logging while disarmed

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

Values
Value Meaning
0 Disabled
1 Enabled

LOG_REPLAY: Enable logging of information needed for Replay

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

Values
Value Meaning
0 Disabled
1 Enabled

LOG_FILE_DSRMROT: Stop logging to current file on disarm

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

Values
Value Meaning
0 Disabled
1 Enabled

MIS_ Parameters

MIS_TOTAL: Total mission commands

Note: This parameter is for advanced users

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

Range Increment
0 - 32766 1

MIS_RESTART: Mission Restart when entering Auto mode

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Resume Mission
1 Restart Mission

MIS_OPTIONS: Mission options bitmask

Note: This parameter is for advanced users

Bitmask of what options to use in missions.

Bitmask
Bit Meaning
0 Clear Mission on reboot

MNT Parameters

MNT_DEFLT_MODE: Mount default operating mode

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

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

MNT_RETRACT_X: Mount roll angle when in retracted position

Mount roll angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position

Mount tilt/pitch angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position

Mount yaw/pan angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_NEUTRAL_X: Mount roll angle when in neutral position

Mount roll angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position

Mount tilt/pitch angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position

Mount pan/yaw angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT_STAB_ROLL: Stabilize mount’s roll angle

enable roll stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT_STAB_TILT: Stabilize mount’s pitch/tilt angle

enable tilt/pitch stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT_STAB_PAN: Stabilize mount pan/yaw angle

enable pan/yaw stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT_RC_IN_ROLL: roll RC input channel

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

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

MNT_ANGMIN_ROL: Minimum roll angle

Minimum physical roll angular position of mount.

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_ANGMAX_ROL: Maximum roll angle

Maximum physical roll angular position of the mount

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_RC_IN_TILT: tilt (pitch) RC input channel

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

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

MNT_ANGMIN_TIL: Minimum tilt angle

Minimum physical tilt (pitch) angular position of mount.

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_ANGMAX_TIL: Maximum tilt angle

Maximum physical tilt (pitch) angular position of the mount

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_RC_IN_PAN: pan (yaw) RC input channel

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

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

MNT_ANGMIN_PAN: Minimum pan angle

Minimum physical pan (yaw) angular position of mount.

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_ANGMAX_PAN: Maximum pan angle

Maximum physical pan (yaw) angular position of the mount

Range Increment Units
-18000 - 17999 1 centidegrees

MNT_JSTICK_SPD: mount joystick speed

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

Range Increment
0 - 100 1

MNT_LEAD_RLL: Roll stabilization lead time

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

Range Increment Units
0.0 - 0.2 .005 seconds

MNT_LEAD_PTCH: Pitch stabilization lead time

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

Range Increment Units
0.0 - 0.2 .005 seconds

MNT_TYPE: Mount Type

Mount Type (None, Servo or MAVLink)

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

MNT2_DEFLT_MODE: Mount default operating mode

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

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

MNT2_RETRACT_X: Mount2 roll angle when in retracted position

Mount2 roll angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position

Mount2 tilt/pitch angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position

Mount2 yaw/pan angle when in retracted position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position

Mount2 roll angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position

Mount2 tilt/pitch angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position

Mount2 pan/yaw angle when in neutral position

Range Increment Units
-180.00 - 179.99 1 degrees

MNT2_STAB_ROLL: Stabilize Mount2’s roll angle

enable roll stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT2_STAB_TILT: Stabilize Mount2’s pitch/tilt angle

enable tilt/pitch stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle

enable pan/yaw stabilisation relative to Earth

Values
Value Meaning
0 Disabled
1 Enabled

MNT2_RC_IN_ROLL: Mount2’s roll RC input channel

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

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

MNT2_ANGMIN_ROL: Mount2’s minimum roll angle

Mount2’s minimum physical roll angular position

Range Increment Units
-18000 - 17999 1 centidegrees

MNT2_ANGMAX_ROL: Mount2’s maximum roll angle

Mount2’s maximum physical roll angular position

Range Increment Units
-18000 - 17999 1 centidegrees

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

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

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

MNT2_ANGMIN_TIL: Mount2’s minimum tilt angle

Mount2’s minimum physical tilt (pitch) angular position

Range Increment Units
-18000 - 17999 1 centidegrees

MNT2_ANGMAX_TIL: Mount2’s maximum tilt angle

Mount2’s maximum physical tilt (pitch) angular position

Range Increment Units
-18000 - 17999 1 centidegrees

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

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

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

MNT2_ANGMIN_PAN: Mount2’s minimum pan angle

Mount2’s minimum physical pan (yaw) angular position

Range Increment Units
-18000 - 17999 1 centidegrees

MNT2_ANGMAX_PAN: Mount2’s maximum pan angle

MOunt2’s maximum physical pan (yaw) angular position

Range Increment Units
-18000 - 17999 1 centidegrees

MNT2_LEAD_RLL: Mount2’s Roll stabilization lead time

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

Range Increment Units
0.0 - 0.2 .005 seconds

MNT2_LEAD_PTCH: Mount2’s Pitch stabilization lead time

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

Range Increment Units
0.0 - 0.2 .005 seconds

MNT2_TYPE: Mount2 Type

Mount Type (None, Servo or MAVLink)

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

MOT_ Parameters

MOT_PWM_TYPE: Motor Output PWM type

Note: This parameter is for advanced users

This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)

Values RebootRequired
Value Meaning
0 Normal
1 OneShot
2 OneShot125
3 BrushedWithRelay
4 BrushedBiPolar
True

MOT_PWM_FREQ: Motor Output PWM freq for brushed motors

Note: This parameter is for advanced users

Motor Output PWM freq for brushed motors

Range Increment Units RebootRequired
1 - 20 1 kilohertz True

MOT_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

MOT_THR_MIN: Throttle minimum

Throttle minimum percentage the autopilot will apply. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions.

Range Increment Units
0 - 20 1 percent

MOT_THR_MAX: Throttle maximum

Throttle maximum percentage the autopilot will apply. This can be used to prevent overheating an ESC or motor on an electric rover

Range Increment Units
30 - 100 1 percent

MOT_SLEWRATE: Throttle slew rate

Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second. A value of zero disables the limit. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts.

Range Increment Units
0 - 1000 1 percent per second

MOT_THST_EXPO: Thrust Curve Expo

Note: This parameter is for advanced users

Thrust curve exponent (-1 to +1 with 0 being linear)

Range
-1.0 - 1.0

MOT_VEC_THR_BASE: Vector thrust throttle base

Note: This parameter is for advanced users

Throttle level above which steering is scaled down when using vector thrust. zero to disable vectored thrust

Range Units
0 - 100 percent

MOT_SPD_SCA_BASE: Motor speed scaling base speed

Note: This parameter is for advanced users

Speed above which steering is scaled down when using regular steering/throttle vehicles. zero to disable speed scaling

Range Units
0 - 10 meters per second

NTF_ Parameters

NTF_LED_BRIGHT: LED Brightness

Note: This parameter is for advanced users

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

Values
Value Meaning
0 Off
1 Low
2 Medium
3 High

NTF_BUZZ_ENABLE: Buzzer enable

Note: This parameter is for advanced users

Enable or disable the buzzer. Only for Linux and PX4 based boards.

Values
Value Meaning
0 Disable
1 Enable

NTF_DISPLAY_TYPE: Type of on-board I2C display

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disable
1 ssd1306
2 sh1106

NTF_OREO_THEME: OreoLED Theme

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Aircraft
2 Rover

NTF_BUZZ_PIN: Buzzer pin

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled

NTF_LED_TYPES: LED Driver Types

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

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

OSD Parameters

OSD_TYPE: OSD type

OSD type

Values RebootRequired
Value Meaning
0 None
1 MAX7456
True

OSD_CHAN: Screen switch transmitter channel

This sets the channel used to switch different OSD screens.

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

OSD_OPTIONS: OSD Options

This sets options that change the display

Bitmask
Bit Meaning
0 UseDecimalPack
1 InvertedWindPointer
2 InvertedAHRoll

OSD_FONT: OSD Font

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

RebootRequired
True

OSD_V_OFFSET: OSD vertical offset

Sets vertical offset of the osd inside image

Range RebootRequired
0 - 31 True

OSD_H_OFFSET: OSD horizontal offset

Sets horizontal offset of the osd inside image

Range RebootRequired
0 - 63 True

OSD_W_RSSI: RSSI warn level (in %)

Set level at which RSSI item will flash

Range
0 - 99

OSD_W_NSAT: NSAT warn level

Set level at which NSAT item will flash

Range
1 - 30

OSD_W_BATVOLT: BAT_VOLT warn level

Set level at which BAT_VOLT item will flash

Range
0 - 100

OSD_UNITS: Display Units

Sets the units to use in displaying items

Values
Value Meaning
0 Metric
1 Imperial
2 SI
3 Aviation

OSD_MSG_TIME: Message display duration in seconds

Sets message duration seconds

Range
1 - 20

OSD1_ Parameters

OSD1_ENABLE: Enable screen

Enable this screen

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD1_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD1_ALTITUDE Parameters

OSD1_ALTITUDE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_ALTITUDE_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_ALTITUDE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_ATEMP Parameters

OSD1_ATEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_ATEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_ATEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BAT2USED Parameters

OSD1_BAT2USED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BAT2USED_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BAT2USED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BAT2VLT Parameters

OSD1_BAT2VLT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BAT2VLT_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BAT2VLT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BATUSED Parameters

OSD1_BATUSED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BATUSED_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BATUSED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BATVOLT Parameters

OSD1_BATVOLT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BATVOLT_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BATVOLT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BLHAMPS Parameters

OSD1_BLHAMPS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BLHAMPS_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BLHAMPS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BLHRPM Parameters

OSD1_BLHRPM_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BLHRPM_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BLHRPM_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BLHTEMP Parameters

OSD1_BLHTEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BLHTEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BLHTEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_BTEMP Parameters

OSD1_BTEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_BTEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_BTEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_CLIMBEFF Parameters

OSD1_CLIMBEFF_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_CLIMBEFF_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_CLIMBEFF_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_CURRENT Parameters

OSD1_CURRENT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_CURRENT_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_CURRENT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_DIST Parameters

OSD1_DIST_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_DIST_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_DIST_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_EFF Parameters

OSD1_EFF_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_EFF_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_EFF_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_FLTIME Parameters

OSD1_FLTIME_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_FLTIME_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_FLTIME_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_FLTMODE Parameters

OSD1_FLTMODE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_FLTMODE_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_FLTMODE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_GPSLAT Parameters

OSD1_GPSLAT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_GPSLAT_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_GPSLAT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_GPSLONG Parameters

OSD1_GPSLONG_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_GPSLONG_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_GPSLONG_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_GSPEED Parameters

OSD1_GSPEED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_GSPEED_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_GSPEED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_HDOP Parameters

OSD1_HDOP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_HDOP_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_HDOP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_HOME Parameters

OSD1_HOME_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_HOME_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_HOME_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_HORIZON Parameters

OSD1_HORIZON_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_HORIZON_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_HORIZON_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_MESSAGE Parameters

OSD1_MESSAGE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_MESSAGE_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_MESSAGE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_PITCH Parameters

OSD1_PITCH_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_PITCH_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_PITCH_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_ROLL Parameters

OSD1_ROLL_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_ROLL_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_ROLL_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_RSSI Parameters

OSD1_RSSI_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_RSSI_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_RSSI_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_SATS Parameters

OSD1_SATS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_SATS_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_SATS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_STATS Parameters

OSD1_STATS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_STATS_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_STATS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_TEMP Parameters

OSD1_TEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_TEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_TEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_WAYPOINT Parameters

OSD1_WAYPOINT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_WAYPOINT_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_WAYPOINT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD1_XTRACK Parameters

OSD1_XTRACK_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD1_XTRACK_X: X position

Horizontal position on screen

Range
0 - 29

OSD1_XTRACK_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_ Parameters

OSD2_ENABLE: Enable screen

Enable this screen

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD2_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD2_ALTITUDE Parameters

OSD2_ALTITUDE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_ALTITUDE_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_ALTITUDE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_ATEMP Parameters

OSD2_ATEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_ATEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_ATEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BAT2USED Parameters

OSD2_BAT2USED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BAT2USED_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BAT2USED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BAT2VLT Parameters

OSD2_BAT2VLT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BAT2VLT_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BAT2VLT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BATUSED Parameters

OSD2_BATUSED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BATUSED_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BATUSED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BATVOLT Parameters

OSD2_BATVOLT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BATVOLT_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BATVOLT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BLHAMPS Parameters

OSD2_BLHAMPS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BLHAMPS_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BLHAMPS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BLHRPM Parameters

OSD2_BLHRPM_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BLHRPM_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BLHRPM_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BLHTEMP Parameters

OSD2_BLHTEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BLHTEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BLHTEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_BTEMP Parameters

OSD2_BTEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_BTEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_BTEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_CLIMBEFF Parameters

OSD2_CLIMBEFF_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_CLIMBEFF_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_CLIMBEFF_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_CURRENT Parameters

OSD2_CURRENT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_CURRENT_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_CURRENT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_DIST Parameters

OSD2_DIST_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_DIST_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_DIST_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_EFF Parameters

OSD2_EFF_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_EFF_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_EFF_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_FLTIME Parameters

OSD2_FLTIME_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_FLTIME_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_FLTIME_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_FLTMODE Parameters

OSD2_FLTMODE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_FLTMODE_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_FLTMODE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_GPSLAT Parameters

OSD2_GPSLAT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_GPSLAT_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_GPSLAT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_GPSLONG Parameters

OSD2_GPSLONG_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_GPSLONG_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_GPSLONG_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_GSPEED Parameters

OSD2_GSPEED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_GSPEED_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_GSPEED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_HDOP Parameters

OSD2_HDOP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_HDOP_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_HDOP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_HOME Parameters

OSD2_HOME_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_HOME_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_HOME_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_HORIZON Parameters

OSD2_HORIZON_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_HORIZON_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_HORIZON_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_MESSAGE Parameters

OSD2_MESSAGE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_MESSAGE_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_MESSAGE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_PITCH Parameters

OSD2_PITCH_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_PITCH_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_PITCH_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_ROLL Parameters

OSD2_ROLL_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_ROLL_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_ROLL_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_RSSI Parameters

OSD2_RSSI_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_RSSI_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_RSSI_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_SATS Parameters

OSD2_SATS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_SATS_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_SATS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_STATS Parameters

OSD2_STATS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_STATS_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_STATS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_TEMP Parameters

OSD2_TEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_TEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_TEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_WAYPOINT Parameters

OSD2_WAYPOINT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_WAYPOINT_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_WAYPOINT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD2_XTRACK Parameters

OSD2_XTRACK_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD2_XTRACK_X: X position

Horizontal position on screen

Range
0 - 29

OSD2_XTRACK_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_ Parameters

OSD3_ENABLE: Enable screen

Enable this screen

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD3_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD3_ALTITUDE Parameters

OSD3_ALTITUDE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_ALTITUDE_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_ALTITUDE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_ATEMP Parameters

OSD3_ATEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_ATEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_ATEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_BAT2USED Parameters

OSD3_BAT2USED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_BAT2USED_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_BAT2USED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_BAT2VLT Parameters

OSD3_BAT2VLT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_BAT2VLT_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_BAT2VLT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_BATUSED Parameters

OSD3_BATUSED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_BATUSED_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_BATUSED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_BATVOLT Parameters

OSD3_BATVOLT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_BATVOLT_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_BATVOLT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_BLHAMPS Parameters

OSD3_BLHAMPS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_BLHAMPS_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_BLHAMPS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_BLHRPM Parameters

OSD3_BLHRPM_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_BLHRPM_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_BLHRPM_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_BLHTEMP Parameters

OSD3_BLHTEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_BLHTEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_BLHTEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_BTEMP Parameters

OSD3_BTEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_BTEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_BTEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_CLIMBEFF Parameters

OSD3_CLIMBEFF_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_CLIMBEFF_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_CLIMBEFF_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_CURRENT Parameters

OSD3_CURRENT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_CURRENT_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_CURRENT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_DIST Parameters

OSD3_DIST_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_DIST_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_DIST_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_EFF Parameters

OSD3_EFF_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_EFF_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_EFF_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_FLTIME Parameters

OSD3_FLTIME_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_FLTIME_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_FLTIME_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_FLTMODE Parameters

OSD3_FLTMODE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_FLTMODE_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_FLTMODE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_GPSLAT Parameters

OSD3_GPSLAT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_GPSLAT_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_GPSLAT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_GPSLONG Parameters

OSD3_GPSLONG_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_GPSLONG_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_GPSLONG_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_GSPEED Parameters

OSD3_GSPEED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_GSPEED_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_GSPEED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_HDOP Parameters

OSD3_HDOP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_HDOP_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_HDOP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_HOME Parameters

OSD3_HOME_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_HOME_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_HOME_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_HORIZON Parameters

OSD3_HORIZON_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_HORIZON_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_HORIZON_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_MESSAGE Parameters

OSD3_MESSAGE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_MESSAGE_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_MESSAGE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_PITCH Parameters

OSD3_PITCH_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_PITCH_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_PITCH_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_ROLL Parameters

OSD3_ROLL_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_ROLL_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_ROLL_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_RSSI Parameters

OSD3_RSSI_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_RSSI_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_RSSI_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_SATS Parameters

OSD3_SATS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_SATS_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_SATS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_STATS Parameters

OSD3_STATS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_STATS_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_STATS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_TEMP Parameters

OSD3_TEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_TEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_TEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_WAYPOINT Parameters

OSD3_WAYPOINT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_WAYPOINT_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_WAYPOINT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD3_XTRACK Parameters

OSD3_XTRACK_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD3_XTRACK_X: X position

Horizontal position on screen

Range
0 - 29

OSD3_XTRACK_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_ Parameters

OSD4_ENABLE: Enable screen

Enable this screen

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD4_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD4_ALTITUDE Parameters

OSD4_ALTITUDE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_ALTITUDE_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_ALTITUDE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_ATEMP Parameters

OSD4_ATEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_ATEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_ATEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_BAT2USED Parameters

OSD4_BAT2USED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_BAT2USED_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_BAT2USED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_BAT2VLT Parameters

OSD4_BAT2VLT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_BAT2VLT_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_BAT2VLT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_BATUSED Parameters

OSD4_BATUSED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_BATUSED_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_BATUSED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_BATVOLT Parameters

OSD4_BATVOLT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_BATVOLT_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_BATVOLT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_BLHAMPS Parameters

OSD4_BLHAMPS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_BLHAMPS_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_BLHAMPS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_BLHRPM Parameters

OSD4_BLHRPM_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_BLHRPM_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_BLHRPM_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_BLHTEMP Parameters

OSD4_BLHTEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_BLHTEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_BLHTEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_BTEMP Parameters

OSD4_BTEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_BTEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_BTEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_CLIMBEFF Parameters

OSD4_CLIMBEFF_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_CLIMBEFF_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_CLIMBEFF_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_CURRENT Parameters

OSD4_CURRENT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_CURRENT_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_CURRENT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_DIST Parameters

OSD4_DIST_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_DIST_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_DIST_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_EFF Parameters

OSD4_EFF_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_EFF_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_EFF_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_FLTIME Parameters

OSD4_FLTIME_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_FLTIME_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_FLTIME_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_FLTMODE Parameters

OSD4_FLTMODE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_FLTMODE_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_FLTMODE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_GPSLAT Parameters

OSD4_GPSLAT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_GPSLAT_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_GPSLAT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_GPSLONG Parameters

OSD4_GPSLONG_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_GPSLONG_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_GPSLONG_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_GSPEED Parameters

OSD4_GSPEED_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_GSPEED_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_GSPEED_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_HDOP Parameters

OSD4_HDOP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_HDOP_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_HDOP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_HOME Parameters

OSD4_HOME_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_HOME_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_HOME_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_HORIZON Parameters

OSD4_HORIZON_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_HORIZON_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_HORIZON_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_MESSAGE Parameters

OSD4_MESSAGE_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_MESSAGE_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_MESSAGE_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_PITCH Parameters

OSD4_PITCH_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_PITCH_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_PITCH_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_ROLL Parameters

OSD4_ROLL_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_ROLL_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_ROLL_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_RSSI Parameters

OSD4_RSSI_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_RSSI_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_RSSI_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_SATS Parameters

OSD4_SATS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_SATS_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_SATS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_STATS Parameters

OSD4_STATS_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_STATS_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_STATS_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_TEMP Parameters

OSD4_TEMP_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_TEMP_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_TEMP_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_WAYPOINT Parameters

OSD4_WAYPOINT_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_WAYPOINT_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_WAYPOINT_Y: Y position

Vertical position on screen

Range
0 - 15

OSD4_XTRACK Parameters

OSD4_XTRACK_EN: Enable

Enable setting

Values
Value Meaning
0 Disabled
1 Enabled

OSD4_XTRACK_X: X position

Horizontal position on screen

Range
0 - 29

OSD4_XTRACK_Y: Y position

Vertical position on screen

Range
0 - 15

PRX Parameters

PRX_TYPE: Proximity type

What type of proximity sensor is connected

Values RebootRequired
Value Meaning
0 None
1 LightWareSF40C
2 MAVLink
3 TeraRangerTower
4 RangeFinder
5 RPLidarA2
6 TeraRangerTowerEvo
True

PRX_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning
0 Default
1 Upside Down

PRX_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range Units
-180 - 180 degrees

PRX_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range Units
0 - 360 degrees

PRX_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range Units
0 - 45 degrees

PRX_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range Units
0 - 360 degrees

PRX_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range Units
0 - 45 degrees

PRX_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range Units
0 - 360 degrees

PRX_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range Units
0 - 45 degrees

PRX_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range Units
0 - 360 degrees

PRX_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range Units
0 - 45 degrees

PRX_IGN_ANG5: Proximity sensor ignore angle 5

Proximity sensor ignore angle 5

Range Units
0 - 360 degrees

PRX_IGN_WID5: Proximity sensor ignore width 5

Proximity sensor ignore width 5

Range Units
0 - 45 degrees

PRX_IGN_ANG6: Proximity sensor ignore angle 6

Proximity sensor ignore angle 6

Range Units
0 - 360 degrees

PRX_IGN_WID6: Proximity sensor ignore width 6

Proximity sensor ignore width 6

Range Units
0 - 45 degrees

PRX2_TYPE: Second Proximity type

Note: This parameter is for advanced users

What type of proximity sensor is connected

Values RebootRequired
Value Meaning
0 None
1 LightWareSF40C
2 MAVLink
3 TeraRangerTower
4 RangeFinder
5 RPLidarA2
6 TeraRangerTowerEvo
True

PRX2_ORIENT: Second Proximity sensor orientation

Second Proximity sensor orientation

Values
Value Meaning
0 Default
1 Upside Down

PRX2_YAW_CORR: Second Proximity sensor yaw correction

Second Proximity sensor yaw correction

Range Units
-180 - 180 degrees

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

RC Parameters

RC_OVERRIDE_TIME: RC override timeout

Note: This parameter is for advanced users

Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled

Range Units
0.0 - 120.0 seconds

RC_OPTIONS: RC options

Note: This parameter is for advanced users

RC input options

Bitmask
Bit Meaning
0 Ignore RC Reciever
1 Ignore MAVLink Overrides

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

RC10_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC11_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC12_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC13_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC14_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC15_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC16_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC1_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC2_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC3_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC4_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC5_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC6_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC7_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC8_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

RC9_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 RTL
7 Save WP
9 Camera Trigger
16 Auto
28 Relay On/Off
30 Lost Rover Sound
34 Relay2 On/Off
35 Relay3 On/Off
36 Relay4 On/Off
41 ArmDisarm
42 SmartRTL
46 RC Override Enable
50 LearnCruise
51 Manual
52 Acro
53 Steering
54 Hold
55 Guided
56 Loiter
57 Follow
58 Clear Waypoints
59 Simple

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

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
49 BB Blue GP0 pin 4
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
57 BB Blue GP0 pin 3
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1/BB Blue GP0 pin 6
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2/BB Blue GP0 pin 5

RELAY_PIN2: Second Relay Pin

Digital pin number for 2nd relay control.

Values
Value Meaning
-1 Disabled
49 BB Blue GP0 pin 4
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
57 BB Blue GP0 pin 3
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1/BB Blue GP0 pin 6
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2/BB Blue GP0 pin 5

RELAY_PIN3: Third Relay Pin

Digital pin number for 3rd relay control.

Values
Value Meaning
-1 Disabled
49 BB Blue GP0 pin 4
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
57 BB Blue GP0 pin 3
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1/BB Blue GP0 pin 6
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2/BB Blue GP0 pin 5

RELAY_PIN4: Fourth Relay Pin

Digital pin number for 4th relay control.

Values
Value Meaning
-1 Disabled
49 BB Blue GP0 pin 4
50 Pixhawk AUXOUT1
51 Pixhawk AUXOUT2
52 Pixhawk AUXOUT3
53 Pixhawk AUXOUT4
54 Pixhawk AUXOUT5
55 Pixhawk AUXOUT6
57 BB Blue GP0 pin 3
111 PX4 FMU Relay1
112 PX4 FMU Relay2
113 PX4IO Relay1/BB Blue GP0 pin 6
114 PX4IO Relay2
115 PX4IO ACC1
116 PX4IO ACC2/BB Blue GP0 pin 5

RELAY_DEFAULT: Default relay state

The state of the relay on boot.

Values
Value Meaning
0 Off
1 On
2 NoChange

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 TeraRangerI2C
15 LidarLiteV3-I2C
16 VL53L0X
17 NMEA
18 WASP-LRF
19 BenewakeTF02
20 BenewakeTFmini

RNGFND_PIN: Rangefinder pin

Analog pin that rangefinder is connected to. 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
11 PX4-airspeed port
15 Pixhawk-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 TeraRangerI2C
15 LidarLiteV3-I2C
16 VL53L0X
17 NMEA
18 WASP-LRF
19 BenewakeTF02
20 BenewakeTFmini

RNGFND2_PIN: Rangefinder pin

Note: This parameter is for advanced users

Analog pin that rangefinder is connected to. 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
11 PX4-airspeed port
15 Pixhawk-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