Table of Contents

• Choosing an Antenna
  • Antenna dBi and transmission distance
  • Where to buy
• Frame Assembly
  • Recommended Frames
  • Mounting the flight controller board
  • Connecting the servos
  • Connecting the radio and antenna
  • Mounting the GPS and external compass
• Loading the Firmware
• Configuration
  • Setting the AHRS orientation
  • Accelerometer Calibration
  • Setting the Compass orientation
  • Compass Calibration
  • Setting the servo and range of movement
    • Setting the Yaw servo’s min and max pwm values
    • Setting the Yaw servo’s range of movement
    • Setting the Pitch servo’s range of movement pwm values
    • Setting the Pitch servo’s range of movement
    • Manually setting the parameters
  • Tuning
• Complete Parameter List
  • AntennaTracker Parameters
    • FORMAT_VERSION: Eeprom format version number
    • SYSID_THISMAV: MAVLink system ID of this vehicle
    • SYSID_MYGCS: Ground station MAVLink system ID
    • SYSID_TARGET: Target vehicle’s MAVLink system ID
    • YAW_SLEW_TIME: Time for yaw to slew through its full range
    • PITCH_SLEW_TIME: Time for pitch to slew through its full range
    • MIN_REVERSE_TIME: Minimum time to apply a yaw reversal
    • START_LATITUDE: Initial Latitude before GPS lock
    • START_LONGITUDE: Initial Longitude before GPS lock
    • STARTUP_DELAY: Delay before first servo movement from trim
    • SERVO_PITCH_TYPE: Type of servo system being used for pitch
    • SERVO_YAW_TYPE: Type of servo system being used for yaw
    • ONOFF_YAW_RATE: Yaw rate for on/off servos
    • ONOFF_PITCH_RATE: Pitch rate for on/off servos
    • ONOFF_YAW_MINT: Yaw minimum movement time
    • ONOFF_PITCH_MINT: Pitch minimum movement time
    • YAW_TRIM: Yaw trim
    • PITCH_TRIM: Pitch trim
    • YAW_RANGE: Yaw Angle Range
    • DISTANCE_MIN: Distance minimum to target
    • ALT_SOURCE: Altitude Source
    • MAV_UPDATE_RATE: Mavlink Update Rate
    • PITCH_MIN: Minimum Pitch Angle
    • PITCH_MAX: Maximum Pitch Angle
    • LOG_BITMASK: Log bitmask
    • PITCH2SRV_P: Pitch axis controller P gain
    • PITCH2SRV_I: Pitch axis controller I gain
    • PITCH2SRV_IMAX: Pitch axis controller I gain maximum
    • PITCH2SRV_D: Pitch axis controller D gain
    • PITCH2SRV_FF: Pitch axis controller feed forward
    • PITCH2SRV_FLTT: Pitch axis controller target frequency in Hz
    • PITCH2SRV_FLTE: Pitch axis controller error frequency in Hz
    • PITCH2SRV_FLTD: Pitch axis controller derivative frequency in Hz
    • YAW2SRV_P: Yaw axis controller P gain
    • YAW2SRV_I: Yaw axis controller I gain
    • YAW2SRV_IMAX: Yaw axis controller I gain maximum
    • YAW2SRV_D: Yaw axis controller D gain
    • YAW2SRV_FF: Yaw axis controller feed forward
    • YAW2SRV_FLTT: Yaw axis controller target frequency in Hz
    • YAW2SRV_FLTE: Yaw axis controller error frequency in Hz
    • YAW2SRV_FLTD: Yaw axis controller derivative frequency in Hz
    • CMD_TOTAL: Number of loaded mission items
    • GCS_PID_MASK: GCS PID tuning mask
    • SCAN_SPEED_YAW: Speed at which to rotate the yaw axis in scan mode
    • SCAN_SPEED_PIT: Speed at which to rotate pitch axis in scan mode
    • INITIAL_MODE: Mode tracker will switch into after initialization
    • SAFE_DISARM_PWM: PWM that will be output when disarmed or in stop mode
    • AUTO_OPTIONS: Auto mode options
  • AHRS_ Parameters
    • AHRS_GPS_GAIN: AHRS GPS gain
    • AHRS_GPS_USE: AHRS use GPS for navigation
    • AHRS_YAW_P: Yaw P
    • AHRS_RP_P: AHRS RP_P
    • AHRS_WIND_MAX: Maximum wind
    • AHRS_TRIM_X: AHRS Trim Roll
    • AHRS_TRIM_Y: AHRS Trim Pitch
    • AHRS_TRIM_Z: AHRS Trim Yaw
    • AHRS_ORIENTATION: Board Orientation
    • AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient
    • AHRS_GPS_MINSATS: AHRS GPS Minimum satellites
    • AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation
    • AHRS_CUSTOM_ROLL: Board orientation roll offset
    • AHRS_CUSTOM_PIT: Board orientation pitch offset
    • AHRS_CUSTOM_YAW: Board orientation yaw offset
  • BATT2_ Parameters
    • BATT2_MONITOR: Battery monitoring
    • BATT2_VOLT_PIN: Battery Voltage sensing pin
    • BATT2_CURR_PIN: Battery Current sensing pin
    • BATT2_VOLT_MULT: Voltage Multiplier
    • BATT2_AMP_PERVLT: Amps per volt
    • BATT2_AMP_OFFSET: AMP offset
    • BATT2_CAPACITY: Battery capacity
    • BATT2_SERIAL_NUM: Battery serial number
    • BATT2_LOW_TIMER: Low voltage timeout
    • BATT2_FS_VOLTSRC: Failsafe voltage source
    • BATT2_LOW_VOLT: Low battery voltage
    • BATT2_LOW_MAH: Low battery capacity
    • BATT2_CRT_VOLT: Critical battery voltage
    • BATT2_CRT_MAH: Battery critical capacity
    • BATT2_FS_LOW_ACT: Low battery failsafe action
    • BATT2_FS_CRT_ACT: Critical battery failsafe action
    • BATT2_ARM_VOLT: Required arming voltage
    • BATT2_ARM_MAH: Required arming remaining capacity
    • BATT2_BUS: Battery monitor I2C bus number
  • BATT3_ Parameters
    • BATT3_MONITOR: Battery monitoring
    • BATT3_VOLT_PIN: Battery Voltage sensing pin
    • BATT3_CURR_PIN: Battery Current sensing pin
    • BATT3_VOLT_MULT: Voltage Multiplier
    • BATT3_AMP_PERVLT: Amps per volt
    • BATT3_AMP_OFFSET: AMP offset
    • BATT3_CAPACITY: Battery capacity
    • BATT3_SERIAL_NUM: Battery serial number
    • BATT3_LOW_TIMER: Low voltage timeout
    • BATT3_FS_VOLTSRC: Failsafe voltage source
    • BATT3_LOW_VOLT: Low battery voltage
    • BATT3_LOW_MAH: Low battery capacity
    • BATT3_CRT_VOLT: Critical battery voltage
    • BATT3_CRT_MAH: Battery critical capacity
    • BATT3_FS_LOW_ACT: Low battery failsafe action
    • BATT3_FS_CRT_ACT: Critical battery failsafe action
    • BATT3_ARM_VOLT: Required arming voltage
    • BATT3_ARM_MAH: Required arming remaining capacity
    • BATT3_BUS: Battery monitor I2C bus number
  • BATT4_ Parameters
    • BATT4_MONITOR: Battery monitoring
    • BATT4_VOLT_PIN: Battery Voltage sensing pin
    • BATT4_CURR_PIN: Battery Current sensing pin
    • BATT4_VOLT_MULT: Voltage Multiplier
    • BATT4_AMP_PERVLT: Amps per volt
    • BATT4_AMP_OFFSET: AMP offset
    • BATT4_CAPACITY: Battery capacity
    • BATT4_SERIAL_NUM: Battery serial number
    • BATT4_LOW_TIMER: Low voltage timeout
    • BATT4_FS_VOLTSRC: Failsafe voltage source
    • BATT4_LOW_VOLT: Low battery voltage
    • BATT4_LOW_MAH: Low battery capacity
    • BATT4_CRT_VOLT: Critical battery voltage
    • BATT4_CRT_MAH: Battery critical capacity
    • BATT4_FS_LOW_ACT: Low battery failsafe action
    • BATT4_FS_CRT_ACT: Critical battery failsafe action
    • BATT4_ARM_VOLT: Required arming voltage
    • BATT4_ARM_MAH: Required arming remaining capacity
    • BATT4_BUS: Battery monitor I2C bus number
  • BATT5_ Parameters
    • BATT5_MONITOR: Battery monitoring
    • BATT5_VOLT_PIN: Battery Voltage sensing pin
    • BATT5_CURR_PIN: Battery Current sensing pin
    • BATT5_VOLT_MULT: Voltage Multiplier
    • BATT5_AMP_PERVLT: Amps per volt
    • BATT5_AMP_OFFSET: AMP offset
    • BATT5_CAPACITY: Battery capacity
    • BATT5_SERIAL_NUM: Battery serial number
    • BATT5_LOW_TIMER: Low voltage timeout
    • BATT5_FS_VOLTSRC: Failsafe voltage source
    • BATT5_LOW_VOLT: Low battery voltage
    • BATT5_LOW_MAH: Low battery capacity
    • BATT5_CRT_VOLT: Critical battery voltage
    • BATT5_CRT_MAH: Battery critical capacity
    • BATT5_FS_LOW_ACT: Low battery failsafe action
    • BATT5_FS_CRT_ACT: Critical battery failsafe action
    • BATT5_ARM_VOLT: Required arming voltage
    • BATT5_ARM_MAH: Required arming remaining capacity
    • BATT5_BUS: Battery monitor I2C bus number
  • BATT6_ Parameters
    • BATT6_MONITOR: Battery monitoring
    • BATT6_VOLT_PIN: Battery Voltage sensing pin
    • BATT6_CURR_PIN: Battery Current sensing pin
    • BATT6_VOLT_MULT: Voltage Multiplier
    • BATT6_AMP_PERVLT: Amps per volt
    • BATT6_AMP_OFFSET: AMP offset
    • BATT6_CAPACITY: Battery capacity
    • BATT6_SERIAL_NUM: Battery serial number
    • BATT6_LOW_TIMER: Low voltage timeout
    • BATT6_FS_VOLTSRC: Failsafe voltage source
    • BATT6_LOW_VOLT: Low battery voltage
    • BATT6_LOW_MAH: Low battery capacity
    • BATT6_CRT_VOLT: Critical battery voltage
    • BATT6_CRT_MAH: Battery critical capacity
    • BATT6_FS_LOW_ACT: Low battery failsafe action
    • BATT6_FS_CRT_ACT: Critical battery failsafe action
    • BATT6_ARM_VOLT: Required arming voltage
    • BATT6_ARM_MAH: Required arming remaining capacity
    • BATT6_BUS: Battery monitor I2C bus number
  • BATT7_ Parameters
    • BATT7_MONITOR: Battery monitoring
    • BATT7_VOLT_PIN: Battery Voltage sensing pin
    • BATT7_CURR_PIN: Battery Current sensing pin
    • BATT7_VOLT_MULT: Voltage Multiplier
    • BATT7_AMP_PERVLT: Amps per volt
    • BATT7_AMP_OFFSET: AMP offset
    • BATT7_CAPACITY: Battery capacity
    • BATT7_SERIAL_NUM: Battery serial number
    • BATT7_LOW_TIMER: Low voltage timeout
    • BATT7_FS_VOLTSRC: Failsafe voltage source
    • BATT7_LOW_VOLT: Low battery voltage
    • BATT7_LOW_MAH: Low battery capacity
    • BATT7_CRT_VOLT: Critical battery voltage
    • BATT7_CRT_MAH: Battery critical capacity
    • BATT7_FS_LOW_ACT: Low battery failsafe action
    • BATT7_FS_CRT_ACT: Critical battery failsafe action
    • BATT7_ARM_VOLT: Required arming voltage
    • BATT7_ARM_MAH: Required arming remaining capacity
    • BATT7_BUS: Battery monitor I2C bus number
  • BATT8_ Parameters
    • BATT8_MONITOR: Battery monitoring
    • BATT8_VOLT_PIN: Battery Voltage sensing pin
    • BATT8_CURR_PIN: Battery Current sensing pin
    • BATT8_VOLT_MULT: Voltage Multiplier
    • BATT8_AMP_PERVLT: Amps per volt
    • BATT8_AMP_OFFSET: AMP offset
    • BATT8_CAPACITY: Battery capacity
    • BATT8_SERIAL_NUM: Battery serial number
    • BATT8_LOW_TIMER: Low voltage timeout
    • BATT8_FS_VOLTSRC: Failsafe voltage source
    • BATT8_LOW_VOLT: Low battery voltage
    • BATT8_LOW_MAH: Low battery capacity
    • BATT8_CRT_VOLT: Critical battery voltage
    • BATT8_CRT_MAH: Battery critical capacity
    • BATT8_FS_LOW_ACT: Low battery failsafe action
    • BATT8_FS_CRT_ACT: Critical battery failsafe action
    • BATT8_ARM_VOLT: Required arming voltage
    • BATT8_ARM_MAH: Required arming remaining capacity
    • BATT8_BUS: Battery monitor I2C bus number
  • BATT9_ Parameters
    • BATT9_MONITOR: Battery monitoring
    • BATT9_VOLT_PIN: Battery Voltage sensing pin
    • BATT9_CURR_PIN: Battery Current sensing pin
    • BATT9_VOLT_MULT: Voltage Multiplier
    • BATT9_AMP_PERVLT: Amps per volt
    • BATT9_AMP_OFFSET: AMP offset
    • BATT9_CAPACITY: Battery capacity
    • BATT9_SERIAL_NUM: Battery serial number
    • BATT9_LOW_TIMER: Low voltage timeout
    • BATT9_FS_VOLTSRC: Failsafe voltage source
    • BATT9_LOW_VOLT: Low battery voltage
    • BATT9_LOW_MAH: Low battery capacity
    • BATT9_CRT_VOLT: Critical battery voltage
    • BATT9_CRT_MAH: Battery critical capacity
    • BATT9_FS_LOW_ACT: Low battery failsafe action
    • BATT9_FS_CRT_ACT: Critical battery failsafe action
    • BATT9_ARM_VOLT: Required arming voltage
    • BATT9_ARM_MAH: Required arming remaining capacity
    • BATT9_BUS: Battery monitor I2C bus number
  • BATT_ Parameters
    • BATT_MONITOR: Battery monitoring
    • BATT_VOLT_PIN: Battery Voltage sensing pin
    • BATT_CURR_PIN: Battery Current sensing pin
    • BATT_VOLT_MULT: Voltage Multiplier
    • BATT_AMP_PERVLT: Amps per volt
    • BATT_AMP_OFFSET: AMP offset
    • BATT_CAPACITY: Battery capacity
    • BATT_SERIAL_NUM: Battery serial number
    • BATT_LOW_TIMER: Low voltage timeout
    • BATT_FS_VOLTSRC: Failsafe voltage source
    • BATT_LOW_VOLT: Low battery voltage
    • BATT_LOW_MAH: Low battery capacity
    • BATT_CRT_VOLT: Critical battery voltage
    • BATT_CRT_MAH: Battery critical capacity
    • BATT_FS_LOW_ACT: Low battery failsafe action
    • BATT_FS_CRT_ACT: Critical battery failsafe action
    • BATT_ARM_VOLT: Required arming voltage
    • BATT_ARM_MAH: Required arming remaining capacity
    • BATT_BUS: Battery monitor I2C bus number
  • BRD_ Parameters
    • BRD_PWM_COUNT: Auxiliary pin config
    • BRD_SER1_RTSCTS: Serial 1 flow control
    • BRD_SER2_RTSCTS: Serial 2 flow control
    • BRD_SER3_RTSCTS: Serial 3 flow control
    • BRD_SER4_RTSCTS: Serial 4 flow control
    • BRD_SER5_RTSCTS: Serial 5 flow control
    • BRD_SAFETYENABLE: Enable use of safety arming switch
    • BRD_SBUS_OUT: SBUS output rate
    • BRD_SERIAL_NUM: User-defined serial number
    • BRD_SAFETY_MASK: Outputs which ignore the safety switch state
    • BRD_IMU_TARGTEMP: Target IMU temperature
    • BRD_TYPE: Board type
    • BRD_IO_ENABLE: Enable IO co-processor
    • BRD_SAFETYOPTION: Options for safety button behavior
    • BRD_VBUS_MIN: Autopilot board voltage requirement
    • BRD_VSERVO_MIN: Servo voltage requirement
    • BRD_SD_SLOWDOWN: microSD slowdown
    • BRD_PWM_VOLT_SEL: Set PWM Out Voltage
    • BRD_OPTIONS: Board options
    • BRD_BOOT_DELAY: Boot delay
    • BRD_IMUHEAT_P: IMU Heater P gain
    • BRD_IMUHEAT_I: IMU Heater I gain
    • BRD_IMUHEAT_IMAX: IMU Heater IMAX
    • BRD_ALT_CONFIG: Alternative HW config
  • BRD_RADIO Parameters
    • BRD_RADIO_TYPE: Set type of direct attached radio
    • BRD_RADIO_PROT: protocol
    • BRD_RADIO_DEBUG: debug level
    • BRD_RADIO_DISCRC: disable receive CRC
    • BRD_RADIO_SIGCH: RSSI signal strength
    • BRD_RADIO_PPSCH: Packet rate channel
    • BRD_RADIO_TELEM: Enable telemetry
    • BRD_RADIO_TXPOW: Telemetry Transmit power
    • BRD_RADIO_FCCTST: Put radio into FCC test mode
    • BRD_RADIO_STKMD: Stick input mode
    • BRD_RADIO_TESTCH: Set radio to factory test channel
    • BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter
    • BRD_RADIO_TPPSCH: Telemetry PPS channel
    • BRD_RADIO_TXMAX: Transmitter transmit power
    • BRD_RADIO_BZOFS: Transmitter buzzer adjustment
    • BRD_RADIO_ABTIME: Auto-bind time
    • BRD_RADIO_ABLVL: Auto-bind level
  • BRD_RTC Parameters
    • BRD_RTC_TYPES: Allowed sources of RTC time
    • BRD_RTC_TZ_MIN: Timezone offset from UTC
  • CAM_RC_ Parameters
    • CAM_RC_TYPE: RunCam device type
    • CAM_RC_FEATURES: RunCam features available
    • CAM_RC_BT_DELAY: RunCam boot delay before allowing updates
    • CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses
    • CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses
    • CAM_RC_CONTROL: RunCam control option
  • CAN_ Parameters
    • CAN_LOGLEVEL: Loglevel
  • CAN_D1_ Parameters
    • CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver
  • CAN_D1_KDE_ Parameters
    • CAN_D1_KDE_NPOLE: Number of motor poles
  • CAN_D1_PC_ Parameters
    • CAN_D1_PC_ESC_BM: ESC channels
    • CAN_D1_PC_ESC_RT: ESC output rate
  • CAN_D1_TST_ Parameters
    • CAN_D1_TST_ID: CAN Test Index
    • CAN_D1_TST_LPR8: CANTester LoopRate
  • CAN_D1_UC_ Parameters
    • CAN_D1_UC_NODE: UAVCAN node that is used for this network
    • CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
    • CAN_D1_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
    • CAN_D1_UC_SRV_RT: Servo output rate
  • CAN_D2_ Parameters
    • CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver
  • CAN_D2_KDE_ Parameters
    • CAN_D2_KDE_NPOLE: Number of motor poles
  • CAN_D2_PC_ Parameters
    • CAN_D2_PC_ESC_BM: ESC channels
    • CAN_D2_PC_ESC_RT: ESC output rate
  • CAN_D2_TST_ Parameters
    • CAN_D2_TST_ID: CAN Test Index
    • CAN_D2_TST_LPR8: CANTester LoopRate
  • CAN_D2_UC_ Parameters
    • CAN_D2_UC_NODE: UAVCAN node that is used for this network
    • CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
    • CAN_D2_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
    • CAN_D2_UC_SRV_RT: Servo output rate
  • CAN_D3_ Parameters
    • CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver
  • CAN_D3_KDE_ Parameters
    • CAN_D3_KDE_NPOLE: Number of motor poles
  • CAN_D3_PC_ Parameters
    • CAN_D3_PC_ESC_BM: ESC channels
    • CAN_D3_PC_ESC_RT: ESC output rate
  • CAN_D3_TST_ Parameters
    • CAN_D3_TST_ID: CAN Test Index
    • CAN_D3_TST_LPR8: CANTester LoopRate
  • CAN_D3_UC_ Parameters
    • CAN_D3_UC_NODE: UAVCAN node that is used for this network
    • CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN
    • CAN_D3_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN
    • CAN_D3_UC_SRV_RT: Servo output rate
  • CAN_P1_ Parameters
    • CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface
    • CAN_P1_BITRATE: Bitrate of CAN interface
  • CAN_P2_ Parameters
    • CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface
    • CAN_P2_BITRATE: Bitrate of CAN interface
  • CAN_P3_ Parameters
    • CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface
    • CAN_P3_BITRATE: Bitrate of CAN interface
  • CAN_SLCAN_ Parameters
    • CAN_SLCAN_CPORT: SLCAN Route
    • CAN_SLCAN_SERNUM: SLCAN Serial Port
    • CAN_SLCAN_TIMOUT: SLCAN Timeout
    • CAN_SLCAN_SDELAY: SLCAN Start Delay
  • COMPASS_ Parameters
    • COMPASS_OFS_X: Compass offsets in milligauss on the X axis
    • COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis
    • COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis
    • COMPASS_DEC: Compass declination
    • COMPASS_LEARN: Learn compass offsets automatically
    • COMPASS_USE: Use compass for yaw
    • COMPASS_AUTODEC: Auto Declination
    • COMPASS_MOTCT: Motor interference compensation type
    • COMPASS_MOT_X: Motor interference compensation for body frame X axis
    • COMPASS_MOT_Y: Motor interference compensation for body frame Y axis
    • COMPASS_MOT_Z: Motor interference compensation for body frame Z axis
    • COMPASS_ORIENT: Compass orientation
    • COMPASS_EXTERNAL: Compass is attached via an external cable
    • COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis
    • COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis
    • COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis
    • COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis
    • COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis
    • COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis
    • COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis
    • COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis
    • COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis
    • COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis
    • COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis
    • COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis
    • COMPASS_DEV_ID: Compass device id
    • COMPASS_DEV_ID2: Compass2 device id
    • COMPASS_DEV_ID3: Compass3 device id
    • COMPASS_USE2: Compass2 used for yaw
    • COMPASS_ORIENT2: Compass2 orientation
    • COMPASS_EXTERN2: Compass2 is attached via an external cable
    • COMPASS_USE3: Compass3 used for yaw
    • COMPASS_ORIENT3: Compass3 orientation
    • COMPASS_EXTERN3: Compass3 is attached via an external cable
    • COMPASS_DIA_X: Compass soft-iron diagonal X component
    • COMPASS_DIA_Y: Compass soft-iron diagonal Y component
    • COMPASS_DIA_Z: Compass soft-iron diagonal Z component
    • COMPASS_ODI_X: Compass soft-iron off-diagonal X component
    • COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component
    • COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component
    • COMPASS_DIA2_X: Compass2 soft-iron diagonal X component
    • COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component
    • COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component
    • COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component
    • COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component
    • COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component
    • COMPASS_DIA3_X: Compass3 soft-iron diagonal X component
    • COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component
    • COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component
    • COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component
    • COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component
    • COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component
    • COMPASS_CAL_FIT: Compass calibration fitness
    • COMPASS_OFFS_MAX: Compass maximum offset
    • COMPASS_TYPEMASK: Compass disable driver type mask
    • COMPASS_FLTR_RNG: Range in which sample is accepted
    • COMPASS_AUTO_ROT: Automatically check orientation
    • COMPASS_PRIO1_ID: Compass device id with 1st order priority
    • COMPASS_PRIO2_ID: Compass device id with 2nd order priority
    • COMPASS_PRIO3_ID: Compass device id with 3rd order priority
    • COMPASS_ENABLE: Enable Compass
    • COMPASS_SCALE: Compass1 scale factor
    • COMPASS_SCALE2: Compass2 scale factor
    • COMPASS_SCALE3: Compass3 scale factor
    • COMPASS_OPTIONS: Compass options
    • COMPASS_DEV_ID4: Compass4 device id
    • COMPASS_DEV_ID5: Compass5 device id
    • COMPASS_DEV_ID6: Compass6 device id
    • COMPASS_DEV_ID7: Compass7 device id
    • COMPASS_DEV_ID8: Compass8 device id
    • COMPASS_CUS_ROLL: Custom orientation roll offset
    • COMPASS_CUS_PIT: Custom orientation pitch offset
    • COMPASS_CUS_YAW: Custom orientation yaw offset
  • COMPASS_PMOT Parameters
    • COMPASS_PMOT_EN: per-motor compass correction enable
    • COMPASS_PMOT_EXP: per-motor exponential correction
    • COMPASS_PMOT1_X: Compass per-motor1 X
    • COMPASS_PMOT1_Y: Compass per-motor1 Y
    • COMPASS_PMOT1_Z: Compass per-motor1 Z
    • COMPASS_PMOT2_X: Compass per-motor2 X
    • COMPASS_PMOT2_Y: Compass per-motor2 Y
    • COMPASS_PMOT2_Z: Compass per-motor2 Z
    • COMPASS_PMOT3_X: Compass per-motor3 X
    • COMPASS_PMOT3_Y: Compass per-motor3 Y
    • COMPASS_PMOT3_Z: Compass per-motor3 Z
    • COMPASS_PMOT4_X: Compass per-motor4 X
    • COMPASS_PMOT4_Y: Compass per-motor4 Y
    • COMPASS_PMOT4_Z: Compass per-motor4 Z
  • FFT_ Parameters
    • FFT_ENABLE: Enable
    • FFT_MINHZ: Minimum Frequency
    • FFT_MAXHZ: Maximum Frequency
    • FFT_SAMPLE_MODE: Sample Mode
    • FFT_WINDOW_SIZE: FFT window size
    • FFT_WINDOW_OLAP: FFT window overlap
    • FFT_FREQ_HOVER: FFT learned hover frequency
    • FFT_THR_REF: FFT learned thrust reference
    • FFT_SNR_REF: FFT SNR reference threshold
    • FFT_ATT_REF: FFT attenuation for bandwidth calculation
    • FFT_BW_HOVER: FFT learned bandwidth at hover
    • FFT_HMNC_FIT: FFT harmonic fit frequency threshold
    • FFT_HMNC_PEAK: FFT harmonic peak target
  • GND_ Parameters
    • GND_ABS_PRESS: Absolute Pressure
    • GND_TEMP: ground temperature
    • GND_ALT_OFFSET: altitude offset
    • GND_PRIMARY: Primary barometer
    • GND_EXT_BUS: External baro bus
    • GND_SPEC_GRAV: Specific Gravity (For water depth measurement)
    • GND_ABS_PRESS2: Absolute Pressure
    • GND_ABS_PRESS3: Absolute Pressure
    • GND_FLTR_RNG: Range in which sample is accepted
    • GND_PROBE_EXT: External barometers to probe
    • GND_BARO_ID: Baro ID
    • GND_BARO2_ID: Baro ID2
    • GND_BARO3_ID: Baro ID3
  • GPS_ Parameters
    • GPS_TYPE: GPS type
    • GPS_TYPE2: 2nd GPS type
    • GPS_NAVFILTER: Navigation filter setting
    • GPS_AUTO_SWITCH: Automatic Switchover Setting
    • GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS
    • GPS_SBAS_MODE: SBAS Mode
    • GPS_MIN_ELEV: Minimum elevation
    • GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets
    • GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask
    • GPS_RAW_DATA: Raw data logging
    • GPS_GNSS_MODE: GNSS system configuration
    • GPS_SAVE_CFG: Save GPS configuration
    • GPS_GNSS_MODE2: GNSS system configuration
    • GPS_AUTO_CONFIG: Automatic GPS configuration
    • GPS_RATE_MS: GPS update rate in milliseconds
    • GPS_RATE_MS2: GPS 2 update rate in milliseconds
    • GPS_POS1_X: Antenna X position offset
    • GPS_POS1_Y: Antenna Y position offset
    • GPS_POS1_Z: Antenna Z position offset
    • GPS_POS2_X: Antenna X position offset
    • GPS_POS2_Y: Antenna Y position offset
    • GPS_POS2_Z: Antenna Z position offset
    • GPS_DELAY_MS: GPS delay in milliseconds
    • GPS_DELAY_MS2: GPS 2 delay in milliseconds
    • GPS_BLEND_MASK: Multi GPS Blending Mask
    • GPS_BLEND_TC: Blending time constant
    • GPS_DRV_OPTIONS: driver options
    • GPS_COM_PORT: GPS physical COM port
    • GPS_COM_PORT2: GPS physical COM port
  • INS_ Parameters
    • INS_GYROFFS_X: Gyro offsets of X axis
    • INS_GYROFFS_Y: Gyro offsets of Y axis
    • INS_GYROFFS_Z: Gyro offsets of Z axis
    • INS_GYR2OFFS_X: Gyro2 offsets of X axis
    • INS_GYR2OFFS_Y: Gyro2 offsets of Y axis
    • INS_GYR2OFFS_Z: Gyro2 offsets of Z axis
    • INS_GYR3OFFS_X: Gyro3 offsets of X axis
    • INS_GYR3OFFS_Y: Gyro3 offsets of Y axis
    • INS_GYR3OFFS_Z: Gyro3 offsets of Z axis
    • INS_ACCSCAL_X: Accelerometer scaling of X axis
    • INS_ACCSCAL_Y: Accelerometer scaling of Y axis
    • INS_ACCSCAL_Z: Accelerometer scaling of Z axis
    • INS_ACCOFFS_X: Accelerometer offsets of X axis
    • INS_ACCOFFS_Y: Accelerometer offsets of Y axis
    • INS_ACCOFFS_Z: Accelerometer offsets of Z axis
    • INS_ACC2SCAL_X: Accelerometer2 scaling of X axis
    • INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis
    • INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis
    • INS_ACC2OFFS_X: Accelerometer2 offsets of X axis
    • INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis
    • INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis
    • INS_ACC3SCAL_X: Accelerometer3 scaling of X axis
    • INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis
    • INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis
    • INS_ACC3OFFS_X: Accelerometer3 offsets of X axis
    • INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis
    • INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis
    • INS_GYRO_FILTER: Gyro filter cutoff frequency
    • INS_ACCEL_FILTER: Accel filter cutoff frequency
    • INS_USE: Use first IMU for attitude, velocity and position estimates
    • INS_USE2: Use second IMU for attitude, velocity and position estimates
    • INS_USE3: Use third IMU for attitude, velocity and position estimates
    • INS_STILL_THRESH: Stillness threshold for detecting if we are moving
    • INS_GYR_CAL: Gyro Calibration scheme
    • INS_TRIM_OPTION: Accel cal trim option
    • INS_ACC_BODYFIX: Body-fixed accelerometer
    • INS_POS1_X: IMU accelerometer X position
    • INS_POS1_Y: IMU accelerometer Y position
    • INS_POS1_Z: IMU accelerometer Z position
    • INS_POS2_X: IMU accelerometer X position
    • INS_POS2_Y: IMU accelerometer Y position
    • INS_POS2_Z: IMU accelerometer Z position
    • INS_POS3_X: IMU accelerometer X position
    • INS_POS3_Y: IMU accelerometer Y position
    • INS_POS3_Z: IMU accelerometer Z position
    • INS_GYR_ID: Gyro ID
    • INS_GYR2_ID: Gyro2 ID
    • INS_GYR3_ID: Gyro3 ID
    • INS_ACC_ID: Accelerometer ID
    • INS_ACC2_ID: Accelerometer2 ID
    • INS_ACC3_ID: Accelerometer3 ID
    • INS_FAST_SAMPLE: Fast sampling mask
    • INS_ENABLE_MASK: IMU enable mask
    • INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled
  • INS_HNTCH_ Parameters
    • INS_HNTCH_ENABLE: Harmonic Notch Filter enable
    • INS_HNTCH_FREQ: Harmonic Notch Filter base frequency
    • INS_HNTCH_BW: Harmonic Notch Filter bandwidth
    • INS_HNTCH_ATT: Harmonic Notch Filter attenuation
    • INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics
    • INS_HNTCH_REF: Harmonic Notch Filter reference value
    • INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode
    • INS_HNTCH_OPTS: Harmonic Notch Filter options
  • INS_LOG_ Parameters
    • INS_LOG_BAT_CNT: sample count per batch
    • INS_LOG_BAT_MASK: Sensor Bitmask
    • INS_LOG_BAT_OPT: Batch Logging Options Mask
    • INS_LOG_BAT_LGIN: logging interval
    • INS_LOG_BAT_LGCT: logging count
  • INS_NOTCH_ Parameters
    • INS_NOTCH_ENABLE: Enable
    • INS_NOTCH_ATT: Attenuation
    • INS_NOTCH_FREQ: Frequency
    • INS_NOTCH_BW: Bandwidth
  • LOG Parameters
    • LOG_BACKEND_TYPE: AP_Logger Backend Storage type
    • LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes)
    • LOG_DISARMED: Enable logging while disarmed
    • LOG_REPLAY: Enable logging of information needed for Replay
    • LOG_FILE_DSRMROT: Stop logging to current file on disarm
    • LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size
    • LOG_FILE_TIMEOUT: Timeout before giving up on file writes
    • LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space
  • MSP Parameters
    • MSP_OSD_NCELLS: Cell count override
    • MSP_OPTIONS: MSP OSD Options
  • NTF_ Parameters
    • NTF_LED_BRIGHT: LED Brightness
    • NTF_BUZZ_ENABLE: Buzzer enable
    • NTF_LED_OVERRIDE: Specifies colour source for the RGBLed
    • NTF_DISPLAY_TYPE: Type of on-board I2C display
    • NTF_OREO_THEME: OreoLED Theme
    • NTF_BUZZ_PIN: Buzzer pin
    • NTF_LED_TYPES: LED Driver Types
    • NTF_BUZZ_ON_LVL: Buzzer-on pin logic level
    • NTF_BUZZ_VOLUME: Buzzer volume
    • NTF_LED_LEN: Serial LED String Length
  • RC Parameters
    • RC_OVERRIDE_TIME: RC override timeout
    • RC_OPTIONS: RC options
    • RC_PROTOCOLS: RC protocols enabled
  • RC10_ Parameters
    • RC10_MIN: RC min PWM
    • RC10_TRIM: RC trim PWM
    • RC10_MAX: RC max PWM
    • RC10_REVERSED: RC reversed
    • RC10_DZ: RC dead-zone
    • RC10_OPTION: RC input option
  • RC11_ Parameters
    • RC11_MIN: RC min PWM
    • RC11_TRIM: RC trim PWM
    • RC11_MAX: RC max PWM
    • RC11_REVERSED: RC reversed
    • RC11_DZ: RC dead-zone
    • RC11_OPTION: RC input option
  • RC12_ Parameters
    • RC12_MIN: RC min PWM
    • RC12_TRIM: RC trim PWM
    • RC12_MAX: RC max PWM
    • RC12_REVERSED: RC reversed
    • RC12_DZ: RC dead-zone
    • RC12_OPTION: RC input option
  • RC13_ Parameters
    • RC13_MIN: RC min PWM
    • RC13_TRIM: RC trim PWM
    • RC13_MAX: RC max PWM
    • RC13_REVERSED: RC reversed
    • RC13_DZ: RC dead-zone
    • RC13_OPTION: RC input option
  • RC14_ Parameters
    • RC14_MIN: RC min PWM
    • RC14_TRIM: RC trim PWM
    • RC14_MAX: RC max PWM
    • RC14_REVERSED: RC reversed
    • RC14_DZ: RC dead-zone
    • RC14_OPTION: RC input option
  • RC15_ Parameters
    • RC15_MIN: RC min PWM
    • RC15_TRIM: RC trim PWM
    • RC15_MAX: RC max PWM
    • RC15_REVERSED: RC reversed
    • RC15_DZ: RC dead-zone
    • RC15_OPTION: RC input option
  • RC16_ Parameters
    • RC16_MIN: RC min PWM
    • RC16_TRIM: RC trim PWM
    • RC16_MAX: RC max PWM
    • RC16_REVERSED: RC reversed
    • RC16_DZ: RC dead-zone
    • RC16_OPTION: RC input option
  • RC1_ Parameters
    • RC1_MIN: RC min PWM
    • RC1_TRIM: RC trim PWM
    • RC1_MAX: RC max PWM
    • RC1_REVERSED: RC reversed
    • RC1_DZ: RC dead-zone
    • RC1_OPTION: RC input option
  • RC2_ Parameters
    • RC2_MIN: RC min PWM
    • RC2_TRIM: RC trim PWM
    • RC2_MAX: RC max PWM
    • RC2_REVERSED: RC reversed
    • RC2_DZ: RC dead-zone
    • RC2_OPTION: RC input option
  • RC3_ Parameters
    • RC3_MIN: RC min PWM
    • RC3_TRIM: RC trim PWM
    • RC3_MAX: RC max PWM
    • RC3_REVERSED: RC reversed
    • RC3_DZ: RC dead-zone
    • RC3_OPTION: RC input option
  • RC4_ Parameters
    • RC4_MIN: RC min PWM
    • RC4_TRIM: RC trim PWM
    • RC4_MAX: RC max PWM
    • RC4_REVERSED: RC reversed
    • RC4_DZ: RC dead-zone
    • RC4_OPTION: RC input option
  • RC5_ Parameters
    • RC5_MIN: RC min PWM
    • RC5_TRIM: RC trim PWM
    • RC5_MAX: RC max PWM
    • RC5_REVERSED: RC reversed
    • RC5_DZ: RC dead-zone
    • RC5_OPTION: RC input option
  • RC6_ Parameters
    • RC6_MIN: RC min PWM
    • RC6_TRIM: RC trim PWM
    • RC6_MAX: RC max PWM
    • RC6_REVERSED: RC reversed
    • RC6_DZ: RC dead-zone
    • RC6_OPTION: RC input option
  • RC7_ Parameters
    • RC7_MIN: RC min PWM
    • RC7_TRIM: RC trim PWM
    • RC7_MAX: RC max PWM
    • RC7_REVERSED: RC reversed
    • RC7_DZ: RC dead-zone
    • RC7_OPTION: RC input option
  • RC8_ Parameters
    • RC8_MIN: RC min PWM
    • RC8_TRIM: RC trim PWM
    • RC8_MAX: RC max PWM
    • RC8_REVERSED: RC reversed
    • RC8_DZ: RC dead-zone
    • RC8_OPTION: RC input option
  • RC9_ Parameters
    • RC9_MIN: RC min PWM
    • RC9_TRIM: RC trim PWM
    • RC9_MAX: RC max PWM
    • RC9_REVERSED: RC reversed
    • RC9_DZ: RC dead-zone
    • RC9_OPTION: RC input option
  • SCHED_ Parameters
    • SCHED_DEBUG: Scheduler debug level
    • SCHED_LOOP_RATE: Scheduling main loop rate
    • SCHED_OPTIONS: Scheduling options
  • SCR_ Parameters
    • SCR_ENABLE: Enable Scripting
    • SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count
    • SCR_HEAP_SIZE: Scripting Heap Size
    • SCR_DEBUG_LVL: Scripting Debug Level
    • SCR_USER1: Scripting User Parameter1
    • SCR_USER2: Scripting User Parameter2
    • SCR_USER3: Scripting User Parameter3
    • SCR_USER4: Scripting User Parameter4
  • SERIAL Parameters
    • SERIAL0_BAUD: Serial0 baud rate
    • SERIAL0_PROTOCOL: Console protocol selection
    • SERIAL1_PROTOCOL: Telem1 protocol selection
    • SERIAL1_BAUD: Telem1 Baud Rate
    • SERIAL2_PROTOCOL: Telemetry 2 protocol selection
    • SERIAL2_BAUD: Telemetry 2 Baud Rate
    • SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection
    • SERIAL3_BAUD: Serial 3 (GPS) Baud Rate
    • SERIAL4_PROTOCOL: Serial4 protocol selection
    • SERIAL4_BAUD: Serial 4 Baud Rate
    • SERIAL5_PROTOCOL: Serial5 protocol selection
    • SERIAL5_BAUD: Serial 5 Baud Rate
    • SERIAL6_PROTOCOL: Serial6 protocol selection
    • SERIAL6_BAUD: Serial 6 Baud Rate
    • SERIAL1_OPTIONS: Telem1 options
    • SERIAL2_OPTIONS: Telem2 options
    • SERIAL3_OPTIONS: Serial3 options
    • SERIAL4_OPTIONS: Serial4 options
    • SERIAL5_OPTIONS: Serial5 options
    • SERIAL6_OPTIONS: Serial6 options
    • SERIAL_PASS1: Serial passthru first port
    • SERIAL_PASS2: Serial passthru second port
    • SERIAL_PASSTIMO: Serial passthru timeout
    • SERIAL7_PROTOCOL: Serial7 protocol selection
    • SERIAL7_BAUD: Serial 7 Baud Rate
    • SERIAL7_OPTIONS: Serial7 options
  • SERVO Parameters
    • SERVO_RATE: Servo default output rate
  • SERVO10_ Parameters
    • SERVO10_MIN: Minimum PWM
    • SERVO10_MAX: Maximum PWM
    • SERVO10_TRIM: Trim PWM
    • SERVO10_REVERSED: Servo reverse
    • SERVO10_FUNCTION: Servo output function
  • SERVO11_ Parameters
    • SERVO11_MIN: Minimum PWM
    • SERVO11_MAX: Maximum PWM
    • SERVO11_TRIM: Trim PWM
    • SERVO11_REVERSED: Servo reverse
    • SERVO11_FUNCTION: Servo output function
  • SERVO12_ Parameters
    • SERVO12_MIN: Minimum PWM
    • SERVO12_MAX: Maximum PWM
    • SERVO12_TRIM: Trim PWM
    • SERVO12_REVERSED: Servo reverse
    • SERVO12_FUNCTION: Servo output function
  • SERVO13_ Parameters
    • SERVO13_MIN: Minimum PWM
    • SERVO13_MAX: Maximum PWM
    • SERVO13_TRIM: Trim PWM
    • SERVO13_REVERSED: Servo reverse
    • SERVO13_FUNCTION: Servo output function
  • SERVO14_ Parameters
    • SERVO14_MIN: Minimum PWM
    • SERVO14_MAX: Maximum PWM
    • SERVO14_TRIM: Trim PWM
    • SERVO14_REVERSED: Servo reverse
    • SERVO14_FUNCTION: Servo output function
  • SERVO15_ Parameters
    • SERVO15_MIN: Minimum PWM
    • SERVO15_MAX: Maximum PWM
    • SERVO15_TRIM: Trim PWM
    • SERVO15_REVERSED: Servo reverse
    • SERVO15_FUNCTION: Servo output function
  • SERVO16_ Parameters
    • SERVO16_MIN: Minimum PWM
    • SERVO16_MAX: Maximum PWM
    • SERVO16_TRIM: Trim PWM
    • SERVO16_REVERSED: Servo reverse
    • SERVO16_FUNCTION: Servo output function
  • SERVO1_ Parameters
    • SERVO1_MIN: Minimum PWM
    • SERVO1_MAX: Maximum PWM
    • SERVO1_TRIM: Trim PWM
    • SERVO1_REVERSED: Servo reverse
    • SERVO1_FUNCTION: Servo output function
  • SERVO2_ Parameters
    • SERVO2_MIN: Minimum PWM
    • SERVO2_MAX: Maximum PWM
    • SERVO2_TRIM: Trim PWM
    • SERVO2_REVERSED: Servo reverse
    • SERVO2_FUNCTION: Servo output function
  • SERVO3_ Parameters
    • SERVO3_MIN: Minimum PWM
    • SERVO3_MAX: Maximum PWM
    • SERVO3_TRIM: Trim PWM
    • SERVO3_REVERSED: Servo reverse
    • SERVO3_FUNCTION: Servo output function
  • SERVO4_ Parameters
    • SERVO4_MIN: Minimum PWM
    • SERVO4_MAX: Maximum PWM
    • SERVO4_TRIM: Trim PWM
    • SERVO4_REVERSED: Servo reverse
    • SERVO4_FUNCTION: Servo output function
  • SERVO5_ Parameters
    • SERVO5_MIN: Minimum PWM
    • SERVO5_MAX: Maximum PWM
    • SERVO5_TRIM: Trim PWM
    • SERVO5_REVERSED: Servo reverse
    • SERVO5_FUNCTION: Servo output function
  • SERVO6_ Parameters
    • SERVO6_MIN: Minimum PWM
    • SERVO6_MAX: Maximum PWM
    • SERVO6_TRIM: Trim PWM
    • SERVO6_REVERSED: Servo reverse
    • SERVO6_FUNCTION: Servo output function
  • SERVO7_ Parameters
    • SERVO7_MIN: Minimum PWM
    • SERVO7_MAX: Maximum PWM
    • SERVO7_TRIM: Trim PWM
    • SERVO7_REVERSED: Servo reverse
    • SERVO7_FUNCTION: Servo output function
  • SERVO8_ Parameters
    • SERVO8_MIN: Minimum PWM
    • SERVO8_MAX: Maximum PWM
    • SERVO8_TRIM: Trim PWM
    • SERVO8_REVERSED: Servo reverse
    • SERVO8_FUNCTION: Servo output function
  • SERVO9_ Parameters
    • SERVO9_MIN: Minimum PWM
    • SERVO9_MAX: Maximum PWM
    • SERVO9_TRIM: Trim PWM
    • SERVO9_REVERSED: Servo reverse
    • SERVO9_FUNCTION: Servo output function
  • SERVO_BLH_ Parameters
    • SERVO_BLH_MASK: BLHeli Channel Bitmask
    • SERVO_BLH_AUTO: BLHeli auto-enable for multicopter motors
    • SERVO_BLH_TEST: BLHeli internal interface test
    • SERVO_BLH_TMOUT: BLHeli protocol timeout
    • SERVO_BLH_TRATE: BLHeli telemetry rate
    • SERVO_BLH_DEBUG: BLHeli debug level
    • SERVO_BLH_OTYPE: BLHeli output type override
    • SERVO_BLH_PORT: Control port
    • SERVO_BLH_POLES: BLHeli Motor Poles
    • SERVO_BLH_REMASK: BLHeli bitmask of reversible channels
  • SERVO_ROB_ Parameters
    • SERVO_ROB_POSMIN: Robotis servo position min
    • SERVO_ROB_POSMAX: Robotis servo position max
  • SERVO_SBUS_ Parameters
    • SERVO_SBUS_RATE: SBUS default output rate
  • SERVO_VOLZ_ Parameters
    • SERVO_VOLZ_MASK: Channel Bitmask
  • SIM_GRPE_ Parameters
    • SIM_GRPE_ENABLE: Gripper servo Sim enable/disable
    • SIM_GRPE_PIN: Gripper emp pin
  • SIM_GRPS_ Parameters
    • SIM_GRPS_ENABLE: Gripper servo Sim enable/disable
    • SIM_GRPS_PIN: Gripper servo pin
    • SIM_GRPS_GRAB: Gripper Grab PWM
    • SIM_GRPS_RELEASE: Gripper Release PWM
    • SIM_GRPS_REVERSE: Gripper close direction
  • SIM_PLD_ Parameters
    • SIM_PLD_ENABLE: Preland device Sim enable/disable
    • SIM_PLD_LAT: Precland device origin’s latitude
    • SIM_PLD_LON: Precland device origin’s longitude
    • SIM_PLD_HEIGHT: Precland device origin’s height above sealevel
    • SIM_PLD_YAW: Precland device systems rotation from north
    • SIM_PLD_RATE: Precland device update rate
    • SIM_PLD_TYPE: Precland device radiance type
    • SIM_PLD_ALT_LIMIT: Precland device alt range
    • SIM_PLD_DIST_LIMIT: Precland device lateral range
  • SIM_SPR_ Parameters
    • SIM_SPR_ENABLE: Sprayer Sim enable/disable
    • SIM_SPR_PUMP: Sprayer pump pin
    • SIM_SPR_SPIN: Sprayer spinner servo pin
  • SR0_ Parameters
    • SR0_RAW_SENS: Raw sensor stream rate
    • SR0_EXT_STAT: Extended status stream rate to ground station
    • SR0_RC_CHAN: RC Channel stream rate to ground station
    • SR0_RAW_CTRL: Raw Control stream rate to ground station
    • SR0_POSITION: Position stream rate to ground station
    • SR0_EXTRA1: Extra data type 1 stream rate to ground station
    • SR0_EXTRA2: Extra data type 2 stream rate to ground station
    • SR0_EXTRA3: Extra data type 3 stream rate to ground station
    • SR0_PARAMS: Parameter stream rate to ground station
  • SR1_ Parameters
    • SR1_RAW_SENS: Raw sensor stream rate
    • SR1_EXT_STAT: Extended status stream rate to ground station
    • SR1_RC_CHAN: RC Channel stream rate to ground station
    • SR1_RAW_CTRL: Raw Control stream rate to ground station
    • SR1_POSITION: Position stream rate to ground station
    • SR1_EXTRA1: Extra data type 1 stream rate to ground station
    • SR1_EXTRA2: Extra data type 2 stream rate to ground station
    • SR1_EXTRA3: Extra data type 3 stream rate to ground station
    • SR1_PARAMS: Parameter stream rate to ground station
  • SR2_ Parameters
    • SR2_RAW_SENS: Raw sensor stream rate
    • SR2_EXT_STAT: Extended status stream rate to ground station
    • SR2_RC_CHAN: RC Channel stream rate to ground station
    • SR2_RAW_CTRL: Raw Control stream rate to ground station
    • SR2_POSITION: Position stream rate to ground station
    • SR2_EXTRA1: Extra data type 1 stream rate to ground station
    • SR2_EXTRA2: Extra data type 2 stream rate to ground station
    • SR2_EXTRA3: Extra data type 3 stream rate to ground station
    • SR2_PARAMS: Parameter stream rate to ground station
  • SR3_ Parameters
    • SR3_RAW_SENS: Raw sensor stream rate
    • SR3_EXT_STAT: Extended status stream rate to ground station
    • SR3_RC_CHAN: RC Channel stream rate to ground station
    • SR3_RAW_CTRL: Raw Control stream rate to ground station
    • SR3_POSITION: Position stream rate to ground station
    • SR3_EXTRA1: Extra data type 1 stream rate to ground station
    • SR3_EXTRA2: Extra data type 2 stream rate to ground station
    • SR3_EXTRA3: Extra data type 3 stream rate to ground station
    • SR3_PARAMS: Parameter stream rate to ground station
  • STAT Parameters
    • STAT_BOOTCNT: Boot Count
    • STAT_FLTTIME: Total FlightTime
    • STAT_RUNTIME: Total RunTime
    • STAT_RESET: Statistics Reset Time
  • VISO Parameters
    • VISO_TYPE: Visual odometry camera connection type
    • VISO_POS_X: Visual odometry camera X position offset
    • VISO_POS_Y: Visual odometry camera Y position offset
    • VISO_POS_Z: Visual odometry camera Z position offset
    • VISO_ORIENT: Visual odometery camera orientation
    • VISO_SCALE: Visual odometry scaling factor
    • VISO_DELAY_MS: Visual odometry sensor delay
    • VISO_VEL_M_NSE: Visual odometry velocity measurement noise
    • VISO_POS_M_NSE: Visual odometry position measurement noise
    • VISO_YAW_M_NSE: Visual odometry yaw measurement noise
  • VTX_ Parameters
    • VTX_ENABLE: Is the Video Transmitter enabled or not
    • VTX_POWER: Video Transmitter Power Level
    • VTX_CHANNEL: Video Transmitter Channel
    • VTX_BAND: Video Transmitter Band
    • VTX_FREQ: Video Transmitter Frequency
    • VTX_OPTIONS: Video Transmitter Options
• Connecting with GCS
  • Overview
  • Connect with a USB cable
  • Connect a 2nd pair of radios
  • Connect one more radio and use multi-point SiK radio software
  • Connect a companion computer and set-up a wifi access point
• Logs
  • Topics related to logging and analysis
    • Antenna Tracker Log Messages
      • ACC1: IMU accelerometer data
      • ACC2: IMU accelerometer data
      • ACC3: IMU accelerometer data
      • ADSB: Automatic Dependant Serveillance - Broadcast detected vehicle information
      • AHR2: Backup AHRS data
      • ARM: Arming status changes
      • AROT: Helicopter AutoRotation information
      • ARSP: Airspeed sensor data
      • ASM1: AirSim simulation data
      • ASM2: More AirSim simulation data
      • ASP2: Airspeed sensor data
      • ATDE: AutoTune data packet
      • ATT: Canonical vehicle attitude
      • BAR2: Gathered Barometer data
      • BAR3: Gathered Barometer data
      • BARO: Gathered Barometer data
      • BAT: Gathered battery data
      • BCL: Battery cell voltage information
      • BCN: Beacon informtaion
      • CAM: Camera shutter information
      • CESC: CAN ESC data
      • CMD: Executed mission command information
      • COFS: Current compass learn offsets
      • CSRV: Servo feedback data
      • CTRL: Attitude Control oscillation monitor diagnostics
      • DMS: DataFlash-Over-MAVLink statistics
      • DSF: Onboard logging statistics
      • DSTL: Deepstall Landing data
      • ECYL: EFI per-cylinder information
      • EFI: Electronic Fuel Injection system data
      • EFI2: Electronic Fuel Injection system data - redux
      • ERR: Specifically coded error messages
      • ESC: Feedback received from ESCs
      • EV: Specifically coded event messages
      • FMT: Message defining the format of messages in this file
      • FMTU: Message defining units and multipliers used for fields of other messages
      • FOLL: Follow library diagnostic data
      • FTN: Filter Tuning Messages
      • FTN1: FFT Filter Tuning
      • FTN2: FFT Noise Frequency Peak
      • GPA: GPS accuracy information
      • GPA2: GPS accuracy information
      • GPAB: Blended GPS accuracy information
      • GPS: Information received from GNSS systems attached to the autopilot
      • GPS2: Information received from GNSS systems attached to the autopilot
      • GPSB: Information blended from GNSS systems attached to the autopilot
      • GRAW: Raw uBlox data
      • GRXH: Raw uBlox data - header
      • GRXS: Raw uBlox data - space-vehicle data
      • GYR1: IMU gyroscope data
      • GYR2: IMU gyroscope data
      • GYR3: IMU gyroscope data
      • HEAT: IMU Heater data
      • ICMB: ICM20789 diagnostics
      • IMT: Inertial Measurement Unit timing data
      • IMT2: Inertial Measurement Unit timing data
      • IMT3: Inertial Measurement Unit timing data
      • IMU: Inertial Measurement Unit data
      • IMU2: Inertial Measurement Unit data
      • IMU3: Inertial Measurement Unit data
      • IOMC: IOMCU diagnostic information
      • JSN1: Log data received from JSON simulator
      • JSN2: Log data received from JSON simulator
      • LAND: Slope Landing data
      • LGR: Landing gear information
      • MAG: Information received from compasses
      • MAG2: Information received from compasses
      • MAG3: Information received from compasses
      • MAV: GCS MAVLink link statistics
      • MAVC: MAVLink command we have just executed
      • MMO: MMC3416 compass data
      • MODE: vehicle control mode information
      • MON: Main loop stuck data
      • MSG: Textual messages
      • MULT: Message mapping from single character to numeric multiplier
      • NKF0: EKF2 beacon sensor diagnostics
      • NKF1: EKF2 estimator outputs
      • NKF2: EKF2 estimator secondary outputs
      • NKF3: EKF2 innovations
      • NKF4: EKF2 variances
      • NKF5: EKF2 Sensor innovations (primary core) and general dumping ground
      • NKQ: EKF2 quaternion defining the rotation from NED to XYZ (autopilot) axes
      • NKT: EKF timing information
      • NKY0: EKF2 Yaw Estimator States
      • NKY1: EKF2 Yaw Estimator Innovations
      • OABR: Object avoidance (Bendy Ruler) diagnostics
      • OADJ: Object avoidance (Dijkstra) diagnostics
      • OF: Optical flow sensor data
      • ORGN: Vehicle navigation origin or other notable position
      • PARM: parameter value
      • PIDA: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering
      • PIDP: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering
      • PIDR: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering
      • PIDS: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering
      • PIDY: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering
      • PM: autopilot system performance and general data dumping ground
      • POS: Canonical vehicle position
      • POWR: System power information
      • PRTN: Plane Parameter Tuning data
      • PRX: Proximity sensor data
      • PSC: Position Control data
      • RAD: Telemetry radio statistics
      • RALY: Rally point information
      • RATE: Desired and achieved vehicle attitude rates
      • RCDA: Raw RC data
      • RCIN: RC input channels to vehicle
      • RCOU: Servo channel output values
      • RFND: Rangefinder sensor information
      • RPM: Data from RPM sensors
      • RSSI: Received Signal Strength Indicator for RC receiver
      • SA: Simple Avoidance messages
      • SBPH: Swift Health Data
      • SBRH: Swift Raw Message Data
      • SIM: SITL simulator state
      • SITL: Simulation data
      • SMOO: Smoothed sensor data fed to EKF to avoid inconsistencies
      • SRTL: SmartRTL statistics
      • TERR: Terrain database infomration
      • TRIG: Camera shutter information
      • TSYN: Time synchronisation response information
      • UBX1: uBlox-specific GPS information (part 1)
      • UBX2: uBlox-specific GPS information (part 2)
      • UNIT: Message mapping from single character to SI unit
      • VBAR: Information received from tracked vehicle; barometer data
      • VIBE: Processed (acceleration) vibration information
      • VISO: Visual Odometry
      • VISP: Vision Position
      • VISV: Vision Velocity
      • VPOS: Information received from tracked vehicle; barometer position data
      • WENC: Wheel encoder measurements
      • WINC: Winch
      • XKF0: EKF3 beacon sensor diagnostics
      • XKF1: EKF3 estimator outputs
      • XKF2: EKF3 estimator secondary outputs
      • XKF3: EKF3 innovations
      • XKF4: EKF3 variances
      • XKF5: EKF3 Sensor innovations (primary core) and general dumping ground
      • XKFD: EKF3 Body Frame Odometry errors
      • XKFM: EKF3 diagnostic data for on-ground-and-not-moving check
      • XKFS: EKF3 sensor selection
      • XKQ: EKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes
      • XKT: EKF timing information
      • XKV1: EKF3 State variances (primary core)
      • XKV2: more EKF3 State Variances (primary core)
      • XKY0: EKF3 Yaw Estimator States
      • XKY1: EKF2 Yaw Estimator Innovations
  • Tools for log analysis
    • MAVExplorer
    • MissionPLanner
    • QGroundControl
    • Dronee Plotter
    • UAV LogViewer
      • Initial Screen
      • Main Screen
      • Widgets
• How to Operate
  • Control Modes
• Appendix
  • Abbreviations
  • Acknowledgments
  • Advanced user tools (downloads)
    • Tools
      • Tarot Gimbal firmware
      • Copter Firmware
      • Rover Firmware
      • 3DR PPM Encoder V3 Manual
      • USB Driver for Pixhawk Boards
      • 3DR-uBlox configuration file
      • APM2 / Ublox passthrough
      • ArduCAM OSD Config (For MinimOSD’s Firmware v2.0)
      • ArduCopter APM 1.0 Firmware
      • ArduCopter APM 2.x Firmware
      • ArduPPM Encoder 3DR Manual v2.3.16.pdf
      • ArduPPM v2.3.16 ATMega32U2 firmware for APM 2.x (recommended APM2.x)
      • ArduPPM v2.3.16 ATMega328p firmware for APM1.x Copter and standalone PPM encoder.
      • ArduPPM v2.3.16 ATMega328p firmware for APM1.x Plane and standalone PPM encoder.
      • ArduPPM v2.3.16 ATMega32U2 firmware for APM 2.x
      • MediaTek GPS firmware update and utility
      • MinimOSD Firmware v2.0
      • MinimOSD Firmware v2.2 (Beta) - New Flight Modes
      • OpticalFlow test sketch / APM2
      • PX4Flow-KLT
      • USB Driver for APM 2
    • License
    • Safety
  • Commercial Support
    • How to get added to this list
  • Contact Us
    • Support
    • Development
    • Facebook
    • YouTube
    • DroneKit
  • Developer tools (downloads)
    • Tools
      • Odroid Ubuntu 14.04 hostapd
      • Arduino code to test an airspeed sensor
      • Arduino 1.0.3 with modifications required for ArduPilot (Mac OS X)
      • ArduPilot-Arduino-1.0.3-windows.zip
      • CrossTrack demo (flash version)
      • Data dump of three attitude solutions
      • Declination Lookup - Test EMM
      • mavproxybeta1.msi
      • mavproxyBetaNoNeworkTest.msi
      • Serial port test program
    • License
    • Safety
  • Donating to ArduPilot
    • Support Merchandise
  • Firmware (downloads)
    • Firmware
      • ArduCopter APM 2.x Firmware
      • ArduCopter APM 1.0 Firmware
    • Bootloader
    • APM2.x Autopilot
    • License
    • Safety
  • Glossary
  • History of ArduPilot
  • Partners
  • Partners Program
    • Why a Partners Program
    • How does my company become a partner?
    • What do I get for becoming an ArduPilot Partner?
    • How are collected funds spent?
    • I’m not a company, but I love your stuff, how can I help?
    • I want a new feature, do I have to be a partner to get it?
  • Ready-To-Use vehicles
    • Copters from Partners
    • Helicopters from Partners
    • Planes from Partners
    • Rovers from Partners
    • Subs from Partners
    • Vehicles from Non-Partners
  • Stores
  • Top Contributors
    • Collaboration with other projects
  • Wiki Editing Guide
    • Making a Quick Edit
    • Infrastructure Overview
    • Setting Up the Editing Environment
      • Fork and Clone the Wiki
      • Setup in Linux or Windows WSL
      • Setup with Vagrant
      • Build the Wiki
      • Check the Results
      • Setup with docker
      • RST rendering on Windows
      • RST rendering on Linux
    • Submitting Changes
      • How to get changes approved
    • Style Guide
      • Creating a new page
      • Working with common pages
      • Code
    • Archiving and Deleting pages
      • Deleting wiki pages
    • License
    • Translating wiki pages
    • FAQ - Why are my changes not published?
  • Project News
    • AntennaTracker 0.x.x
      • AntennaTracker 0.7.6
• Table of Contents
• User Alerts