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
    • PITCH2SRV_SMAX: Pitch slew rate limit
    • 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
    • YAW2SRV_SMAX: Yaw slew rate limit
    • 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 DCM navigation and position-down
    • 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
  • BARO Parameters
    • BARO1_GND_PRESS: Ground Pressure
    • BARO_GND_TEMP: ground temperature
    • BARO_ALT_OFFSET: altitude offset
    • BARO_PRIMARY: Primary barometer
    • BARO_EXT_BUS: External baro bus
    • BARO_SPEC_GRAV: Specific Gravity (For water depth measurement)
    • BARO2_GND_PRESS: Ground Pressure
    • BARO3_GND_PRESS: Absolute Pressure
    • BARO_FLTR_RNG: Range in which sample is accepted
    • BARO_PROBE_EXT: External barometers to probe
    • BARO1_DEVID: Baro ID
    • BARO2_DEVID: Baro ID2
    • BARO3_DEVID: Baro ID3
  • BARO1_WCF_ Parameters
    • BARO1_WCF_ENABLE: Wind coefficient enable
    • BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)
    • BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)
    • BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)
    • BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)
  • BARO2_WCF_ Parameters
    • BARO2_WCF_ENABLE: Wind coefficient enable
    • BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)
    • BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)
    • BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)
    • BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)
  • BARO3_WCF_ Parameters
    • BARO3_WCF_ENABLE: Wind coefficient enable
    • BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)
    • BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)
    • BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)
    • BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)
  • BATT2_ Parameters
    • BATT2_MONITOR: Battery monitoring
    • 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_OPTIONS: Battery monitor options
    • 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_VLT_OFFSET: Volage offset
    • BATT2_I2C_BUS: Battery monitor I2C bus number
    • BATT2_I2C_ADDR: Battery monitor I2C address
    • BATT2_SUM_MASK: Battery Sum mask
  • BATT3_ Parameters
    • BATT3_MONITOR: Battery monitoring
    • 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_OPTIONS: Battery monitor options
    • 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_VLT_OFFSET: Volage offset
    • BATT3_I2C_BUS: Battery monitor I2C bus number
    • BATT3_I2C_ADDR: Battery monitor I2C address
    • BATT3_SUM_MASK: Battery Sum mask
  • BATT4_ Parameters
    • BATT4_MONITOR: Battery monitoring
    • 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_OPTIONS: Battery monitor options
    • 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_VLT_OFFSET: Volage offset
    • BATT4_I2C_BUS: Battery monitor I2C bus number
    • BATT4_I2C_ADDR: Battery monitor I2C address
    • BATT4_SUM_MASK: Battery Sum mask
  • BATT5_ Parameters
    • BATT5_MONITOR: Battery monitoring
    • 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_OPTIONS: Battery monitor options
    • 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_VLT_OFFSET: Volage offset
    • BATT5_I2C_BUS: Battery monitor I2C bus number
    • BATT5_I2C_ADDR: Battery monitor I2C address
    • BATT5_SUM_MASK: Battery Sum mask
  • BATT6_ Parameters
    • BATT6_MONITOR: Battery monitoring
    • 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_OPTIONS: Battery monitor options
    • 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_VLT_OFFSET: Volage offset
    • BATT6_I2C_BUS: Battery monitor I2C bus number
    • BATT6_I2C_ADDR: Battery monitor I2C address
    • BATT6_SUM_MASK: Battery Sum mask
  • BATT7_ Parameters
    • BATT7_MONITOR: Battery monitoring
    • 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_OPTIONS: Battery monitor options
    • 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_VLT_OFFSET: Volage offset
    • BATT7_I2C_BUS: Battery monitor I2C bus number
    • BATT7_I2C_ADDR: Battery monitor I2C address
    • BATT7_SUM_MASK: Battery Sum mask
  • BATT8_ Parameters
    • BATT8_MONITOR: Battery monitoring
    • 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_OPTIONS: Battery monitor options
    • 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_VLT_OFFSET: Volage offset
    • BATT8_I2C_BUS: Battery monitor I2C bus number
    • BATT8_I2C_ADDR: Battery monitor I2C address
    • BATT8_SUM_MASK: Battery Sum mask
  • BATT9_ Parameters
    • BATT9_MONITOR: Battery monitoring
    • 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_OPTIONS: Battery monitor options
    • 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_VLT_OFFSET: Volage offset
    • BATT9_I2C_BUS: Battery monitor I2C bus number
    • BATT9_I2C_ADDR: Battery monitor I2C address
    • BATT9_SUM_MASK: Battery Sum mask
  • BATT_ Parameters
    • BATT_MONITOR: Battery monitoring
    • 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_OPTIONS: Battery monitor options
    • 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_VLT_OFFSET: Volage offset
    • BATT_I2C_BUS: Battery monitor I2C bus number
    • BATT_I2C_ADDR: Battery monitor I2C address
    • BATT_SUM_MASK: Battery Sum mask
  • BRD_ Parameters
    • 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_HEAT_TARG: Board heater temperature target
    • 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_HEAT_P: Board Heater P gain
    • BRD_HEAT_I: Board Heater I gain
    • BRD_HEAT_IMAX: Board Heater IMAX
    • BRD_ALT_CONFIG: Alternative HW config
    • BRD_HEAT_LOWMGN: Board heater temp lower margin
  • 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_PC_SRV_BM: Servo channels
    • CAN_D1_PC_SRV_RT: Servo command 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_D1_UC_OPTION: UAVCAN options
    • CAN_D1_UC_NTF_RT: Notify State 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_PC_SRV_BM: Servo channels
    • CAN_D2_PC_SRV_RT: Servo command 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_D2_UC_OPTION: UAVCAN options
    • CAN_D2_UC_NTF_RT: Notify State 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_PC_SRV_BM: Servo channels
    • CAN_D3_PC_SRV_RT: Servo command 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_D3_UC_OPTION: UAVCAN options
    • CAN_D3_UC_NTF_RT: Notify State 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_ENABLE: Enable Compass
    • COMPASS_OFS_X: Compass offsets in milligauss on the X axis
    • COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis
    • COMPASS_DEC: Compass declination
    • COMPASS_LEARN: Learn compass offsets automatically
    • COMPASS_AUTODEC: Auto Declination
    • COMPASSMOTCT: 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_OFS2_X: Compass2 offsets in milligauss on the X axis
    • COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y 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_OFS3_X: Compass3 offsets in milligauss on the X axis
    • COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y 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_DIA_X: Compass soft-iron diagonal X component
    • COMPASS_DIA_Y: Compass soft-iron diagonal Y component
    • COMPASS_ODI_X: Compass soft-iron off-diagonal X component
    • COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component
    • COMPASS_DIA2_X: Compass2 soft-iron diagonal X component
    • COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component
    • COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component
    • COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component
    • COMPASS_DIA3_X: Compass3 soft-iron diagonal X component
    • COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component
    • COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component
    • COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y 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_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
  • COMPASS1_ Parameters
    • COMPASS1_USE: Use compass for yaw
    • COMPASS1_ORIENT: Compass orientation
    • COMPASS1_EXTERN: Compass is attached via an external cable
    • COMPASS1_DEV_ID: Compass device id
    • COMPASS1_OFS_X: Compass offsets in milligauss on the X axis
    • COMPASS1_OFS_Y: Compass offsets in milligauss on the Y axis
    • COMPASS1_OFS_Z: Compass offsets in milligauss on the Z axis
    • COMPASS1_DIA_X: Compass soft-iron diagonal X component
    • COMPASS1_DIA_Y: Compass soft-iron diagonal Y component
    • COMPASS1_DIA_Z: Compass soft-iron diagonal Z component
    • COMPASS1_ODI_X: Compass soft-iron off-diagonal X component
    • COMPASS1_ODI_Y: Compass soft-iron off-diagonal Y component
    • COMPASS1_ODI_Z: Compass soft-iron off-diagonal Z component
    • COMPASS1_SCALE: Compass1 scale factor
    • COMPASS1_MOT_X: Motor interference compensation for body frame X axis
    • COMPASS1_MOT_Y: Motor interference compensation for body frame Y axis
    • COMPASS1_MOT_Z: Motor interference compensation for body frame Z axis
  • COMPASS2_ Parameters
    • COMPASS2_USE: Use compass for yaw
    • COMPASS2_ORIENT: Compass orientation
    • COMPASS2_EXTERN: Compass is attached via an external cable
    • COMPASS2_DEV_ID: Compass device id
    • COMPASS2_OFS_X: Compass offsets in milligauss on the X axis
    • COMPASS2_OFS_Y: Compass offsets in milligauss on the Y axis
    • COMPASS2_OFS_Z: Compass offsets in milligauss on the Z axis
    • COMPASS2_DIA_X: Compass soft-iron diagonal X component
    • COMPASS2_DIA_Y: Compass soft-iron diagonal Y component
    • COMPASS2_DIA_Z: Compass soft-iron diagonal Z component
    • COMPASS2_ODI_X: Compass soft-iron off-diagonal X component
    • COMPASS2_ODI_Y: Compass soft-iron off-diagonal Y component
    • COMPASS2_ODI_Z: Compass soft-iron off-diagonal Z component
    • COMPASS2_SCALE: Compass1 scale factor
    • COMPASS2_MOT_X: Motor interference compensation for body frame X axis
    • COMPASS2_MOT_Y: Motor interference compensation for body frame Y axis
    • COMPASS2_MOT_Z: Motor interference compensation for body frame Z axis
  • COMPASS3_ Parameters
    • COMPASS3_USE: Use compass for yaw
    • COMPASS3_ORIENT: Compass orientation
    • COMPASS3_EXTERN: Compass is attached via an external cable
    • COMPASS3_DEV_ID: Compass device id
    • COMPASS3_OFS_X: Compass offsets in milligauss on the X axis
    • COMPASS3_OFS_Y: Compass offsets in milligauss on the Y axis
    • COMPASS3_OFS_Z: Compass offsets in milligauss on the Z axis
    • COMPASS3_DIA_X: Compass soft-iron diagonal X component
    • COMPASS3_DIA_Y: Compass soft-iron diagonal Y component
    • COMPASS3_DIA_Z: Compass soft-iron diagonal Z component
    • COMPASS3_ODI_X: Compass soft-iron off-diagonal X component
    • COMPASS3_ODI_Y: Compass soft-iron off-diagonal Y component
    • COMPASS3_ODI_Z: Compass soft-iron off-diagonal Z component
    • COMPASS3_SCALE: Compass1 scale factor
    • COMPASS3_MOT_X: Motor interference compensation for body frame X axis
    • COMPASS3_MOT_Y: Motor interference compensation for body frame Y axis
    • COMPASS3_MOT_Z: Motor interference compensation for body frame Z axis
  • 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
  • EAHRS Parameters
    • EAHRS_TYPE: AHRS type
    • EAHRS_RATE: AHRS data rate
  • EFI Parameters
    • EFI_TYPE: EFI communication type
    • EFI_COEF1: EFI Calibration Coefficient 1
    • EFI_COEF2: EFI Calibration Coefficient 2
  • 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
  • FRSKY_ Parameters
    • FRSKY_UPLINK_ID: Uplink sensor id
    • FRSKY_DNLINK1_ID: First downlink sensor id
    • FRSKY_DNLINK2_ID: Second downlink sensor id
    • FRSKY_DNLINK_ID: Default downlink sensor id
    • FRSKY_OPTIONS: FRSky Telemetry Options
  • GEN_ Parameters
    • GEN_TYPE: Generator type
  • GPS Parameters
    • GPS_TYPE: 1st 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
    • GPS_PRIMARY: Primary GPS
    • GPS_CAN_NODEID1: GPS Node ID 1
    • GPS_CAN_NODEID2: GPS Node ID 2
    • GPS1_CAN_OVRIDE: First UAVCAN GPS NODE ID
    • GPS2_CAN_OVRIDE: Second UAVCAN GPS NODE ID
  • GPS_MB1_ Parameters
    • GPS_MB1_TYPE: Moving base type
    • GPS_MB1_OFS_X: Base antenna X position offset
    • GPS_MB1_OFS_Y: Base antenna Y position offset
    • GPS_MB1_OFS_Z: Base antenna Z position offset
  • GPS_MB2_ Parameters
    • GPS_MB2_TYPE: Moving base type
    • GPS_MB2_OFS_X: Base antenna X position offset
    • GPS_MB2_OFS_Y: Base antenna Y position offset
    • GPS_MB2_OFS_Z: Base antenna Z position offset
  • 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_ACC1_CALTEMP: Calibration temperature for 1st accelerometer
    • INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope
    • INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer
    • INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope
    • INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer
    • INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope
    • INS_TCAL_OPTIONS: Options for temperature calibration
  • 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
  • INS_TCAL1_ Parameters
    • INS_TCAL1_ENABLE: Enable temperature calibration
    • INS_TCAL1_TMIN: Temperature calibration min
    • INS_TCAL1_TMAX: Temperature calibration max
    • INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis
    • INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis
    • INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis
    • INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis
    • INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis
    • INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis
    • INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis
    • INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis
    • INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis
    • INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis
    • INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
    • INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
    • INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
    • INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
    • INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
    • INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
    • INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
    • INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
  • INS_TCAL2_ Parameters
    • INS_TCAL2_ENABLE: Enable temperature calibration
    • INS_TCAL2_TMIN: Temperature calibration min
    • INS_TCAL2_TMAX: Temperature calibration max
    • INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis
    • INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis
    • INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis
    • INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis
    • INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis
    • INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis
    • INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis
    • INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis
    • INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis
    • INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis
    • INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
    • INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
    • INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
    • INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
    • INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
    • INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
    • INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
    • INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
  • INS_TCAL3_ Parameters
    • INS_TCAL3_ENABLE: Enable temperature calibration
    • INS_TCAL3_TMIN: Temperature calibration min
    • INS_TCAL3_TMAX: Temperature calibration max
    • INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis
    • INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis
    • INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis
    • INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis
    • INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis
    • INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis
    • INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis
    • INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis
    • INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis
    • INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis
    • INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis
    • INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis
    • INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis
    • INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis
    • INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis
    • INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis
    • INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis
    • INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis
  • 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
    • LOG_FILE_RATEMAX: Maximum logging rate for file backend
    • LOG_MAV_RATEMAX: Maximum logging rate for mavlink backend
    • LOG_BLK_RATEMAX: Maximum logging rate for block backend
  • MSP Parameters
    • MSP_OSD_NCELLS: Cell count override
    • MSP_OPTIONS: MSP OSD Options
  • NTF_ Parameters
    • NTF_LED_BRIGHT: LED Brightness
    • NTF_BUZZ_TYPES: Buzzer Driver Types
    • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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_OPTS: Scripting Debug Level
    • SCR_USER1: Scripting User Parameter1
    • SCR_USER2: Scripting User Parameter2
    • SCR_USER3: Scripting User Parameter3
    • SCR_USER4: Scripting User Parameter4
    • SCR_DIR_DISABLE: Directory disable
  • 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
    • SERIAL8_PROTOCOL: Serial8 protocol selection
    • SERIAL8_BAUD: Serial 8 Baud Rate
    • SERIAL8_OPTIONS: Serial8 options
    • SERIAL9_PROTOCOL: Serial9 protocol selection
    • SERIAL9_BAUD: Serial 9 Baud Rate
    • SERIAL9_OPTIONS: Serial9 options
  • SERVO Parameters
    • SERVO_RATE: Servo default output rate
    • SERVO_DSHOT_RATE: Servo DShot output rate
    • SERVO_DSHOT_ESC: Servo DShot ESC type
    • SERVO_GPIO_MASK: Servo GPIO mask
  • 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 pass-thru 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_3DMASK: BLHeli bitmask of 3D channels
    • SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels
    • SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels
  • SERVO_FTW_ Parameters
    • SERVO_FTW_MASK: Servo channel output bitmask
    • SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask
    • SERVO_FTW_POLES: Nr. electrical poles
  • 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
  • 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
  • SR4_ Parameters
    • SR4_RAW_SENS: Raw sensor stream rate
    • SR4_EXT_STAT: Extended status stream rate to ground station
    • SR4_RC_CHAN: RC Channel stream rate to ground station
    • SR4_RAW_CTRL: Raw Control stream rate to ground station
    • SR4_POSITION: Position stream rate to ground station
    • SR4_EXTRA1: Extra data type 1 stream rate to ground station
    • SR4_EXTRA2: Extra data type 2 stream rate to ground station
    • SR4_EXTRA3: Extra data type 3 stream rate to ground station
    • SR4_PARAMS: Parameter stream rate to ground station
  • SR5_ Parameters
    • SR5_RAW_SENS: Raw sensor stream rate
    • SR5_EXT_STAT: Extended status stream rate to ground station
    • SR5_RC_CHAN: RC Channel stream rate to ground station
    • SR5_RAW_CTRL: Raw Control stream rate to ground station
    • SR5_POSITION: Position stream rate to ground station
    • SR5_EXTRA1: Extra data type 1 stream rate to ground station
    • SR5_EXTRA2: Extra data type 2 stream rate to ground station
    • SR5_EXTRA3: Extra data type 3 stream rate to ground station
    • SR5_PARAMS: Parameter stream rate to ground station
  • SR6_ Parameters
    • SR6_RAW_SENS: Raw sensor stream rate
    • SR6_EXT_STAT: Extended status stream rate to ground station
    • SR6_RC_CHAN: RC Channel stream rate to ground station
    • SR6_RAW_CTRL: Raw Control stream rate to ground station
    • SR6_POSITION: Position stream rate to ground station
    • SR6_EXTRA1: Extra data type 1 stream rate to ground station
    • SR6_EXTRA2: Extra data type 2 stream rate to ground station
    • SR6_EXTRA3: Extra data type 3 stream rate to ground station
    • SR6_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
    • VTX_MAX_POWER: Video Transmitter Max Power Level
• 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
      • ACC: IMU accelerometer data
      • ADSB: Automatic Dependant Serveillance - Broadcast detected vehicle information
      • AHR2: Backup AHRS data
      • AIS1: Contents of ‘position report’ AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_types_1_2_and_3_position_report_class_a
      • AIS4: Contents of ‘Base Station Report’ AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_4_base_station_report
      • AIS5: Contents of ‘static and voyage related data’ AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_5_static_and_voyage_related_data
      • AISR: Raw AIS AVDIM messages contents, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_aivdmaivdo_sentence_layer
      • AOA: Angle of attack and Side Slip Angle values
      • ARM: Arming status changes
      • ARSP: Airspeed sensor data
      • ASM1: AirSim simulation data
      • ASM2: More AirSim simulation data
      • ATDE: AutoTune data packet
      • ATT: Canonical vehicle attitude
      • AUXF: Auixillary function invocation information
      • BARO: Gathered Barometer data
      • BAT: Gathered battery data
      • BCL: Battery cell voltage information
      • BCL2: Battery cell voltage information
      • BCN: Beacon information
      • CAM: Camera shutter information
      • CMD: Executed mission command information
      • CSRV: Servo feedback data
      • CTRL: Attitude Control oscillation monitor diagnostics
      • DMS: DataFlash-Over-MAVLink statistics
      • DSF: Onboard logging statistics
      • DSTL: Deepstall Landing data
      • EAH1: External AHRS 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
      • GPS: Information received from GNSS systems attached to the autopilot
      • GRAW: Raw uBlox data
      • GRXH: Raw uBlox data - header
      • GRXS: Raw uBlox data - space-vehicle data
      • GYR: IMU gyroscope data
      • HEAT: IMU Heater data
      • ICMB: ICM20789 diagnostics
      • IMU: 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
      • 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
      • MPPT: Information about the Maximum Power Point Tracker sensor
      • 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 SV, SP, SH and SM are probably best described as ‘Squared Innovation Test Ratios’ where values <1 tells us the measurement was accepted and >1 tells us it was rejected. They represent the square of the (innovation / maximum allowed innovation) where the innovation is the difference between predicted and measured value and the maximum allowed innovation is determined from the uncertainty of the measurement, uncertainty of the prediction and scaled using the number of standard deviations set by the innovation gate parameter for that measurement, eg EK2_MAG_I_GATE, EK2_HGT_I_GATE, etc
      • NKF5: EKF2 Sensor innovations (primary core) and general dumping ground
      • NKQ: EKF2 quaternion defining the rotation from NED to XYZ (autopilot) axes
      • NKT: EKF2 timing information
      • NKY0: EKF Yaw Estimator States
      • NKY1: EKF Yaw Estimator Innovations
      • OABR: Object avoidance (Bendy Ruler) diagnostics
      • OADJ: Object avoidance (Dijkstra) diagnostics
      • OAVG: Object avoidance path planning visgraph points
      • 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
      • PL: Precision Landing messages
      • PM: autopilot system performance and general data dumping ground
      • POS: Canonical vehicle position
      • POWR: System power information
      • PRTN: Plane Parameter Tuning data
      • PRX: Proximity Filtered sensor data
      • PRXR: Proximity Raw sensor data
      • PSCD: Position Control Down
      • PSCE: Position Control East
      • PSCN: Position Control North
      • RAD: Telemetry radio statistics
      • RALY: Rally point information
      • RATE: Desired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes.
      • RBCH: Replay Data Beacon Header
      • RBCI: Replay Data Beacon Instance
      • RBOH: Replay body odometry data
      • RBRH: Replay Data Barometer Header
      • RBRI: Replay Data Barometer Instance
      • RCDA: Raw RC data
      • RCIN: RC input channels to vehicle
      • RCOU: Servo channel output values
      • REPH: Replay external position data
      • REV2: Replay Event
      • REVH: Replay external position data
      • REY3: Replay Euler Yaw event
      • RFND: Rangefinder sensor information
      • RGPH: Replay Data GPS Header
      • RGPI: Replay Data GPS Instance, infrequently changing data
      • RGPJ: Replay Data GPS Instance - rapidly changing data
      • RMGH: Replay Data Magnetometer Header
      • RMGI: Replay Data Magnetometer Instance
      • ROFH: Replay optical flow data
      • RPM: Data from RPM sensors
      • RRNH: Replay Data Rangefinder Header
      • RRNI: Replay Data Rangefinder Instance
      • RSO2: Replay Set Origin event
      • RSSI: Received Signal Strength Indicator for RC receiver
      • RVOH: Replay Data Visual Odometry data
      • RWA2: Replay set-default-airspeed event
      • RWOH: Replay wheel odometry data
      • SA: Simple Avoidance messages
      • SBPH: Swift Health Data
      • SBRH: Swift Raw Message Data
      • SCR: Scripting runtime stats
      • SIM: SITL simulator state
      • SIM2: Additional simulator state
      • SITL: Simulation data
      • SLV1: Log data received from JSON simulator 1
      • SLV2: Log data received from JSON simulator 2
      • SMOO: Smoothed sensor data fed to EKF to avoid inconsistencies
      • SRTL: SmartRTL statistics
      • STAK: Stack information
      • TERR: Terrain database infomration
      • TRIG: Camera shutter information
      • TRMP: Torqeedo Motor Param
      • TRMS: Torqeedo Motor Status
      • TRQD: Torqeedo Status
      • TRSE: Torqeedo System Setup
      • TRST: Torqeedo System State
      • 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
      • WIND: Windvane readings
      • XKF0: EKF3 beacon sensor diagnostics
      • XKF1: EKF3 estimator outputs
      • XKF2: EKF3 estimator secondary outputs
      • XKF3: EKF3 innovations
      • XKF4: EKF3 variances. SV, SP, SH and SM are probably best described as ‘Squared Innovation Test Ratios’ where values <1 tells us the measurement was accepted and >1 tells us it was rejected. They represent the square of the (innovation / maximum allowed innovation) where the innovation is the difference between predicted and measured value and the maximum allowed innovation is determined from the uncertainty of the measurement, uncertainty of the prediction and scaled using the number of standard deviations set by the innovation gate parameter for that measurement, eg EK3_MAG_I_GATE, EK3_HGT_I_GATE, etc
      • 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: EKF3 timing information
      • XKTV: EKF3 Yaw Estimator States
      • XKV1: EKF3 State variances (primary core)
      • XKV2: more EKF3 State Variances (primary core)
      • XKY0: EKF Yaw Estimator States
      • XKY1: EKF 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
  • 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
    • Partner Support
    • Monthly Partners Call
    • How does my company become a partner?
    • Payment Methods
    • How are collected funds spent?
    • I’m not a company, but I love your work, 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
    • VTOL/QuadPlanes from Partners
    • Rovers from Partners
    • Subs from Partners
    • Vehicles from Non-Partners
      • MakeFLyEasy - Fighter
      • MakeFLyEasy - Striver Mini
      • MakeFLyEasy - Fighter VTOL
      • MakeFLyEasy - Striver Mini VTOL
  • Stores
  • Top Contributors
    • Collaboration with other projects
  • Wiki Editing Guide
    • Making a Quick Edit
    • Infrastructure Overview
    • Setting Up the Editing Environment
      • Fork, Clone, and Update Your Copy of 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