Complete Parameter List

Full Parameter List of AntennaTracker latest V1.2.0 dev

You can change and check the parameters for another version:

This is a complete list of the parameters which can be set (e.g. via the MAVLink protocol) to control vehicle behaviour. They are stored in persistent storage on the vehicle.

This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.

AntennaTracker Parameters

FORMAT_VERSION: Eeprom format version number

Note: This parameter is for advanced users

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

YAW_SLEW_TIME: Time for yaw to slew through its full range

This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.

Increment Range Units
0.1 0 - 20 seconds

PITCH_SLEW_TIME: Time for pitch to slew through its full range

This controls how rapidly the tracker will change the servo output for pitch. It is set as the number of seconds to do a full range of pitch movement. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.

Increment Range Units
0.1 0 - 20 seconds

MIN_REVERSE_TIME: Minimum time to apply a yaw reversal

When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around.

Increment Range Units
1 0 - 20 seconds

START_LATITUDE: Initial Latitude before GPS lock

Combined with START_LONGITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached.

Increment Range Units
0.000001 -90 - 90 degrees

START_LONGITUDE: Initial Longitude before GPS lock

Combined with START_LATITUDE this parameter allows for an initial position of the tracker to be set. This position will be used until the GPS gets lock. It can also be used to run a stationary tracker with no GPS attached.

Increment Range Units
0.000001 -180 - 180 degrees

STARTUP_DELAY: Delay before first servo movement from trim

This parameter can be used to force the servos to their trim value for a time on startup. This can help with some servo types

Increment Range Units
0.1 0 - 10 seconds

SERVO_PITCH_TYPE: Type of servo system being used for pitch

This allows selection of position servos or on/off servos for pitch

Values
Value Meaning
0 Position
1 OnOff
2 ContinuousRotation

SERVO_YAW_TYPE: Type of servo system being used for yaw

This allows selection of position servos or on/off servos for yaw

Values
Value Meaning
0 Position
1 OnOff
2 ContinuousRotation

ONOFF_YAW_RATE: Yaw rate for on/off servos

Rate of change of yaw in degrees/second for on/off servos

Increment Range Units
0.1 0 - 50 degrees per second

ONOFF_PITCH_RATE: Pitch rate for on/off servos

Rate of change of pitch in degrees/second for on/off servos

Increment Range Units
0.1 0 - 50 degrees per second

ONOFF_YAW_MINT: Yaw minimum movement time

Minimum amount of time in seconds to move in yaw

Increment Range Units
0.01 0 - 2 seconds

ONOFF_PITCH_MINT: Pitch minimum movement time

Minimim amount of time in seconds to move in pitch

Increment Range Units
0.01 0 - 2 seconds

YAW_TRIM: Yaw trim

Amount of extra yaw to add when tracking. This allows for small adjustments for an out of trim compass.

Increment Range Units
0.1 -10 - 10 degrees

PITCH_TRIM: Pitch trim

Amount of extra pitch to add when tracking. This allows for small adjustments for a badly calibrated barometer.

Increment Range Units
0.1 -10 - 10 degrees

YAW_RANGE: Yaw Angle Range

Yaw axis total range of motion in degrees

Increment Range Units
0.1 0 - 360 degrees

DISTANCE_MIN: Distance minimum to target

Tracker will track targets at least this distance away

Increment Range Units
1 0 - 100 meters

ALT_SOURCE: Altitude Source

What provides altitude information for vehicle. Vehicle only assumes tracker has same altitude as vehicle’s home

Values
Value Meaning
0 Barometer
1 GPS
2 GPS vehicle only

PITCH_MIN: Minimum Pitch Angle

The lowest angle the pitch can reach

Increment Range Units
1 -90 - 0 degrees

PITCH_MAX: Maximum Pitch Angle

The highest angle the pitch can reach

Increment Range Units
1 0 - 90 degrees

LOG_BITMASK: Log bitmask

4 byte bitmap of log types to enable

Bitmask Values
Bit Meaning
0 ATTITUDE
1 GPS
2 RCIN
3 IMU
4 RCOUT
5 COMPASS
6 Battery
Value Meaning
127 Default
0 Disabled

PITCH2SRV_P: Pitch axis controller P gain

Pitch axis controller P gain. Converts the difference between desired pitch angle and actual pitch angle into a pitch servo pwm change

Increment Range
0.01 0.0 - 3.0

PITCH2SRV_I: Pitch axis controller I gain

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

Increment Range
0.01 0.0 - 3.0

PITCH2SRV_IMAX: Pitch axis controller I gain maximum

Pitch axis controller I gain maximum. Constrains the maximum pwm change that the I gain will output

Increment Range Units
10 0 - 4000 decipercent

PITCH2SRV_D: Pitch axis controller D gain

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

Increment Range
0.001 0.001 - 0.1

PITCH2SRV_FF: Pitch axis controller feed forward

Pitch axis controller feed forward

Increment Range
0.001 0 - 0.5

PITCH2SRV_FLTT: Pitch axis controller target frequency in Hz

Pitch axis controller target frequency in Hz

Increment Range Units
1 1 - 50 hertz

PITCH2SRV_FLTE: Pitch axis controller error frequency in Hz

Pitch axis controller error frequency in Hz

Increment Range Units
1 1 - 100 hertz

PITCH2SRV_FLTD: Pitch axis controller derivative frequency in Hz

Pitch axis controller derivative frequency in Hz

Increment Range Units
1 1 - 100 hertz

YAW2SRV_P: Yaw axis controller P gain

Yaw axis controller P gain. Converts the difference between desired yaw angle (heading) and actual yaw angle into a yaw servo pwm change

Increment Range
0.01 0.0 - 3.0

YAW2SRV_I: Yaw axis controller I gain

Yaw axis controller I gain. Corrects long-term difference in desired yaw angle (heading) vs actual yaw angle

Increment Range
0.01 0.0 - 3.0

YAW2SRV_IMAX: Yaw axis controller I gain maximum

Yaw axis controller I gain maximum. Constrains the maximum pwm change that the I gain will output

Increment Range Units
10 0 - 4000 decipercent

YAW2SRV_D: Yaw axis controller D gain

Yaw axis controller D gain. Compensates for short-term change in desired yaw angle (heading) vs actual yaw angle

Increment Range
0.001 0.001 - 0.1

YAW2SRV_FF: Yaw axis controller feed forward

Yaw axis controller feed forward

Increment Range
0.001 0 - 0.5

YAW2SRV_FLTT: Yaw axis controller target frequency in Hz

Yaw axis controller target frequency in Hz

Increment Range Units
1 1 - 50 hertz

YAW2SRV_FLTE: Yaw axis controller error frequency in Hz

Yaw axis controller error frequency in Hz

Increment Range Units
1 1 - 100 hertz

YAW2SRV_FLTD: Yaw axis controller derivative frequency in Hz

Yaw axis controller derivative frequency in Hz

Increment Range Units
1 1 - 100 hertz

CMD_TOTAL: Number of loaded mission items

Note: This parameter is for advanced users

Set to 1 if HOME location has been loaded by the ground station. Do not change this manually.

Range
1 - 255

GCS_PID_MASK: GCS PID tuning mask

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

Bitmask Values
Bit Meaning
0 Pitch
1 Yaw
Value Meaning
0 None
1 Pitch
2 Yaw

SCAN_SPEED_YAW: Speed at which to rotate the yaw axis in scan mode

This controls how rapidly the tracker will move the servos in SCAN mode

Increment Range Units
1 0 - 100 degrees per second

SCAN_SPEED_PIT: Speed at which to rotate pitch axis in scan mode

This controls how rapidly the tracker will move the servos in SCAN mode

Increment Range Units
1 0 - 100 degrees per second

INITIAL_MODE: Mode tracker will switch into after initialization

0:MANUAL, 1:STOP, 2:SCAN, 10:AUTO

SAFE_DISARM_PWM: PWM that will be output when disarmed or in stop mode

0:zero pwm, 1:trim pwm

AHRS_ Parameters

AHRS_GPS_GAIN: AHRS GPS gain

Note: This parameter is for advanced users

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

Increment Range
.01 0.0 - 1.0

AHRS_GPS_USE: AHRS use GPS for navigation

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

AHRS_YAW_P: Yaw P

Note: This parameter is for advanced users

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

Increment Range
.01 0.1 - 0.4

AHRS_RP_P: AHRS RP_P

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Increment Range
.01 0.1 - 0.4

AHRS_WIND_MAX: Maximum wind

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 127 meters per second

AHRS_TRIM_X: AHRS Trim Roll

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

Increment Range Units
0.01 -0.1745 - +0.1745 radians

AHRS_TRIM_Y: AHRS Trim Pitch

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

Increment Range Units
0.01 -0.1745 - +0.1745 radians

AHRS_TRIM_Z: AHRS Trim Yaw

Note: This parameter is for advanced users

Not Used

Increment Range Units
0.01 -0.1745 - +0.1745 radians

AHRS_ORIENTATION: Board Orientation

Note: This parameter is for advanced users

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

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

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient

Note: This parameter is for advanced users

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

Increment Range
.01 0.001 - 0.5

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites

Note: This parameter is for advanced users

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

Increment Range
1 0 - 10

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
2 Enable EKF2
3 Enable EKF3

AHRS_CUSTOM_ROLL: Board orientation roll offset

Note: This parameter is for advanced users

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

Increment Range Units
1 -180 - 180 degrees

AHRS_CUSTOM_PIT: Board orientation pitch offset

Note: This parameter is for advanced users

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

Increment Range Units
1 -180 - 180 degrees

AHRS_CUSTOM_YAW: Board orientation yaw offset

Note: This parameter is for advanced users

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

Increment Range Units
1 -180 - 180 degrees

BATT2_ Parameters

BATT2_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

RebootRequired Values
True
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Generic
8 UAVCAN-BatteryInfo
9 BLHeli ESC
10 SumOfFollowing
11 FuelFlow
12 FuelLevelPWM
13 SMBUS-SUI3
14 SMBUS-SUI6
15 NeoDesign
16 SMBus-Maxell

BATT2_VOLT_PIN: Battery Voltage sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2/CubeOrange_PM2
14 CubeOrange
16 Durandal
100 PX4-v1

BATT2_CURR_PIN: Battery Current sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
15 CubeOrange
4 CubeOrange_PM2
17 Durandal
101 PX4-v1

BATT2_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT2_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT2_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT2_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT2_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT2_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT2_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT2_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None

BATT2_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None

BATT2_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment Units
0.1 volt

BATT2_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.

Increment Units
50 milliampere hour

BATT2_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT3_ Parameters

BATT3_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

RebootRequired Values
True
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Generic
8 UAVCAN-BatteryInfo
9 BLHeli ESC
10 SumOfFollowing
11 FuelFlow
12 FuelLevelPWM
13 SMBUS-SUI3
14 SMBUS-SUI6
15 NeoDesign
16 SMBus-Maxell

BATT3_VOLT_PIN: Battery Voltage sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2/CubeOrange_PM2
14 CubeOrange
16 Durandal
100 PX4-v1

BATT3_CURR_PIN: Battery Current sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
15 CubeOrange
4 CubeOrange_PM2
17 Durandal
101 PX4-v1

BATT3_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT3_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT3_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT3_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT3_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT3_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT3_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT3_LOW_VOLT: Low battery voltage

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.

Increment Units
0.1 volt

BATT3_LOW_MAH: Low battery capacity

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.

Increment Units
50 milliampere hour

BATT3_CRT_VOLT: Critical battery voltage

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.

Increment Units
0.1 volt

BATT3_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter.

Increment Units
50 milliampere hour

BATT3_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None

BATT3_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None

BATT3_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment Units
0.1 volt

BATT3_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.

Increment Units
50 milliampere hour

BATT3_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT4_ Parameters

BATT4_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

RebootRequired Values
True
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Generic
8 UAVCAN-BatteryInfo
9 BLHeli ESC
10 SumOfFollowing
11 FuelFlow
12 FuelLevelPWM
13 SMBUS-SUI3
14 SMBUS-SUI6
15 NeoDesign
16 SMBus-Maxell

BATT4_VOLT_PIN: Battery Voltage sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2/CubeOrange_PM2
14 CubeOrange
16 Durandal
100 PX4-v1

BATT4_CURR_PIN: Battery Current sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
15 CubeOrange
4 CubeOrange_PM2
17 Durandal
101 PX4-v1

BATT4_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT4_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT4_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT4_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT4_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT4_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT4_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT4_LOW_VOLT: Low battery voltage

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.

Increment Units
0.1 volt

BATT4_LOW_MAH: Low battery capacity

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.

Increment Units
50 milliampere hour

BATT4_CRT_VOLT: Critical battery voltage

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.

Increment Units
0.1 volt

BATT4_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter.

Increment Units
50 milliampere hour

BATT4_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None

BATT4_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None

BATT4_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment Units
0.1 volt

BATT4_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.

Increment Units
50 milliampere hour

BATT4_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT5_ Parameters

BATT5_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

RebootRequired Values
True
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Generic
8 UAVCAN-BatteryInfo
9 BLHeli ESC
10 SumOfFollowing
11 FuelFlow
12 FuelLevelPWM
13 SMBUS-SUI3
14 SMBUS-SUI6
15 NeoDesign
16 SMBus-Maxell

BATT5_VOLT_PIN: Battery Voltage sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2/CubeOrange_PM2
14 CubeOrange
16 Durandal
100 PX4-v1

BATT5_CURR_PIN: Battery Current sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
15 CubeOrange
4 CubeOrange_PM2
17 Durandal
101 PX4-v1

BATT5_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT5_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT5_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT5_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT5_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT5_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT5_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT5_LOW_VOLT: Low battery voltage

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.

Increment Units
0.1 volt

BATT5_LOW_MAH: Low battery capacity

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.

Increment Units
50 milliampere hour

BATT5_CRT_VOLT: Critical battery voltage

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.

Increment Units
0.1 volt

BATT5_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter.

Increment Units
50 milliampere hour

BATT5_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None

BATT5_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None

BATT5_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment Units
0.1 volt

BATT5_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.

Increment Units
50 milliampere hour

BATT5_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT6_ Parameters

BATT6_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

RebootRequired Values
True
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Generic
8 UAVCAN-BatteryInfo
9 BLHeli ESC
10 SumOfFollowing
11 FuelFlow
12 FuelLevelPWM
13 SMBUS-SUI3
14 SMBUS-SUI6
15 NeoDesign
16 SMBus-Maxell

BATT6_VOLT_PIN: Battery Voltage sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2/CubeOrange_PM2
14 CubeOrange
16 Durandal
100 PX4-v1

BATT6_CURR_PIN: Battery Current sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
15 CubeOrange
4 CubeOrange_PM2
17 Durandal
101 PX4-v1

BATT6_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT6_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT6_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT6_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT6_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT6_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT6_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT6_LOW_VOLT: Low battery voltage

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.

Increment Units
0.1 volt

BATT6_LOW_MAH: Low battery capacity

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.

Increment Units
50 milliampere hour

BATT6_CRT_VOLT: Critical battery voltage

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.

Increment Units
0.1 volt

BATT6_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter.

Increment Units
50 milliampere hour

BATT6_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None

BATT6_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None

BATT6_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment Units
0.1 volt

BATT6_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.

Increment Units
50 milliampere hour

BATT6_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT7_ Parameters

BATT7_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

RebootRequired Values
True
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Generic
8 UAVCAN-BatteryInfo
9 BLHeli ESC
10 SumOfFollowing
11 FuelFlow
12 FuelLevelPWM
13 SMBUS-SUI3
14 SMBUS-SUI6
15 NeoDesign
16 SMBus-Maxell

BATT7_VOLT_PIN: Battery Voltage sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2/CubeOrange_PM2
14 CubeOrange
16 Durandal
100 PX4-v1

BATT7_CURR_PIN: Battery Current sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
15 CubeOrange
4 CubeOrange_PM2
17 Durandal
101 PX4-v1

BATT7_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT7_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT7_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT7_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT7_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT7_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT7_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT7_LOW_VOLT: Low battery voltage

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.

Increment Units
0.1 volt

BATT7_LOW_MAH: Low battery capacity

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.

Increment Units
50 milliampere hour

BATT7_CRT_VOLT: Critical battery voltage

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.

Increment Units
0.1 volt

BATT7_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter.

Increment Units
50 milliampere hour

BATT7_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None

BATT7_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None

BATT7_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment Units
0.1 volt

BATT7_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.

Increment Units
50 milliampere hour

BATT7_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT8_ Parameters

BATT8_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

RebootRequired Values
True
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Generic
8 UAVCAN-BatteryInfo
9 BLHeli ESC
10 SumOfFollowing
11 FuelFlow
12 FuelLevelPWM
13 SMBUS-SUI3
14 SMBUS-SUI6
15 NeoDesign
16 SMBus-Maxell

BATT8_VOLT_PIN: Battery Voltage sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2/CubeOrange_PM2
14 CubeOrange
16 Durandal
100 PX4-v1

BATT8_CURR_PIN: Battery Current sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
15 CubeOrange
4 CubeOrange_PM2
17 Durandal
101 PX4-v1

BATT8_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT8_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT8_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT8_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT8_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT8_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT8_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT8_LOW_VOLT: Low battery voltage

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.

Increment Units
0.1 volt

BATT8_LOW_MAH: Low battery capacity

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.

Increment Units
50 milliampere hour

BATT8_CRT_VOLT: Critical battery voltage

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.

Increment Units
0.1 volt

BATT8_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter.

Increment Units
50 milliampere hour

BATT8_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None

BATT8_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None

BATT8_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment Units
0.1 volt

BATT8_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.

Increment Units
50 milliampere hour

BATT8_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT9_ Parameters

BATT9_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

RebootRequired Values
True
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Generic
8 UAVCAN-BatteryInfo
9 BLHeli ESC
10 SumOfFollowing
11 FuelFlow
12 FuelLevelPWM
13 SMBUS-SUI3
14 SMBUS-SUI6
15 NeoDesign
16 SMBus-Maxell

BATT9_VOLT_PIN: Battery Voltage sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2/CubeOrange_PM2
14 CubeOrange
16 Durandal
100 PX4-v1

BATT9_CURR_PIN: Battery Current sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
15 CubeOrange
4 CubeOrange_PM2
17 Durandal
101 PX4-v1

BATT9_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT9_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT9_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT9_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT9_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT9_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT9_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT9_LOW_VOLT: Low battery voltage

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

Increment Units
0.1 volt

BATT9_LOW_MAH: Low battery capacity

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

Increment Units
50 milliampere hour

BATT9_CRT_VOLT: Critical battery voltage

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

Increment Units
0.1 volt

BATT9_CRT_MAH: Battery critical capacity

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.

Increment Units
50 milliampere hour

BATT9_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None

BATT9_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None

BATT9_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment Units
0.1 volt

BATT9_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.

Increment Units
50 milliampere hour

BATT9_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT_ Parameters

BATT_MONITOR: Battery monitoring

Controls enabling monitoring of the battery’s voltage and current

RebootRequired Values
True
Value Meaning
0 Disabled
3 Analog Voltage Only
4 Analog Voltage and Current
5 Solo
6 Bebop
7 SMBus-Generic
8 UAVCAN-BatteryInfo
9 BLHeli ESC
10 SumOfFollowing
11 FuelFlow
12 FuelLevelPWM
13 SMBUS-SUI3
14 SMBUS-SUI6
15 NeoDesign
16 SMBus-Maxell

BATT_VOLT_PIN: Battery Voltage sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
13 Pixhawk2_PM2/CubeOrange_PM2
14 CubeOrange
16 Durandal
100 PX4-v1

BATT_CURR_PIN: Battery Current sensing pin

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

RebootRequired Values
True
Value Meaning
-1 Disabled
3 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
14 Pixhawk2_PM2
15 CubeOrange
4 CubeOrange_PM2
17 Durandal
101 PX4-v1

BATT_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None

BATT_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning
0 None

BATT_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment Units
0.1 volt

BATT_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.

Increment Units
50 milliampere hour

BATT_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BRD_ Parameters

BRD_PWM_COUNT: Auxiliary pin config

Note: This parameter is for advanced users

Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO

RebootRequired Values
True
Value Meaning
0 No PWMs
1 One PWMs
2 Two PWMs
3 Three PWMs
4 Four PWMs
5 Five PWMs
6 Six PWMs
7 Seven PWMs
8 Eight PWMs

BRD_SER1_RTSCTS: Serial 1 flow control

Note: This parameter is for advanced users

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

RebootRequired Values
True
Value Meaning
0 Disabled
1 Enabled
2 Auto

BRD_SER2_RTSCTS: Serial 2 flow control

Note: This parameter is for advanced users

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

RebootRequired Values
True
Value Meaning
0 Disabled
1 Enabled
2 Auto

BRD_SAFETYENABLE: Enable use of safety arming switch

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

RebootRequired Values
True
Value Meaning
0 Disabled
1 Enabled

BRD_SBUS_OUT: SBUS output rate

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz

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

BRD_SERIAL_NUM: User-defined serial number

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

Range
-32768 - 32767

BRD_SAFETY_MASK: Outputs which ignore the safety switch state

Note: This parameter is for advanced users

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

Bitmask RebootRequired Values
Bit Meaning
0 Output1
1 Output2
2 Output3
3 Output4
4 Output5
5 Output6
6 Output7
7 Output8
8 Output9
9 Output10
10 Output11
11 Output12
12 Output13
13 Output14
True
Value Meaning
0 Disabled
1 Enabled

BRD_IMU_TARGTEMP: Target IMU temperature

Note: This parameter is for advanced users

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

Range Units
-1 - 80 degrees Celsius

BRD_TYPE: Board type

Note: This parameter is for advanced users

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

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

BRD_IO_ENABLE: Enable IO co-processor

Note: This parameter is for advanced users

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

RebootRequired Values
True
Value Meaning
0 Disabled
1 Enabled

BRD_SAFETYOPTION: Options for safety button behavior

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

Bitmask
Bit Meaning
0 ActiveForSafetyEnable
1 ActiveForSafetyDisable
2 ActiveWhenArmed
3 Force safety on when the aircraft disarms

BRD_VBUS_MIN: Autopilot board voltage requirement

Note: This parameter is for advanced users

Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.

Increment Range Units
0.1 4.0 - 5.5 volt

BRD_VSERVO_MIN: Servo voltage requirement

Note: This parameter is for advanced users

Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.

Increment Range Units
0.1 3.3 - 12.0 volt

BRD_SD_SLOWDOWN: microSD slowdown

Note: This parameter is for advanced users

This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.

Increment Range
1 0 - 32

BRD_PWM_VOLT_SEL: Set PWM Out Voltage

Note: This parameter is for advanced users

This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.

Values
Value Meaning
0 3.3V
1 5V

BRD_OPTIONS: Board options

Note: This parameter is for advanced users

Board specific option flags

Bitmask
Bit Meaning
0 Enable hardware watchdog

BRD_BOOT_DELAY: Boot delay

Note: This parameter is for advanced users

This adds a delay in milliseconds to boot to ensure peripherals initialise fully

Range Units
0 - 10000 milliseconds

BRD_IMUHEAT_P: IMU Heater P gain

Note: This parameter is for advanced users

IMU Heater P gain

Increment Range
1 1 - 500

BRD_IMUHEAT_I: IMU Heater I gain

Note: This parameter is for advanced users

IMU Heater integrator gain

Increment Range
0.1 0 - 1

BRD_IMUHEAT_IMAX: IMU Heater IMAX

Note: This parameter is for advanced users

IMU Heater integrator maximum

Increment Range
1 0 - 100

BRD_ALT_CONFIG: Alternative HW config

Note: This parameter is for advanced users

Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.

Increment Range RebootRequired
1 0 - 10 True

BRD_RADIO Parameters

BRD_RADIO_TYPE: Set type of direct attached radio

This enables support for direct attached radio receivers

Values
Value Meaning
0 None
1 CYRF6936
2 CC2500
3 BK2425

BRD_RADIO_PROT: protocol

Note: This parameter is for advanced users

Select air protocol

Values
Value Meaning
0 Auto
1 DSM2
2 DSMX

BRD_RADIO_DEBUG: debug level

Note: This parameter is for advanced users

radio debug level

Range
0 - 4

BRD_RADIO_DISCRC: disable receive CRC

Note: This parameter is for advanced users

disable receive CRC (for debug)

Values
Value Meaning
0 NotDisabled
1 Disabled

BRD_RADIO_SIGCH: RSSI signal strength

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_PPSCH: Packet rate channel

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TELEM: Enable telemetry

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

BRD_RADIO_TXPOW: Telemetry Transmit power

Note: This parameter is for advanced users

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

Range
1 - 8

BRD_RADIO_FCCTST: Put radio into FCC test mode

Note: This parameter is for advanced users

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

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

BRD_RADIO_STKMD: Stick input mode

Note: This parameter is for advanced users

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

Values
Value Meaning
1 Mode1
2 Mode2

BRD_RADIO_TESTCH: Set radio to factory test channel

Note: This parameter is for advanced users

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

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

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Range
0 - 16

BRD_RADIO_TPPSCH: Telemetry PPS channel

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TXMAX: Transmitter transmit power

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Range
1 - 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range
0 - 40

BRD_RADIO_ABTIME: Auto-bind time

Note: This parameter is for advanced users

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

Range
0 - 120

BRD_RADIO_ABLVL: Auto-bind level

Note: This parameter is for advanced users

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

Range
0 - 31

BRD_RTC Parameters

BRD_RTC_TYPES: Allowed sources of RTC time

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Bitmask
Bit Meaning
0 GPS
1 MAVLINK_SYSTEM_TIME
2 HW

BRD_RTC_TZ_MIN: Timezone offset from UTC

Note: This parameter is for advanced users

Adds offset in +- minutes from UTC to calculate local time

Range
-720 - +840

CAM_RC_ Parameters

CAM_RC_TYPE: RunCam device type

RunCam deviee type used to determine OSD menu structure and shutter options.

Values
Value Meaning
0 Disabled
1 RunCam Split Micro/RunCam with UART
2 RunCam Split

CAM_RC_FEATURES: RunCam features available

Note: This parameter is for advanced users

The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.

Bitmask
Bit Meaning
0 Power Button
1 WiFi Button
2 Change Mode
3 5-Key OSD
4 Settings Access
5 DisplayPort
6 Start Recording
7 Stop Recording

CAM_RC_BT_DELAY: RunCam boot delay before allowing updates

Note: This parameter is for advanced users

Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.

CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses

Note: This parameter is for advanced users

Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.

CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses

Note: This parameter is for advanced users

Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.

CAM_RC_CONTROL: RunCam control option

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu

Bitmask
Bit Meaning
0 Stick yaw right
1 Stick roll right
2 3-position switch
3 2-position switch
4 Autorecording enabled

CAN_D1_ Parameters

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

RebootRequired Values
True
Value Meaning
0 Disabled
1 UAVCAN
2 KDECAN
3 ToshibaCAN
4 PiccoloCAN

CAN_D1_KDE_ Parameters

CAN_D1_KDE_NPOLE: Number of motor poles

Sets the number of motor poles to calculate the correct RPM value

CAN_D1_UC_ Parameters

CAN_D1_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

CAN_D1_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range Units
1 - 200 hertz

CAN_D2_ Parameters

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

RebootRequired Values
True
Value Meaning
0 Disabled
1 UAVCAN
2 KDECAN
3 ToshibaCAN
4 PiccoloCAN

CAN_D2_KDE_ Parameters

CAN_D2_KDE_NPOLE: Number of motor poles

Sets the number of motor poles to calculate the correct RPM value

CAN_D2_UC_ Parameters

CAN_D2_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

CAN_D2_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range Units
1 - 200 hertz

CAN_D3_ Parameters

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

RebootRequired Values
True
Value Meaning
0 Disabled
1 UAVCAN
2 KDECAN
3 ToshibaCAN
4 PiccoloCAN

CAN_D3_KDE_ Parameters

CAN_D3_KDE_NPOLE: Number of motor poles

Sets the number of motor poles to calculate the correct RPM value

CAN_D3_UC_ Parameters

CAN_D3_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

CAN_D3_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range Units
1 - 200 hertz

CAN_P1_ Parameters

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

Enabling this option enables use of CAN buses.

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

CAN_P1_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P1_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning
0 Disabled
1 Major messages
2 All messages

CAN_P2_ Parameters

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

Enabling this option enables use of CAN buses.

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

CAN_P2_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P2_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning
0 Disabled
1 Major messages
2 All messages

CAN_P3_ Parameters

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

Enabling this option enables use of CAN buses.

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

CAN_P3_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P3_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning
0 Disabled
1 Major messages
2 All messages

CAN_SLCAN_ Parameters

CAN_SLCAN_CPORT: SLCAN Route

CAN Driver ID to be routed to SLCAN, 0 means no routing

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

CAN_SLCAN_SERNUM: SLCAN Serial Port

Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details

Values
Value Meaning
-1 Disabled
0 Serial0
1 Serial1
2 Serial2
3 Serial3
4 Serial4
5 Serial5
6 Serial6

CAN_SLCAN_TIMOUT: SLCAN Timeout

Duration of inactivity after which SLCAN is switched back to original protocol in seconds.

Range
0 - 32767

COMPASS_ Parameters

COMPASS_OFS_X: Compass offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment Range Units
1 -400 - 400 milligauss

COMPASS_DEC: Compass declination

An angle to compensate between the true north and magnetic north

Increment Range Units
0.01 -3.142 - 3.142 radians

COMPASS_LEARN: Learn compass offsets automatically

Note: This parameter is for advanced users

Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.

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

COMPASS_USE: Use compass for yaw

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_AUTODEC: Auto Declination

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_MOTCT: Motor interference compensation type

Note: This parameter is for advanced users

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

Calibration Values
1
Value Meaning
0 Disabled
1 Use Throttle
2 Use Current

COMPASS_MOT_X: Motor interference compensation for body frame X axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -1000 - 1000 milligauss per ampere

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -1000 - 1000 milligauss per ampere

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis

Note: This parameter is for advanced users

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

Increment Range Units
1 -1000 - 1000 milligauss per ampere

COMPASS_ORIENT: Compass orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERNAL: Compass is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment Range Units
1 -400 - 400 milligauss

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

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -1000 - 1000 milligauss per ampere

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

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -1000 - 1000 milligauss per ampere

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

Note: This parameter is for advanced users

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

Increment Range Units
1 -1000 - 1000 milligauss per ampere

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment Range Units
1 -400 - 400 milligauss

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

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -1000 - 1000 milligauss per ampere

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

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -1000 - 1000 milligauss per ampere

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

Note: This parameter is for advanced users

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

Increment Range Units
1 -1000 - 1000 milligauss per ampere

COMPASS_DEV_ID: Compass device id

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID2: Compass2 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID3: Compass3 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_USE2: Compass2 used for yaw

Note: This parameter is for advanced users

Enable or disable the secondary compass for determining heading.

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_ORIENT2: Compass2 orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERN2: Compass2 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_USE3: Compass3 used for yaw

Note: This parameter is for advanced users

Enable or disable the tertiary compass for determining heading.

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_ORIENT3: Compass3 orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERN3: Compass3 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Y: Compass soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Z: Compass soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_CAL_FIT: Compass calibration fitness

Note: This parameter is for advanced users

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

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

COMPASS_OFFS_MAX: Compass maximum offset

Note: This parameter is for advanced users

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

Increment Range
1 500 - 3000

COMPASS_TYPEMASK: Compass disable driver type mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning
0 HMC5883
1 LSM303D
2 AK8963
3 BMM150
4 LSM9DS1
5 LIS3MDL
6 AK09916
7 IST8310
8 ICM20948
9 MMC3416
11 UAVCAN
12 QMC5883
14 MAG3110
15 IST8308

COMPASS_FLTR_RNG: Range in which sample is accepted

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

Increment Range Units
1 0 - 100 percent

COMPASS_AUTO_ROT: Automatically check orientation

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

Values
Value Meaning
0 Disabled
1 CheckOnly
2 CheckAndFix

COMPASS_PRIO1_ID: Compass device id with 1st order priority

Note: This parameter is for advanced users

Compass device id with 1st order priority, set automatically if 0. Reboot required after change.

RebootRequired
True

COMPASS_PRIO2_ID: Compass device id with 2nd order priority

Note: This parameter is for advanced users

Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.

RebootRequired
True

COMPASS_PRIO3_ID: Compass device id with 3rd order priority

Note: This parameter is for advanced users

Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.

RebootRequired
True

COMPASS_ENABLE: Enable Compass

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

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_SCALE: Compass1 scale factor

Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range
0 - 1.3

COMPASS_SCALE2: Compass2 scale factor

Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range
0 - 1.3

COMPASS_SCALE3: Compass3 scale factor

Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range
0 - 1.3

COMPASS_OPTIONS: Compass options

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Bitmask
Bit Meaning
0 CalRequireGPS

COMPASS_DEV_ID4: Compass4 device id

Note: This parameter is for advanced users

Extra 4th compass’s device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID5: Compass5 device id

Note: This parameter is for advanced users

Extra 5th compass’s device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID6: Compass6 device id

Note: This parameter is for advanced users

Extra 6th compass’s device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID7: Compass7 device id

Note: This parameter is for advanced users

Extra 7th compass’s device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID8: Compass8 device id

Note: This parameter is for advanced users

Extra 8th compass’s device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_CUS_ROLL: Custom orientation roll offset

Note: This parameter is for advanced users

Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Increment Range RebootRequired Units
1 -180 - 180 True degrees

COMPASS_CUS_PIT: Custom orientation pitch offset

Note: This parameter is for advanced users

Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Increment Range RebootRequired Units
1 -180 - 180 True degrees

COMPASS_CUS_YAW: Custom orientation yaw offset

Note: This parameter is for advanced users

Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Increment Range RebootRequired Units
1 -180 - 180 True degrees

COMPASS_PMOT Parameters

COMPASS_PMOT_EN: per-motor compass correction enable

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_PMOT_EXP: per-motor exponential correction

Note: This parameter is for advanced users

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

Increment Range
0.01 0 - 2

COMPASS_PMOT1_X: Compass per-motor1 X

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor4

FFT_ Parameters

FFT_ENABLE: Enable

Note: This parameter is for advanced users

Enable Gyro FFT analyser

RebootRequired Values
True
Value Meaning
0 Disabled
1 Enabled

FFT_MINHZ: Minimum Frequency

Note: This parameter is for advanced users

Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.

Range Units
20 - 400 hertz

FFT_MAXHZ: Maximum Frequency

Note: This parameter is for advanced users

Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.

Range Units
20 - 495 hertz

FFT_SAMPLE_MODE: Sample Mode

Note: This parameter is for advanced users

Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.

Range RebootRequired
0 - 4 True

FFT_WINDOW_SIZE: FFT window size

Note: This parameter is for advanced users

Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.

Range RebootRequired
32 - 1024 True

FFT_WINDOW_OLAP: FFT window overlap

Note: This parameter is for advanced users

Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.

Range RebootRequired
0 - 0.9 True

FFT_FREQ_HOVER: FFT learned hover frequency

Note: This parameter is for advanced users

The learned hover noise frequency

Range
0 - 250

FFT_THR_REF: FFT learned thrust reference

Note: This parameter is for advanced users

FFT learned thrust reference for the hover frequency and FFT minimum frequency.

Range
0.01 - 0.9

FFT_SNR_REF: FFT SNR reference threshold

Note: This parameter is for advanced users

FFT SNR reference threshold in dB at which a signal is determined to be present.

Range
0.0 - 100.0

FFT_ATT_REF: FFT attenuation for bandwidth calculation

Note: This parameter is for advanced users

FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.

Range
0 - 100

FFT_BW_HOVER: FFT learned bandwidth at hover

Note: This parameter is for advanced users

FFT learned bandwidth at hover for the attenuation frequencies.

Range
0 - 200

FFT_HMNC_FIT: FFT harmonic fit frequency threshold

Note: This parameter is for advanced users

FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.

Range RebootRequired
0 - 100 True

FFT_HMNC_PEAK: FFT harmonic peak target

Note: This parameter is for advanced users

The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).

Values
Value Meaning
0 Auto
1 Center Frequency
2 Lower-Shoulder Frequency
3 Upper-Shoulder Frequency
4 Roll-Axis
5 Pitch-Axis

GND_ Parameters

GND_ABS_PRESS: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment ReadOnly Units Volatile
1 True pascal True

GND_TEMP: ground temperature

Note: This parameter is for advanced users

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

Increment Units Volatile
1 degrees Celsius True

GND_ALT_OFFSET: altitude offset

Note: This parameter is for advanced users

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

Increment Units
0.1 meters

GND_PRIMARY: Primary barometer

Note: This parameter is for advanced users

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

Values
Value Meaning
0 FirstBaro
1 2ndBaro
2 3rdBaro

GND_EXT_BUS: External baro bus

Note: This parameter is for advanced users

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

Values
Value Meaning
-1 Disabled
0 Bus0
1 Bus1

GND_SPEC_GRAV: Specific Gravity (For water depth measurement)

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

Values
1.0:Freshwater,1.024:Saltwater

GND_ABS_PRESS2: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment ReadOnly Units Volatile
1 True pascal True

GND_ABS_PRESS3: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment ReadOnly Units Volatile
1 True pascal True

GND_FLTR_RNG: Range in which sample is accepted

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

Increment Range Units
1 0 - 100 percent

GND_PROBE_EXT: External barometers to probe

Note: This parameter is for advanced users

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

Bitmask Values
Bit Meaning
0 BMP085
1 BMP280
2 MS5611
3 MS5607
4 MS5637
5 FBM320
6 DPS280
7 LPS25H
8 Keller
9 MS5837
10 BMP388
11 SPL06
Value Meaning
1 BMP085
2 BMP280
4 MS5611
8 MS5607
16 MS5637
32 FBM320
64 DPS280
128 LPS25H
256 Keller
512 MS5837
1024 BMP388
2048 SPL06

GND_BARO_ID: Baro ID

Note: This parameter is for advanced users

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

ReadOnly
True

GND_BARO2_ID: Baro ID2

Note: This parameter is for advanced users

Barometer2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

GND_BARO3_ID: Baro ID3

Note: This parameter is for advanced users

Barometer3 sensor ID, taking into account its type, bus and instance

ReadOnly
True

GPS_ Parameters

GPS_TYPE: GPS type

Note: This parameter is for advanced users

GPS type

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

GPS_TYPE2: 2nd GPS type

Note: This parameter is for advanced users

GPS type of 2nd GPS

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

GPS_NAVFILTER: Navigation filter setting

Note: This parameter is for advanced users

Navigation filter engine setting

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

GPS_AUTO_SWITCH: Automatic Switchover Setting

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock

Values
Value Meaning
0 Disabled
1 UseBest
2 Blend
3 UseSecond

GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS

Note: This parameter is for advanced users

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

RebootRequired Values
True
Value Meaning
0 Any
50 FloatRTK
100 IntegerRTK

GPS_SBAS_MODE: SBAS Mode

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled
2 NoChange

GPS_MIN_ELEV: Minimum elevation

Note: This parameter is for advanced users

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

Range Units
-100 - 90 degrees

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask

Note: This parameter is for advanced users

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

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

GPS_RAW_DATA: Raw data logging

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

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

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

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE2: GNSS system configuration

Note: This parameter is for advanced users

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

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

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disables automatic configuration
1 Enable automatic configuration

GPS_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

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

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

GPS_RATE_MS2: GPS 2 update rate in milliseconds

Note: This parameter is for advanced users

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

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

GPS_POS1_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_POS1_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_POS1_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_POS2_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_POS2_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_POS2_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users

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

Range RebootRequired Units
0 - 250 True milliseconds

GPS_DELAY_MS2: GPS 2 delay in milliseconds

Note: This parameter is for advanced users

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

Range RebootRequired Units
0 - 250 True milliseconds

GPS_BLEND_MASK: Multi GPS Blending Mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning
0 Horiz Pos
1 Vert Pos
2 Speed

GPS_BLEND_TC: Blending time constant

Note: This parameter is for advanced users

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

Range Units
5.0 - 30.0 seconds

GPS_DRV_OPTIONS: driver options

Note: This parameter is for advanced users

Additional backend specific options

Bitmask
Bit Meaning
0 Use UART2 for moving baseline on ublox

INS_ Parameters

INS_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

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

Calibration Units
1 radians per second

INS_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

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

Calibration Units
1 radians per second

INS_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

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

Calibration Units
1 radians per second

INS_GYR2OFFS_X: Gyro2 offsets of X axis

Note: This parameter is for advanced users

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

Calibration Units
1 radians per second

INS_GYR2OFFS_Y: Gyro2 offsets of Y axis

Note: This parameter is for advanced users

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

Calibration Units
1 radians per second

INS_GYR2OFFS_Z: Gyro2 offsets of Z axis

Note: This parameter is for advanced users

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

Calibration Units
1 radians per second

INS_GYR3OFFS_X: Gyro3 offsets of X axis

Note: This parameter is for advanced users

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

Calibration Units
1 radians per second

INS_GYR3OFFS_Y: Gyro3 offsets of Y axis

Note: This parameter is for advanced users

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

Calibration Units
1 radians per second

INS_GYR3OFFS_Z: Gyro3 offsets of Z axis

Note: This parameter is for advanced users

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

Calibration Units
1 radians per second

INS_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Calibration Range
1 0.8 - 1.2

INS_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Calibration Range
1 0.8 - 1.2

INS_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Calibration Range
1 0.8 - 1.2

INS_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

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

Calibration Range Units
1 -3.5 - 3.5 meters per square second

INS_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

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

Calibration Range Units
1 -3.5 - 3.5 meters per square second

INS_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

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

Calibration Range Units
1 -3.5 - 3.5 meters per square second

INS_ACC2SCAL_X: Accelerometer2 scaling of X axis

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

Calibration Range
1 0.8 - 1.2

INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

Calibration Range
1 0.8 - 1.2

INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

Calibration Range
1 0.8 - 1.2

INS_ACC2OFFS_X: Accelerometer2 offsets of X axis

Note: This parameter is for advanced users

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

Calibration Range Units
1 -3.5 - 3.5 meters per square second

INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis

Note: This parameter is for advanced users

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

Calibration Range Units
1 -3.5 - 3.5 meters per square second

INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis

Note: This parameter is for advanced users

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

Calibration Range Units
1 -3.5 - 3.5 meters per square second

INS_ACC3SCAL_X: Accelerometer3 scaling of X axis

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

Calibration Range
1 0.8 - 1.2

INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

Calibration Range
1 0.8 - 1.2

INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

Calibration Range
1 0.8 - 1.2

INS_ACC3OFFS_X: Accelerometer3 offsets of X axis

Note: This parameter is for advanced users

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

Calibration Range Units
1 -3.5 - 3.5 meters per square second

INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis

Note: This parameter is for advanced users

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

Calibration Range Units
1 -3.5 - 3.5 meters per square second

INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis

Note: This parameter is for advanced users

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

Calibration Range Units
1 -3.5 - 3.5 meters per square second

INS_GYRO_FILTER: Gyro filter cutoff frequency

Note: This parameter is for advanced users

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

Range Units
0 - 256 hertz

INS_ACCEL_FILTER: Accel filter cutoff frequency

Note: This parameter is for advanced users

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

Range Units
0 - 256 hertz

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

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values
Value Meaning
0 Disabled
1 Enabled

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

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

Values
Value Meaning
0 Disabled
1 Enabled

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

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

Values
Value Meaning
0 Disabled
1 Enabled

INS_STILL_THRESH: Stillness threshold for detecting if we are moving

Note: This parameter is for advanced users

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

Range
0.05 - 50

INS_GYR_CAL: Gyro Calibration scheme

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

Values
Value Meaning
0 Never
1 Start-up only

INS_TRIM_OPTION: Accel cal trim option

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

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

INS_ACC_BODYFIX: Body-fixed accelerometer

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

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

INS_POS1_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

INS_POS1_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

INS_POS1_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

INS_POS2_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

INS_POS2_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

INS_POS2_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

INS_POS3_X: IMU accelerometer X position

Note: This parameter is for advanced users

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

Range Units
-10 - 10 meters

INS_POS3_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

INS_POS3_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

INS_GYR_ID: Gyro ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_GYR2_ID: Gyro2 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_GYR3_ID: Gyro3 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC2_ID: Accelerometer2 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC3_ID: Accelerometer3 ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_FAST_SAMPLE: Fast sampling mask

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

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

INS_ENABLE_MASK: IMU enable mask

Note: This parameter is for advanced users

Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs

Bitmask Values
Bit Meaning
0 FirstIMU
1 SecondIMU
2 ThirdIMU
Value Meaning
1 FirstIMUOnly
3 FirstAndSecondIMU
7 FirstSecondAndThirdIMU
127 AllIMUs

INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled

Note: This parameter is for advanced users

Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.

RebootRequired Values
True
Value Meaning
0 1kHz
1 2kHz
2 4kHz
3 8kHz

INS_HNTCH_ Parameters

INS_HNTCH_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values
Value Meaning
0 Disabled
1 Enabled

INS_HNTCH_FREQ: Harmonic Notch Filter base frequency

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz.

Range Units
10 - 400 hertz

INS_HNTCH_BW: Harmonic Notch Filter bandwidth

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz

Range Units
5 - 100 hertz

INS_HNTCH_ATT: Harmonic Notch Filter attenuation

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB

Range Units
5 - 30 decibel

INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics

Note: This parameter is for advanced users

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time.

Bitmask RebootRequired
Bit Meaning
0 1st harmonic
1 2nd harmonic
2 3rd harmonic
3 4th hamronic
4 5th harmonic
5 6th harmonic
6 7th harmonic
7 8th harmonic
True

INS_HNTCH_REF: Harmonic Notch Filter reference value

Note: This parameter is for advanced users

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.

Range RebootRequired
0.0 - 1.0 True

INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.

Range Values
0 - 4
Value Meaning
0 Disabled
1 Throttle
2 RPM Sensor
3 ESC Telemetry
4 Dynamic FFT

INS_HNTCH_OPTS: Harmonic Notch Filter options

Note: This parameter is for advanced users

Harmonic Notch Filter options.

Bitmask RebootRequired
Bit Meaning
0 Double notch
1 Dynamic harmonic
True

INS_LOG_ Parameters

INS_LOG_BAT_CNT: sample count per batch

Note: This parameter is for advanced users

Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.

Increment RebootRequired
32 True

INS_LOG_BAT_MASK: Sensor Bitmask

Note: This parameter is for advanced users

Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.

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

INS_LOG_BAT_OPT: Batch Logging Options Mask

Note: This parameter is for advanced users

Options for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time.

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

INS_LOG_BAT_LGIN: logging interval

Interval between pushing samples to the AP_Logger log

Increment Units
10 milliseconds

INS_LOG_BAT_LGCT: logging count

Number of samples to push to count every INS_LOG_BAT_LGIN

Increment
1

INS_NOTCH_ Parameters

INS_NOTCH_ENABLE: Enable

Note: This parameter is for advanced users

Enable notch filter

Values
Value Meaning
0 Disabled
1 Enabled

INS_NOTCH_ATT: Attenuation

Note: This parameter is for advanced users

Notch attenuation in dB

Range Units
5 - 30 decibel

INS_NOTCH_FREQ: Frequency

Note: This parameter is for advanced users

Notch center frequency in Hz

Range Units
10 - 400 hertz

INS_NOTCH_BW: Bandwidth

Note: This parameter is for advanced users

Notch bandwidth in Hz

Range Units
5 - 100 hertz

LOG Parameters

LOG_BACKEND_TYPE: AP_Logger Backend Storage type

Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.

Bitmask Values
Bit Meaning
0 File
1 MAVLink
2 Block
Value Meaning
0 None
1 File
2 MAVLink
3 File and MAVLink
4 Block
6 Block and MAVLink

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

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

LOG_DISARMED: Enable logging while disarmed

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

Values
Value Meaning
0 Disabled
1 Enabled

LOG_REPLAY: Enable logging of information needed for Replay

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

Values
Value Meaning
0 Disabled
1 Enabled

LOG_FILE_DSRMROT: Stop logging to current file on disarm

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

Values
Value Meaning
0 Disabled
1 Enabled

LOG_FILE_TIMEOUT: Timeout before giving up on file writes

This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.

Units
seconds

LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space

Set this such that the free space is larger than your largest typical flight log

Range Units
10 - 1000 megabyte

NTF_ Parameters

NTF_LED_BRIGHT: LED Brightness

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Off
1 Low
2 Medium
3 High

NTF_BUZZ_ENABLE: Buzzer enable

Note: This parameter is for advanced users

Enable or disable the buzzer.

Values
Value Meaning
0 Disable
1 Enable

NTF_LED_OVERRIDE: Specifies colour source for the RGBLed

Note: This parameter is for advanced users

Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially “Green” is disarmed (safe-to-approach), “Red” is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.

Values
Value Meaning
0 Standard
1 MAVLink/Scripting
2 OutbackChallenge
3 TrafficLight

NTF_DISPLAY_TYPE: Type of on-board I2C display

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disable
1 ssd1306
2 sh1106
10 SITL

NTF_OREO_THEME: OreoLED Theme

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Aircraft
2 Rover

NTF_BUZZ_PIN: Buzzer pin

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled

NTF_LED_TYPES: LED Driver Types

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

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

NTF_BUZZ_ON_LVL: Buzzer-on pin logic level

Note: This parameter is for advanced users

Specifies pin level that indicates buzzer should play

Values
Value Meaning
0 LowIsOn
1 HighIsOn

NTF_BUZZ_VOLUME: Buzzer volume

Enable or disable the buzzer.

Range Units
0 - 100 percent

NTF_LED_LEN: Serial LED String Length

Note: This parameter is for advanced users

The number of Serial LED’s to use for notifications (NeoPixel’s and ProfiLED)

Range
1 - 32

RC Parameters

RC_OVERRIDE_TIME: RC override timeout

Note: This parameter is for advanced users

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

Range Units
0.0 - 120.0 seconds

RC_OPTIONS: RC options

Note: This parameter is for advanced users

RC input options

Bitmask
Bit Meaning
0 Ignore RC Receiver
1 Ignore MAVLink Overrides
2 Ignore Receiver Failsafe
3 FPort Pad
4 Log RC input bytes
5 Arming check throttle for 0 input
6 Skip the arming check for neutral Roll/Pitch/Yay sticks
7 Allow Switch reverse

RC10_ Parameters

RC10_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC10_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC10_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC10_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC10_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC10_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC11_ Parameters

RC11_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC11_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC11_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC11_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC11_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC11_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC12_ Parameters

RC12_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC12_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC12_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC12_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC12_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC12_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC13_ Parameters

RC13_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC13_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC13_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC13_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC13_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC13_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC14_ Parameters

RC14_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC14_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC14_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC14_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC14_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC14_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC15_ Parameters

RC15_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC15_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC15_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC15_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC15_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC15_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC16_ Parameters

RC16_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC16_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC16_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC16_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC16_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC16_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC1_ Parameters

RC1_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC1_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC1_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC1_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC1_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC1_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC2_ Parameters

RC2_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC2_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC2_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC2_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC2_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC2_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC3_ Parameters

RC3_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC3_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC3_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC3_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC3_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC3_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC4_ Parameters

RC4_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC4_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC4_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC4_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC4_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC4_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC5_ Parameters

RC5_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC5_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC5_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC5_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC5_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC5_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC6_ Parameters

RC6_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC6_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC6_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC6_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC6_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC6_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC7_ Parameters

RC7_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC7_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC7_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC7_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC7_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC7_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC8_ Parameters

RC8_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC8_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC8_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC8_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC8_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC8_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

RC9_ Parameters

RC9_MIN: RC min PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC9_TRIM: RC trim PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC9_MAX: RC max PWM

Note: This parameter is for advanced users

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

Increment Range Units
1 800 - 2200 PWM in microseconds

RC9_REVERSED: RC reversed

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Normal
1 Reversed

RC9_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range Units
0 - 200 PWM in microseconds

RC9_OPTION: RC input option

Function assigned to this RC channel

Values
Value Meaning
0 Do Nothing
4 ModeRTL
9 Camera Trigger
16 ModeAuto
24 Auto Mission Reset
28 Relay On/Off
29 Landing Gear
34 Relay2 On/Off
30 Lost Plane Sound
31 Motor Emergency Stop
35 Relay3 On/Off
36 Relay4 On/Off
38 ADSB Avoidance En
41 ArmDisarm
43 InvertedFlight
46 RC Override Enable
51 ModeManual
55 ModeGuided
56 ModeLoiter
58 Clear Waypoints
62 Compass Learn
64 Reverse Throttle
65 GPS Disable
66 Relay5
67 Relay6
72 ModeCircle
77 ModeTakeoff
78 RunCam Control
79 RunCam OSD Control
81 Disarm
82 QAssist 3pos
85 Generator
86 Non Auto Terrain Follow Disable
87 Crow Select
88 Soaring Enable
100 KillIMU1
101 KillIMU2
102 Camera Mode Toggle
105 GPS Disable Yaw
208 Flap
209 Forward Throttle
300 Scripting1
301 Scripting2
302 Scripting3
303 Scripting4
304 Scripting5
305 Scripting6
306 Scripting7
307 Scripting8

SCHED_ Parameters

SCHED_DEBUG: Scheduler debug level

Note: This parameter is for advanced users

Set to non-zero to enable scheduler debug messages. When set to show “Slips” the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

Values
Value Meaning
0 Disabled
2 ShowSlips
3 ShowOverruns

SCHED_LOOP_RATE: Scheduling main loop rate

Note: This parameter is for advanced users

This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.

RebootRequired Values
True
Value Meaning
50 50Hz
100 100Hz
200 200Hz
250 250Hz
300 300Hz
400 400Hz

SCR_ Parameters

SCR_ENABLE: Enable Scripting

Note: This parameter is for advanced users

Controls if scripting is enabled

RebootRequired Values
True
Value Meaning
0 None
1 Lua Scripts

SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count

Note: This parameter is for advanced users

The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time

Increment Range
10000 1000 - 1000000

SCR_HEAP_SIZE: Scripting Heap Size

Note: This parameter is for advanced users

Amount of memory available for scripting

Increment Range RebootRequired
1024 1024 - 1048576 True

SCR_DEBUG_LVL: Scripting Debug Level

Note: This parameter is for advanced users

The higher the number the more verbose builtin scripting debug will be.

SCR_USER1: Scripting User Parameter1

General purpose user variable input for scripts

SCR_USER2: Scripting User Parameter2

General purpose user variable input for scripts

SCR_USER3: Scripting User Parameter3

General purpose user variable input for scripts

SCR_USER4: Scripting User Parameter4

General purpose user variable input for scripts

SERIAL Parameters

SERIAL0_BAUD: Serial0 baud rate

The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning
1 1200
2 2400
4 4800
9 9600
19 19200
38 38400
57 57600
111 111100
115 115200
256 256000
460 460800
500 500000
921 921600
1500 1500000

SERIAL0_PROTOCOL: Console protocol selection

Control what protocol to use on the console.

RebootRequired Values
True
Value Meaning
1 MAVlink1
2 MAVLink2

SERIAL1_PROTOCOL: Telem1 protocol selection

Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired Values
True
Value Meaning
-1 None
1 MAVLink1
2 MAVLink2
3 Frsky D
4 Frsky SPort
5 GPS
7 Alexmos Gimbal Serial
8 SToRM32 Gimbal Serial
9 Rangefinder
10 FrSky SPort Passthrough (OpenTX)
11 Lidar360
13 Beacon
14 Volz servo out
15 SBus servo out
16 ESC Telemetry
17 Devo Telemetry
18 OpticalFlow
19 RobotisServo
20 NMEA Output
21 WindVane
22 SLCAN
23 RCIN
24 MegaSquirt EFI
25 LTM
26 RunCam
27 HottTelem
28 Scripting

SERIAL1_BAUD: Telem1 Baud Rate

The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning
1 1200
2 2400
4 4800
9 9600
19 19200
38 38400
57 57600
111 111100
115 115200
256 256000
500 500000
921 921600
1500 1500000

SERIAL2_PROTOCOL: Telemetry 2 protocol selection

Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired Values
True
Value Meaning
-1 None
1 MAVLink1
2 MAVLink2
3 Frsky D
4 Frsky SPort
5 GPS
7 Alexmos Gimbal Serial
8 SToRM32 Gimbal Serial
9 Rangefinder
10 FrSky SPort Passthrough (OpenTX)
11 Lidar360
13 Beacon
14 Volz servo out
15 SBus servo out
16 ESC Telemetry
17 Devo Telemetry
18 OpticalFlow
19 RobotisServo
20 NMEA Output
21 WindVane
22 SLCAN
23 RCIN
24 MegaSquirt EFI
25 LTM
26 RunCam
27 HottTelem
28 Scripting

SERIAL2_BAUD: Telemetry 2 Baud Rate

The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning
1 1200
2 2400
4 4800
9 9600
19 19200
38 38400
57 57600
111 111100
115 115200
256 256000
500 500000
921 921600
1500 1500000

SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection

Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired Values
True
Value Meaning
-1 None
1 MAVLink1
2 MAVLink2
3 Frsky D
4 Frsky SPort
5 GPS
7 Alexmos Gimbal Serial
8 SToRM32 Gimbal Serial
9 Rangefinder
10 FrSky SPort Passthrough (OpenTX)
11 Lidar360
13 Beacon
14 Volz servo out
15 SBus servo out
16 ESC Telemetry
17 Devo Telemetry
18 OpticalFlow
19 RobotisServo
20 NMEA Output
21 WindVane
22 SLCAN
23 RCIN
24 MegaSquirt EFI
25 LTM
26 RunCam
27 HottTelem
28 Scripting

SERIAL3_BAUD: Serial 3 (GPS) Baud Rate

The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning
1 1200
2 2400
4 4800
9 9600
19 19200
38 38400
57 57600
111 111100
115 115200
256 256000
500 500000
921 921600
1500 1500000

SERIAL4_PROTOCOL: Serial4 protocol selection

Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired Values
True
Value Meaning
-1 None
1 MAVLink1
2 MAVLink2
3 Frsky D
4 Frsky SPort
5 GPS
7 Alexmos Gimbal Serial
8 SToRM32 Gimbal Serial
9 Rangefinder
10 FrSky SPort Passthrough (OpenTX)
11 Lidar360
13 Beacon
14 Volz servo out
15 SBus servo out
16 ESC Telemetry
17 Devo Telemetry
18 OpticalFlow
19 RobotisServo
20 NMEA Output
21 WindVane
22 SLCAN
23 RCIN
24 MegaSquirt EFI
25 LTM
26 RunCam
27 HottTelem
28 Scripting

SERIAL4_BAUD: Serial 4 Baud Rate

The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning
1 1200
2 2400
4 4800
9 9600
19 19200
38 38400
57 57600
111 111100
115 115200
256 256000
500 500000
921 921600
1500 1500000

SERIAL5_PROTOCOL: Serial5 protocol selection

Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired Values
True
Value Meaning
-1 None
1 MAVLink1
2 MAVLink2
3 Frsky D
4 Frsky SPort
5 GPS
7 Alexmos Gimbal Serial
8 SToRM32 Gimbal Serial
9 Rangefinder
10 FrSky SPort Passthrough (OpenTX)
11 Lidar360
13 Beacon
14 Volz servo out
15 SBus servo out
16 ESC Telemetry
17 Devo Telemetry
18 OpticalFlow
19 RobotisServo
20 NMEA Output
21 WindVane
22 SLCAN
23 RCIN
24 MegaSquirt EFI
25 LTM
26 RunCam
27 HottTelem
28 Scripting

SERIAL5_BAUD: Serial 5 Baud Rate

The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning
1 1200
2 2400
4 4800
9 9600
19 19200
38 38400
57 57600
111 111100
115 115200
256 256000
500 500000
921 921600
1500 1500000

SERIAL6_PROTOCOL: Serial6 protocol selection

Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired Values
True
Value Meaning
-1 None
1 MAVLink1
2 MAVLink2
3 Frsky D
4 Frsky SPort
5 GPS
7 Alexmos Gimbal Serial
8 SToRM32 Gimbal Serial
9 Rangefinder
10 FrSky SPort Passthrough (OpenTX)
11 Lidar360
13 Beacon
14 Volz servo out
15 SBus servo out
16 ESC Telemetry
17 Devo Telemetry
18 OpticalFlow
19 RobotisServo
20 NMEA Output
21 WindVane
22 SLCAN
23 RCIN
24 MegaSquirt EFI
25 LTM
26 RunCam
27 HottTelem
28 Scripting

SERIAL6_BAUD: Serial 6 Baud Rate

The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning
1 1200
2 2400
4 4800
9 9600
19 19200
38 38400
57 57600
111 111100
115 115200
256 256000
500 500000
921 921600
1500 1500000

SERIAL1_OPTIONS: Telem1 options

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask RebootRequired
Bit Meaning
0 InvertRX
1 InvertTX
2 HalfDuplex
3 Swap
4 RX_PullDown
5 RX_PullUp
6 TX_PullDown
7 TX_PullUp
8 RX_NoDMA
9 TX_NoDMA
True

SERIAL2_OPTIONS: Telem2 options

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask RebootRequired
Bit Meaning
0 InvertRX
1 InvertTX
2 HalfDuplex
3 Swap
4 RX_PullDown
5 RX_PullUp
6 TX_PullDown
7 TX_PullUp
8 RX_NoDMA
9 TX_NoDMA
True

SERIAL3_OPTIONS: Serial3 options

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask RebootRequired
Bit Meaning
0 InvertRX
1 InvertTX
2 HalfDuplex
3 Swap
4 RX_PullDown
5 RX_PullUp
6 TX_PullDown
7 TX_PullUp
8 RX_NoDMA
9 TX_NoDMA
True

SERIAL4_OPTIONS: Serial4 options

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask RebootRequired
Bit Meaning
0 InvertRX
1 InvertTX
2 HalfDuplex
3 Swap
4 RX_PullDown
5 RX_PullUp
6 TX_PullDown
7 TX_PullUp
8 RX_NoDMA
9 TX_NoDMA
True

SERIAL5_OPTIONS: Serial5 options

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask RebootRequired
Bit Meaning
0 InvertRX
1 InvertTX
2 HalfDuplex
3 Swap
4 RX_PullDown
5 RX_PullUp
6 TX_PullDown
7 TX_PullUp
8 RX_NoDMA
9 TX_NoDMA
True

SERIAL6_OPTIONS: Serial6 options

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask RebootRequired
Bit Meaning
0 InvertRX
1 InvertTX
2 HalfDuplex
3 Swap
4 RX_PullDown
5 RX_PullUp
6 TX_PullDown
7 TX_PullUp
8 RX_NoDMA
9 TX_NoDMA
True

SERIAL_PASS1: Serial passthru first port

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

Values
Value Meaning
-1 Disabled
0 Serial0
1 Serial1
2 Serial2
3 Serial3
4 Serial4
5 Serial5
6 Serial6

SERIAL_PASS2: Serial passthru second port

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

Values
Value Meaning
-1 Disabled
0 Serial0
1 Serial1
2 Serial2
3 Serial3
4 Serial4
5 Serial5
6 Serial6

SERIAL_PASSTIMO: Serial passthru timeout

Note: This parameter is for advanced users

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.

Range Units
0 - 120 seconds

SERIAL7_PROTOCOL: Serial7 protocol selection

Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired Values
True
Value Meaning
-1 None
1 MAVLink1
2 MAVLink2
3 Frsky D
4 Frsky SPort
5 GPS
7 Alexmos Gimbal Serial
8 SToRM32 Gimbal Serial
9 Rangefinder
10 FrSky SPort Passthrough (OpenTX)
11 Lidar360
13 Beacon
14 Volz servo out
15 SBus servo out
16 ESC Telemetry
17 Devo Telemetry
18 OpticalFlow
19 RobotisServo
20 NMEA Output
21 WindVane
22 SLCAN
23 RCIN
24 MegaSquirt EFI
25 LTM
26 RunCam
27 HottTelem
28 Scripting

SERIAL7_BAUD: Serial 7 Baud Rate

The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning
1 1200
2 2400
4 4800
9 9600
19 19200
38 38400
57 57600
111 111100
115 115200
256 256000
500 500000
921 921600
1500 1500000

SERIAL7_OPTIONS: Serial7 options

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask RebootRequired
Bit Meaning
0 InvertRX
1 InvertTX
2 HalfDuplex
3 Swap
4 RX_PullDown
5 RX_PullUp
6 TX_PullDown
7 TX_PullUp
8 RX_NoDMA
9 TX_NoDMA
True

SERVO Parameters

SERVO_RATE: Servo default output rate

Note: This parameter is for advanced users

This sets the default output rate in Hz for all outputs.

Range Units
25 - 400 hertz

SERVO10_ Parameters

SERVO10_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO10_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO10_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO10_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO10_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO11_ Parameters

SERVO11_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO11_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO11_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO11_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO11_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO12_ Parameters

SERVO12_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO12_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO12_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO12_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO12_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO13_ Parameters

SERVO13_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO13_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO13_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO13_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO13_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO14_ Parameters

SERVO14_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO14_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO14_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO14_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO14_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO15_ Parameters

SERVO15_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO15_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO15_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO15_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO15_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO16_ Parameters

SERVO16_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO16_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO16_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO16_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO16_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO1_ Parameters

SERVO1_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO1_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO1_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO1_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO1_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO2_ Parameters

SERVO2_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO2_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO2_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO2_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO2_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO3_ Parameters

SERVO3_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO3_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO3_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO3_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO3_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO4_ Parameters

SERVO4_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO4_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO4_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO4_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO4_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO5_ Parameters

SERVO5_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO5_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO5_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO5_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO5_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO6_ Parameters

SERVO6_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO6_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO6_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO6_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO6_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO7_ Parameters

SERVO7_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO7_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO7_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO7_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO7_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO8_ Parameters

SERVO8_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO8_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO8_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO8_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO8_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO9_ Parameters

SERVO9_MIN: Minimum PWM

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

Increment Range Units
1 500 - 2200 PWM in microseconds

SERVO9_MAX: Maximum PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO9_TRIM: Trim PWM

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

Increment Range Units
1 800 - 2200 PWM in microseconds

SERVO9_REVERSED: Servo reverse

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

Values
Value Meaning
0 Normal
1 Reversed

SERVO9_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values
Value Meaning
0 Disabled
1 RCPassThru
2 Flap
3 Flap_auto
4 Aileron
6 mount_pan
7 mount_tilt
8 mount_roll
9 mount_open
10 camera_trigger
12 mount2_pan
13 mount2_tilt
14 mount2_roll
15 mount2_open
16 DifferentialSpoilerLeft1
17 DifferentialSpoilerRight1
19 Elevator
21 Rudder
22 SprayerPump
23 SprayerSpinner
24 FlaperonLeft
25 FlaperonRight
26 GroundSteering
27 Parachute
28 Gripper
29 LandingGear
30 EngineRunEnable
31 HeliRSC
32 HeliTailRSC
33 Motor1
34 Motor2
35 Motor3
36 Motor4
37 Motor5
38 Motor6
39 Motor7
40 Motor8
41 MotorTilt
51 RCIN1
52 RCIN2
53 RCIN3
54 RCIN4
55 RCIN5
56 RCIN6
57 RCIN7
58 RCIN8
59 RCIN9
60 RCIN10
61 RCIN11
62 RCIN12
63 RCIN13
64 RCIN14
65 RCIN15
66 RCIN16
67 Ignition
69 Starter
70 Throttle
71 TrackerYaw
72 TrackerPitch
73 ThrottleLeft
74 ThrottleRight
75 tiltMotorLeft
76 tiltMotorRight
77 ElevonLeft
78 ElevonRight
79 VTailLeft
80 VTailRight
81 BoostThrottle
82 Motor9
83 Motor10
84 Motor11
85 Motor12
86 DifferentialSpoilerLeft2
87 DifferentialSpoilerRight2
89 Main Sail
90 CameraISO
91 CameraAperture
92 CameraFocus
93 CameraShutterSpeed
94 Script 1
95 Script 2
96 Script 3
97 Script 4
98 Script 5
99 Script 6
100 Script 7
101 Script 8
102 Script 9
103 Script 10
104 Script 11
105 Script 12
106 Script 13
107 Script 14
108 Script 15
109 Script 16
120 NeoPixel1
121 NeoPixel2
122 NeoPixel3
123 NeoPixel4
124 RateRoll
125 RatePitch
126 RateThrust
127 RateYaw
128 Wing Sail Elevator
129 ProfiLED 1
130 ProfiLED 2
131 ProfiLED 3
132 ProfiLED Clock

SERVO_BLH_ Parameters

SERVO_BLH_MASK: BLHeli Channel Bitmask

Note: This parameter is for advanced users

Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)

Bitmask
Bit Meaning
0 Channel1
1 Channel2
2 Channel3
3 Channel4
4 Channel5
5 Channel6
6 Channel7
7 Channel8
8 Channel9
9 Channel10
10 Channel11
11 Channel12
12 Channel13
13 Channel14
14 Channel15
15 Channel16

SERVO_BLH_AUTO: BLHeli auto-enable for multicopter motors

If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors

Values
Value Meaning
0 Disabled
1 Enabled

SERVO_BLH_TEST: BLHeli internal interface test

Note: This parameter is for advanced users

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

Values
Value Meaning
0 Disabled
1 TestMotor1
2 TestMotor2
3 TestMotor3
4 TestMotor4
5 TestMotor5
6 TestMotor6
7 TestMotor7
8 TestMotor8

SERVO_BLH_TMOUT: BLHeli protocol timeout

This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout

Range Units
0 - 300 seconds

SERVO_BLH_TRATE: BLHeli telemetry rate

This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests

Range Units
0 - 500 hertz

SERVO_BLH_DEBUG: BLHeli debug level

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

Values
Value Meaning
0 Disabled
1 Enabled

SERVO_BLH_OTYPE: BLHeli output type override

Note: This parameter is for advanced users

When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.

Values
Value Meaning
0 None
1 OneShot
2 OneShot125
3 Brushed
4 DShot150
5 DShot300
6 DShot600
7 DShot1200

SERVO_BLH_PORT: Control port

Note: This parameter is for advanced users

This sets the serial port to use for blheli pass-thru

Values
Value Meaning
0 Console
1 Serial1
2 Serial2
3 Serial3
4 Serial4
5 Serial5

SERVO_BLH_POLES: BLHeli Motor Poles

Note: This parameter is for advanced users

This allows calculation of true RPM from ESC’s eRPM. The default is 14.

Range
1 - 127

SERVO_BLH_REMASK: BLHeli bitmask of reversible channels

Note: This parameter is for advanced users

Mask of channels which are reversible. This is used for ESCs which have been configured in ‘3D’ mode, allowing for the motor to spin in either direction

Bitmask
Bit Meaning
0 Channel1
1 Channel2
2 Channel3
3 Channel4
4 Channel5
5 Channel6
6 Channel7
7 Channel8
8 Channel9
9 Channel10
10 Channel11
11 Channel12
12 Channel13
13 Channel14
14 Channel15
15 Channel16

SERVO_ROB_ Parameters

SERVO_ROB_POSMIN: Robotis servo position min

Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095

Range
0 - 4095

SERVO_ROB_POSMAX: Robotis servo position max

Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095

Range
0 - 4095

SERVO_SBUS_ Parameters

SERVO_SBUS_RATE: SBUS default output rate

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz.

Range Units
25 - 250 hertz

SERVO_VOLZ_ Parameters

SERVO_VOLZ_MASK: Channel Bitmask

Enable of volz servo protocol to specific channels

Bitmask
Bit Meaning
0 Channel1
1 Channel2
2 Channel3
3 Channel4
4 Channel5
5 Channel6
6 Channel7
7 Channel8
8 Channel9
9 Channel10
10 Channel11
11 Channel12
12 Channel13
13 Channel14
14 Channel15
15 Channel1