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¶
This value is incremented when changes are made to the eeprom format
SYSID_THISMAV: MAVLink system ID of this vehicle¶
Allows setting an individual system id for this vehicle to distinguish it from others on the same network
| Range |
|---|
| 1 - 255 |
SYSID_MYGCS: Ground station MAVLink system ID¶
The identifier of the ground station in the MAVLink protocol. Don’t change this unless you also modify the ground station to match.
| Range |
|---|
| 1 - 255 |
SYSID_TARGET: Target vehicle’s MAVLink system ID¶
The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked.
| Range |
|---|
| 1 - 255 |
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
SERVO_YAW_TYPE: Type of servo system being used for yaw¶
This allows selection of position servos or on/off servos for yaw
| Values | ||||||||
|---|---|---|---|---|---|---|---|---|
|
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
MAV_UPDATE_RATE: Mavlink Update Rate¶
The rate at which Mavlink updates position and baro data
| Increment | Range | Units |
|---|---|---|
| 1 | 1 - 10 | hertz |
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 | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
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¶
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¶
bitmask of PIDs to send MAVLink PID_TUNING messages for
| Bitmask | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
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
AUTO_OPTIONS: Auto mode options¶
1: Scan for unknown target
| Bitmask | Values | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
AHRS_ Parameters¶
AHRS_GPS_GAIN: AHRS GPS gain¶
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_YAW_P: Yaw P¶
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¶
This controls how fast the accelerometers correct the attitude
| Increment | Range |
|---|---|
| .01 | 0.1 - 0.4 |
AHRS_WIND_MAX: Maximum wind¶
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¶
Not Used
| Increment | Range | Units |
|---|---|---|
| 0.01 | -0.1745 - +0.1745 | radians |
AHRS_ORIENTATION: Board Orientation¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient¶
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¶
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_CUSTOM_ROLL: Board orientation roll offset¶
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¶
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¶
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 |
|
BATT2_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT2_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
| RebootRequired | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT2_VOLT_MULT: Voltage Multiplier¶
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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
| Increment | Units |
|---|---|
| 50 | milliampere hour |
BATT2_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
| Values | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||
|---|---|---|---|---|
|
BATT2_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
| Values | ||||
|---|---|---|---|---|
|
BATT2_ARM_VOLT: Required arming voltage¶
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¶
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 |
BATT3_ Parameters¶
BATT3_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery’s voltage and current
| RebootRequired | Values | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT3_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT3_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
| RebootRequired | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT3_VOLT_MULT: Voltage Multiplier¶
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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
| Increment | Units |
|---|---|
| 50 | milliampere hour |
BATT3_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
| Values | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||
|---|---|---|---|---|
|
BATT3_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
| Values | ||||
|---|---|---|---|---|
|
BATT3_ARM_VOLT: Required arming voltage¶
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¶
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 |
BATT4_ Parameters¶
BATT4_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery’s voltage and current
| RebootRequired | Values | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT4_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT4_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
| RebootRequired | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT4_VOLT_MULT: Voltage Multiplier¶
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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
| Increment | Units |
|---|---|
| 50 | milliampere hour |
BATT4_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
| Values | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||
|---|---|---|---|---|
|
BATT4_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
| Values | ||||
|---|---|---|---|---|
|
BATT4_ARM_VOLT: Required arming voltage¶
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¶
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 |
BATT5_ Parameters¶
BATT5_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery’s voltage and current
| RebootRequired | Values | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT5_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT5_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
| RebootRequired | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT5_VOLT_MULT: Voltage Multiplier¶
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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
| Increment | Units |
|---|---|
| 50 | milliampere hour |
BATT5_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
| Values | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||
|---|---|---|---|---|
|
BATT5_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
| Values | ||||
|---|---|---|---|---|
|
BATT5_ARM_VOLT: Required arming voltage¶
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¶
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 |
BATT6_ Parameters¶
BATT6_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery’s voltage and current
| RebootRequired | Values | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT6_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT6_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
| RebootRequired | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT6_VOLT_MULT: Voltage Multiplier¶
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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
| Increment | Units |
|---|---|
| 50 | milliampere hour |
BATT6_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
| Values | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||
|---|---|---|---|---|
|
BATT6_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
| Values | ||||
|---|---|---|---|---|
|
BATT6_ARM_VOLT: Required arming voltage¶
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¶
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 |
BATT7_ Parameters¶
BATT7_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery’s voltage and current
| RebootRequired | Values | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT7_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT7_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
| RebootRequired | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT7_VOLT_MULT: Voltage Multiplier¶
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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
| Increment | Units |
|---|---|
| 50 | milliampere hour |
BATT7_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
| Values | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||
|---|---|---|---|---|
|
BATT7_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
| Values | ||||
|---|---|---|---|---|
|
BATT7_ARM_VOLT: Required arming voltage¶
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¶
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 |
BATT8_ Parameters¶
BATT8_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery’s voltage and current
| RebootRequired | Values | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT8_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT8_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
| RebootRequired | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT8_VOLT_MULT: Voltage Multiplier¶
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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
| Increment | Units |
|---|---|
| 50 | milliampere hour |
BATT8_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
| Values | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||
|---|---|---|---|---|
|
BATT8_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
| Values | ||||
|---|---|---|---|---|
|
BATT8_ARM_VOLT: Required arming voltage¶
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¶
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 |
BATT9_ Parameters¶
BATT9_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery’s voltage and current
| RebootRequired | Values | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT9_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT9_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
| RebootRequired | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT9_VOLT_MULT: Voltage Multiplier¶
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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
| Increment | Units |
|---|---|
| 50 | milliampere hour |
BATT9_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
| Values | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||
|---|---|---|---|---|
|
BATT9_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
| Values | ||||
|---|---|---|---|---|
|
BATT9_ARM_VOLT: Required arming voltage¶
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¶
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 |
BATT_ Parameters¶
BATT_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery’s voltage and current
| RebootRequired | Values | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
| RebootRequired | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BATT_VOLT_MULT: Voltage Multiplier¶
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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
| Increment | Units |
|---|---|
| 50 | milliampere hour |
BATT_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
| Values | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||
|---|---|---|---|---|
|
BATT_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
| Values | ||||
|---|---|---|---|---|
|
BATT_ARM_VOLT: Required arming voltage¶
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¶
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 |
BRD_ Parameters¶
BRD_PWM_COUNT: Auxiliary pin config¶
Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO
| RebootRequired | Values | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BRD_SER1_RTSCTS: Serial 1 flow control¶
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 |
|
BRD_SER2_RTSCTS: Serial 2 flow control¶
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 |
|
BRD_SER3_RTSCTS: Serial 3 flow control¶
Enable flow control on serial 3. 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 |
|
BRD_SER4_RTSCTS: Serial 4 flow control¶
Enable flow control on serial 4. 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 |
|
BRD_SER5_RTSCTS: Serial 5 flow control¶
Enable flow control on serial 5. 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 |
|
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 |
|
BRD_SBUS_OUT: SBUS output rate¶
This sets the SBUS output frame rate in Hz
| RebootRequired | Values | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
BRD_SERIAL_NUM: User-defined serial number¶
User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
| Range |
|---|
| -32768 - 32767 |
BRD_SAFETY_MASK: Outputs which ignore the safety switch state¶
A bitmask which controls what outputs can move while the safety switch has not been pressed
| Bitmask | RebootRequired | Values | ||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
|
BRD_IMU_TARGTEMP: Target IMU temperature¶
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¶
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 |
|
BRD_IO_ENABLE: Enable IO co-processor¶
This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
| RebootRequired | Values | ||||||
|---|---|---|---|---|---|---|---|
| True |
|
BRD_SAFETYOPTION: Options for safety button behavior¶
This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
| Bitmask | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_VBUS_MIN: Autopilot board voltage requirement¶
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¶
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¶
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¶
This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.
| Values | ||||||
|---|---|---|---|---|---|---|
|
BRD_OPTIONS: Board options¶
Board specific option flags
| Bitmask | ||||
|---|---|---|---|---|
|
BRD_BOOT_DELAY: Boot delay¶
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¶
IMU Heater P gain
| Increment | Range |
|---|---|
| 1 | 1 - 500 |
BRD_IMUHEAT_I: IMU Heater I gain¶
IMU Heater integrator gain
| Increment | Range |
|---|---|
| 0.1 | 0 - 1 |
BRD_IMUHEAT_IMAX: IMU Heater IMAX¶
IMU Heater integrator maximum
| Increment | Range |
|---|---|
| 1 | 0 - 100 |
BRD_ALT_CONFIG: Alternative HW config¶
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 | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_PROT: protocol¶
Select air protocol
| Values | ||||||||
|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_DEBUG: debug level¶
radio debug level
| Range |
|---|
| 0 - 4 |
BRD_RADIO_DISCRC: disable receive CRC¶
disable receive CRC (for debug)
| Values | ||||||
|---|---|---|---|---|---|---|
|
BRD_RADIO_SIGCH: RSSI signal strength¶
Channel to show receive RSSI signal strength, or zero for disabled
| Range |
|---|
| 0 - 16 |
BRD_RADIO_PPSCH: Packet rate channel¶
Channel to show received packet-per-second rate, or zero for disabled
| Range |
|---|
| 0 - 16 |
BRD_RADIO_TELEM: Enable telemetry¶
If this is non-zero then telemetry packets will be sent over DSM
| Values | ||||||
|---|---|---|---|---|---|---|
|
BRD_RADIO_TXPOW: Telemetry Transmit power¶
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¶
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 | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_STKMD: Stick input mode¶
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 | ||||||
|---|---|---|---|---|---|---|
|
BRD_RADIO_TESTCH: Set radio to factory test channel¶
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 | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter¶
Channel to show telemetry RSSI value as received by TX
| Range |
|---|
| 0 - 16 |
BRD_RADIO_TPPSCH: Telemetry PPS channel¶
Channel to show telemetry packets-per-second value, as received at TX
| Range |
|---|
| 0 - 16 |
BRD_RADIO_TXMAX: Transmitter transmit power¶
Set transmitter maximum transmit power (from 1 to 8)
| Range |
|---|
| 1 - 8 |
BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶
Set transmitter buzzer note adjustment (adjust frequency up)
| Range |
|---|
| 0 - 40 |
BRD_RADIO_ABTIME: Auto-bind time¶
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¶
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¶
Specifies which sources of UTC time will be accepted
| Bitmask | ||||||||
|---|---|---|---|---|---|---|---|---|
|
BRD_RTC_TZ_MIN: Timezone offset from UTC¶
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
CAM_RC_FEATURES: RunCam features available¶
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 | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAM_RC_BT_DELAY: RunCam boot delay before allowing updates¶
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¶
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¶
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¶
Specifies the allowed actions required to enter the OSD menu
| Bitmask | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_ Parameters¶
CAN_LOGLEVEL: Loglevel¶
Loglevel for recording initialisation and debug information from CAN Interface
| Range | Values | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0 - 4 |
|
CAN_D1_ Parameters¶
CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver¶
Enabling this option starts selected protocol that will use this virtual driver
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
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_PC_ Parameters¶
CAN_D1_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
| 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_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
| Range | Units |
|---|---|
| 1 - 500 | hertz |
CAN_D1_TST_ Parameters¶
CAN_D1_TST_ID: CAN Test Index¶
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
| Range | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0 - 4 |
|
CAN_D1_TST_LPR8: CANTester LoopRate¶
Selects the Looprate of Test methods
| Units |
|---|
| microseconds |
CAN_D1_UC_ Parameters¶
CAN_D1_UC_NODE: UAVCAN node that is used for this network¶
UAVCAN node should be set implicitly
| Range |
|---|
| 1 - 250 |
CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶
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¶
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¶
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¶
Enabling this option starts selected protocol that will use this virtual driver
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
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_PC_ Parameters¶
CAN_D2_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
| 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_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
| Range | Units |
|---|---|
| 1 - 500 | hertz |
CAN_D2_TST_ Parameters¶
CAN_D2_TST_ID: CAN Test Index¶
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
| Range | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0 - 4 |
|
CAN_D2_TST_LPR8: CANTester LoopRate¶
Selects the Looprate of Test methods
| Units |
|---|
| microseconds |
CAN_D2_UC_ Parameters¶
CAN_D2_UC_NODE: UAVCAN node that is used for this network¶
UAVCAN node should be set implicitly
| Range |
|---|
| 1 - 250 |
CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶
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¶
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¶
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¶
Enabling this option starts selected protocol that will use this virtual driver
| RebootRequired | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
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_PC_ Parameters¶
CAN_D3_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
| 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_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
| Range | Units |
|---|---|
| 1 - 500 | hertz |
CAN_D3_TST_ Parameters¶
CAN_D3_TST_ID: CAN Test Index¶
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
| Range | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 0 - 4 |
|
CAN_D3_TST_LPR8: CANTester LoopRate¶
Selects the Looprate of Test methods
| Units |
|---|
| microseconds |
CAN_D3_UC_ Parameters¶
CAN_D3_UC_NODE: UAVCAN node that is used for this network¶
UAVCAN node should be set implicitly
| Range |
|---|
| 1 - 250 |
CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶
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¶
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¶
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 |
|
CAN_P1_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
| Range |
|---|
| 10000 - 1000000 |
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 |
|
CAN_P2_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
| Range |
|---|
| 10000 - 1000000 |
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 |
|
CAN_P3_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
| Range |
|---|
| 10000 - 1000000 |
CAN_SLCAN_ Parameters¶
CAN_SLCAN_CPORT: SLCAN Route¶
CAN Interface ID to be routed to SLCAN, 0 means no routing
| RebootRequired | Values | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| True |
|
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 | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_SLCAN_TIMOUT: SLCAN Timeout¶
Duration of inactivity after which SLCAN is switched back to original driver in seconds.
| Range |
|---|
| 0 - 127 |
CAN_SLCAN_SDELAY: SLCAN Start Delay¶
Duration after which slcan starts after setting SERNUM in seconds.
| Range |
|---|
| 0 - 127 |
COMPASS_ Parameters¶
COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶
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¶
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¶
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¶
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 | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_USE: Use compass for yaw¶
Enable or disable the use of the compass (instead of the GPS) for determining heading
| Values | ||||||
|---|---|---|---|---|---|---|
|
COMPASS_AUTODEC: Auto Declination¶
Enable or disable the automatic calculation of the declination based on gps location
| Values | ||||||
|---|---|---|---|---|---|---|
|
COMPASS_MOTCT: Motor interference compensation type¶
Set motor interference compensation type to disabled, throttle or current. Do not change manually.
| Calibration | Values | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| 1 |
|
COMPASS_MOT_X: Motor interference compensation for body frame X axis¶
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¶
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¶
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¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERNAL: Compass is attached via an external cable¶
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
Compass device id. Automatically detected, do not set manually
| ReadOnly |
|---|
| True |
COMPASS_DEV_ID2: Compass2 device id¶
Second compass’s device id. Automatically detected, do not set manually
| ReadOnly |
|---|
| True |
COMPASS_DEV_ID3: Compass3 device id¶
Third compass’s device id. Automatically detected, do not set manually
| ReadOnly |
|---|
| True |
COMPASS_USE2: Compass2 used for yaw¶
Enable or disable the secondary compass for determining heading.
| Values | ||||||
|---|---|---|---|---|---|---|
|
COMPASS_ORIENT2: Compass2 orientation¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN2: Compass2 is attached via an external cable¶
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_USE3: Compass3 used for yaw¶
Enable or disable the tertiary compass for determining heading.
| Values | ||||||
|---|---|---|---|---|---|---|
|
COMPASS_ORIENT3: Compass3 orientation¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN3: Compass3 is attached via an external cable¶
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_DIA_X: Compass soft-iron diagonal X component¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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 |
|
COMPASS_OFFS_MAX: Compass maximum offset¶
This sets the maximum allowed compass offset in calibration and arming checks
| Increment | Range |
|---|---|
| 1 | 500 - 3000 |
COMPASS_TYPEMASK: Compass disable driver type mask¶
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 | ||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_PRIO1_ID: Compass device id with 1st order priority¶
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¶
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¶
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 | ||||||
|---|---|---|---|---|---|---|
|
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¶
This sets options to change the behaviour of the compass
| Bitmask | ||||
|---|---|---|---|---|
|
COMPASS_DEV_ID4: Compass4 device id¶
Extra 4th compass’s device id. Automatically detected, do not set manually
| ReadOnly |
|---|
| True |
COMPASS_DEV_ID5: Compass5 device id¶
Extra 5th compass’s device id. Automatically detected, do not set manually
| ReadOnly |
|---|
| True |
COMPASS_DEV_ID6: Compass6 device id¶
Extra 6th compass’s device id. Automatically detected, do not set manually
| ReadOnly |
|---|
| True |
COMPASS_DEV_ID7: Compass7 device id¶
Extra 7th compass’s device id. Automatically detected, do not set manually
| ReadOnly |
|---|
| True |
COMPASS_DEV_ID8: Compass8 device id¶
Extra 8th compass’s device id. Automatically detected, do not set manually
| ReadOnly |
|---|
| True |
COMPASS_CUS_ROLL: Custom orientation roll offset¶
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¶
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¶
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¶
This enables per-motor compass corrections
| Values | ||||||
|---|---|---|---|---|---|---|
|
COMPASS_PMOT_EXP: per-motor exponential correction¶
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¶
Compensation for X axis of motor1
COMPASS_PMOT1_Y: Compass per-motor1 Y¶
Compensation for Y axis of motor1
COMPASS_PMOT1_Z: Compass per-motor1 Z¶
Compensation for Z axis of motor1
COMPASS_PMOT2_X: Compass per-motor2 X¶
Compensation for X axis of motor2
COMPASS_PMOT2_Y: Compass per-motor2 Y¶
Compensation for Y axis of motor2
COMPASS_PMOT2_Z: Compass per-motor2 Z¶
Compensation for Z axis of motor2
COMPASS_PMOT3_X: Compass per-motor3 X¶
Compensation for X axis of motor3
COMPASS_PMOT3_Y: Compass per-motor3 Y¶
Compensation for Y axis of motor3
COMPASS_PMOT3_Z: Compass per-motor3 Z¶
Compensation for Z axis of motor3
COMPASS_PMOT4_X: Compass per-motor4 X¶
Compensation for X axis of motor4
COMPASS_PMOT4_Y: Compass per-motor4 Y¶
Compensation for Y axis of motor4
COMPASS_PMOT4_Z: Compass per-motor4 Z¶
Compensation for Z axis of motor4
FFT_ Parameters¶
FFT_ENABLE: Enable¶
Enable Gyro FFT analyser
| RebootRequired | Values | ||||||
|---|---|---|---|---|---|---|---|
| True |
|
FFT_MINHZ: Minimum Frequency¶
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¶
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¶
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¶
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¶
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¶
The learned hover noise frequency
| Range |
|---|
| 0 - 250 |
FFT_THR_REF: FFT learned thrust reference¶
FFT learned thrust reference for the hover frequency and FFT minimum frequency.
| Range |
|---|
| 0.01 - 0.9 |
FFT_SNR_REF: FFT SNR reference threshold¶
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¶
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¶
FFT learned bandwidth at hover for the attenuation frequencies.
| Range |
|---|
| 0 - 200 |
FFT_HMNC_FIT: FFT harmonic fit frequency threshold¶
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¶
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 | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GND_ Parameters¶
GND_ABS_PRESS: Absolute Pressure¶
calibrated ground pressure in Pascals
| Increment | ReadOnly | Units | Volatile |
|---|---|---|---|
| 1 | True | pascal | True |
GND_TEMP: ground temperature¶
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¶
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¶
This selects which barometer will be the primary if multiple barometers are found
| Values | ||||||||
|---|---|---|---|---|---|---|---|---|
|
GND_EXT_BUS: External baro bus¶
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
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¶
calibrated ground pressure in Pascals
| Increment | ReadOnly | Units | Volatile |
|---|---|---|---|
| 1 | True | pascal | True |
GND_ABS_PRESS3: Absolute Pressure¶
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¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
GND_BARO_ID: Baro ID¶
Barometer sensor ID, taking into account its type, bus and instance
| ReadOnly |
|---|
| True |
GND_BARO2_ID: Baro ID2¶
Barometer2 sensor ID, taking into account its type, bus and instance
| ReadOnly |
|---|
| True |
GND_BARO3_ID: Baro ID3¶
Barometer3 sensor ID, taking into account its type, bus and instance
| ReadOnly |
|---|
| True |
GPS_ Parameters¶
GPS_TYPE: GPS type¶
GPS type
| RebootRequired | Values | ||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
GPS_TYPE2: 2nd GPS type¶
GPS type of 2nd GPS
| RebootRequired | Values | ||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| True |
|
GPS_AUTO_SWITCH: Automatic Switchover Setting¶
Automatic switchover to GPS reporting best lock
| Values | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS¶
Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
| RebootRequired | Values | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| True |
|
GPS_SBAS_MODE: SBAS Mode¶
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_MIN_ELEV: Minimum elevation¶
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_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets¶
The GGS can send raw serial packets to inject data to multiple GPSes.
| Values | ||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask¶
Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
| Values | ||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_RAW_DATA: Raw data logging¶
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 |
|
GPS_GNSS_MODE: GNSS system configuration¶
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
| Bitmask | Values | ||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
GPS_SAVE_CFG: Save GPS configuration¶
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_GNSS_MODE2: GNSS system configuration¶
Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)
| Bitmask | Values | ||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
GPS_AUTO_CONFIG: Automatic GPS configuration¶
Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
| Values | ||||||
|---|---|---|---|---|---|---|
|
GPS_RATE_MS: GPS update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed
| Range | Units | Values | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| 50 - 200 | milliseconds |
|
GPS_RATE_MS2: GPS 2 update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz is not allowed
| Range | Units | Values | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| 50 - 200 | milliseconds |
|
GPS_POS1_X: Antenna X position offset¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_BLEND_TC: Blending time constant¶
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¶
Additional backend specific options
| Bitmask | ||||
|---|---|---|---|---|
|
GPS_COM_PORT: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF GPS
| Increment | Range | RebootRequired |
|---|---|---|
| 1 | 0 - 10 | True |
GPS_COM_PORT2: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF GPS
| Increment | Range | RebootRequired |
|---|---|---|
| 1 | 0 - 10 | True |
INS_ Parameters¶
INS_GYROFFS_X: Gyro offsets of X axis¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
Use first IMU for attitude, velocity and position estimates
| Values | ||||||
|---|---|---|---|---|---|---|
|
INS_USE2: Use second IMU for attitude, velocity and position estimates¶
Use second IMU for attitude, velocity and position estimates
| Values | ||||||
|---|---|---|---|---|---|---|
|
INS_USE3: Use third IMU for attitude, velocity and position estimates¶
Use third IMU for attitude, velocity and position estimates
| Values | ||||||
|---|---|---|---|---|---|---|
|
INS_STILL_THRESH: Stillness threshold for detecting if we are moving¶
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¶
Conrols when automatic gyro calibration is performed
| Values | ||||||
|---|---|---|---|---|---|---|
|
INS_TRIM_OPTION: Accel cal trim option¶
Specifies how the accel cal routine determines the trims
| Values | ||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_ACC_BODYFIX: Body-fixed accelerometer¶
The body-fixed accelerometer to be used for trim calculation
| Values | ||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_POS1_X: IMU accelerometer X position¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
Gyro sensor ID, taking into account its type, bus and instance
| ReadOnly |
|---|
| True |
INS_GYR2_ID: Gyro2 ID¶
Gyro2 sensor ID, taking into account its type, bus and instance
| ReadOnly |
|---|
| True |
INS_GYR3_ID: Gyro3 ID¶
Gyro3 sensor ID, taking into account its type, bus and instance
| ReadOnly |
|---|
| True |
INS_ACC_ID: Accelerometer ID¶
Accelerometer sensor ID, taking into account its type, bus and instance
| ReadOnly |
|---|
| True |
INS_ACC2_ID: Accelerometer2 ID¶
Accelerometer2 sensor ID, taking into account its type, bus and instance
| ReadOnly |
|---|
| True |
INS_ACC3_ID: Accelerometer3 ID¶
Accelerometer3 sensor ID, taking into account its type, bus and instance
| ReadOnly |
|---|
| True |
INS_FAST_SAMPLE: Fast sampling mask¶
Mask of IMUs to enable fast sampling on, if available
| Bitmask | Values | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
INS_ENABLE_MASK: IMU enable mask¶
Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
| Bitmask | Values | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled¶
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 |
|
INS_HNTCH_ Parameters¶
INS_HNTCH_ENABLE: Harmonic Notch Filter enable¶
Harmonic Notch Filter enable
| Values | ||||||
|---|---|---|---|---|---|---|
|
INS_HNTCH_FREQ: Harmonic Notch Filter base frequency¶
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¶
Harmonic Notch Filter bandwidth in Hz
| Range | Units |
|---|---|
| 5 - 100 | hertz |
INS_HNTCH_ATT: Harmonic Notch Filter attenuation¶
Harmonic Notch Filter attenuation in dB
| Range | Units |
|---|---|
| 5 - 30 | decibel |
INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics¶
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 | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
INS_HNTCH_REF: Harmonic Notch Filter reference value¶
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¶
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 |
|
INS_HNTCH_OPTS: Harmonic Notch Filter options¶
Harmonic Notch Filter options.
| Bitmask | RebootRequired | ||||||
|---|---|---|---|---|---|---|---|
|
True |
INS_LOG_ Parameters¶
INS_LOG_BAT_CNT: sample count per batch¶
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¶
Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.
| Bitmask | RebootRequired | Values | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
|
INS_LOG_BAT_OPT: Batch Logging Options Mask¶
Options for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time.
| Bitmask | ||||||
|---|---|---|---|---|---|---|
|
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¶
Enable notch filter
| Values | ||||||
|---|---|---|---|---|---|---|
|
INS_NOTCH_ATT: Attenuation¶
Notch attenuation in dB
| Range | Units |
|---|---|
| 5 - 30 | decibel |
INS_NOTCH_FREQ: Frequency¶
Notch center frequency in Hz
| Range | Units |
|---|---|
| 10 - 400 | hertz |
INS_NOTCH_BW: Bandwidth¶
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 | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes)¶
The File and Block backends use 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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||
|---|---|---|---|---|---|---|
|
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. Applies to the File and Block logging backends.
| Values | ||||||
|---|---|---|---|---|---|---|
|
LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size¶
Maximum amount of memory to allocate to AP_Logger-over-mavlink
| Units |
|---|
| kilobytes |
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 |
MSP Parameters¶
MSP_OSD_NCELLS: Cell count override¶
Used for average cell voltage calculation
| Values | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MSP_OPTIONS: MSP OSD Options¶
A bitmask to set some MSP specific options
| Bitmask | ||||
|---|---|---|---|---|
|
NTF_ Parameters¶
NTF_LED_BRIGHT: LED Brightness¶
Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
| Values | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_ENABLE: Buzzer enable¶
Enable or disable the buzzer.
| Values | ||||||
|---|---|---|---|---|---|---|
|
NTF_LED_OVERRIDE: Specifies colour source for the RGBLed¶
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 | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_DISPLAY_TYPE: Type of on-board I2C display¶
This sets up the type of on-board I2C display. Disabled by default.
| Values | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_OREO_THEME: OreoLED Theme¶
Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
| Values | ||||||||
|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_PIN: Buzzer pin¶
Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!
| Values | ||||
|---|---|---|---|---|
|
NTF_LED_TYPES: LED Driver Types¶
Controls what types of LEDs will be enabled
| Bitmask | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_ON_LVL: Buzzer-on pin logic level¶
Specifies pin level that indicates buzzer should play
| Values | ||||||
|---|---|---|---|---|---|---|
|
NTF_LED_LEN: Serial LED String Length¶
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¶
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¶
RC input options
| Bitmask | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC_PROTOCOLS: RC protocols enabled¶
Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.
| Bitmask | ||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC10_ Parameters¶
RC10_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC10_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC11_ Parameters¶
RC11_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC11_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC12_ Parameters¶
RC12_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC12_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC13_ Parameters¶
RC13_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC13_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC14_ Parameters¶
RC14_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC14_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC15_ Parameters¶
RC15_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC15_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC16_ Parameters¶
RC16_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC16_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC1_ Parameters¶
RC1_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC1_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC2_ Parameters¶
RC2_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC2_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC3_ Parameters¶
RC3_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC3_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC4_ Parameters¶
RC4_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC4_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC5_ Parameters¶
RC5_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC5_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC6_ Parameters¶
RC6_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC6_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC7_ Parameters¶
RC7_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC7_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC8_ Parameters¶
RC8_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC8_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC9_ Parameters¶
RC9_MIN: RC min PWM¶
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¶
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¶
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¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
| Values | ||||||
|---|---|---|---|---|---|---|
|
RC9_DZ: RC dead-zone¶
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SCHED_ Parameters¶
SCHED_DEBUG: Scheduler debug level¶
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 | ||||||||
|---|---|---|---|---|---|---|---|---|
|
SCHED_LOOP_RATE: Scheduling main loop rate¶
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 |
|
SCHED_OPTIONS: Scheduling options¶
This controls optional aspects of the scheduler.
| Bitmask | ||||
|---|---|---|---|---|
|
SCR_ Parameters¶
SCR_ENABLE: Enable Scripting¶
Controls if scripting is enabled
| RebootRequired | Values | ||||||
|---|---|---|---|---|---|---|---|
| True |
|
SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count¶
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¶
Amount of memory available for scripting
| Increment | Range | RebootRequired |
|---|---|---|
| 1024 | 1024 - 1048576 | True |
SCR_DEBUG_LVL: Scripting Debug Level¶
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 | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL0_PROTOCOL: Console protocol selection¶
Control what protocol to use on the console.
| RebootRequired | Values | ||||||
|---|---|---|---|---|---|---|---|
| True |
|
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 |
|
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 | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
|
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 | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
|
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 | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
|
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 | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
|
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 | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
|
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 | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL1_OPTIONS: Telem1 options¶
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 | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL2_OPTIONS: Telem2 options¶
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 | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL3_OPTIONS: Serial3 options¶
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 | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL4_OPTIONS: Serial4 options¶
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 | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL5_OPTIONS: Serial5 options¶
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 | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL6_OPTIONS: Serial6 options¶
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 | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL_PASS1: Serial passthru first port¶
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 | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL_PASS2: Serial passthru second port¶
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 | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL_PASSTIMO: Serial passthru timeout¶
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 |
|
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 | ||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL7_OPTIONS: Serial7 options¶
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 | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERVO Parameters¶
SERVO_RATE: Servo default output rate¶
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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||||||
|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 | ||
|---|---|---|
|