Complete Parameter List¶
Full Parameter List of AntennaTracker latest V4.3.0 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 |
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|---|---|---|---|---|---|---|---|---|
|
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 to 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 to 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 to 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 to 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 to 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 to 10 |
degrees |
YAW_RANGE: Yaw Angle Range¶
Yaw axis total range of motion in degrees
Increment |
Range |
Units |
|---|---|---|
0.1 |
0 to 360 |
degrees |
DISTANCE_MIN: Distance minimum to target¶
Tracker will track targets at least this distance away
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 100 |
meters |
ALT_SOURCE: Altitude Source¶
What provides altitude information for vehicle. Vehicle only assumes tracker has same altitude as vehicle's home
Values |
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|---|---|---|---|---|---|---|---|---|
|
MAV_UPDATE_RATE: Mavlink Update Rate¶
The rate at which Mavlink updates position and baro data
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 10 |
hertz |
PITCH_MIN: Minimum Pitch Angle¶
The lowest angle the pitch can reach
Increment |
Range |
Units |
|---|---|---|
1 |
-90 to 0 |
degrees |
PITCH_MAX: Maximum Pitch Angle¶
The highest angle the pitch can reach
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 90 |
degrees |
LOG_BITMASK: Log bitmask¶
4 byte bitmap of log types to enable
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 to 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 to 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 to 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 to 0.1 |
PITCH2SRV_FF: Pitch axis controller feed forward¶
Pitch axis controller feed forward
Increment |
Range |
|---|---|
0.001 |
0 to 0.5 |
PITCH2SRV_FLTT: Pitch axis controller target frequency in Hz¶
Pitch axis controller target frequency in Hz
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 50 |
hertz |
PITCH2SRV_FLTE: Pitch axis controller error frequency in Hz¶
Pitch axis controller error frequency in Hz
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 100 |
hertz |
PITCH2SRV_FLTD: Pitch axis controller derivative frequency in Hz¶
Pitch axis controller derivative frequency in Hz
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 100 |
hertz |
PITCH2SRV_SMAX: Pitch slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
|---|---|
0.5 |
0 to 200 |
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 to 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 to 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 to 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 to 0.1 |
YAW2SRV_FF: Yaw axis controller feed forward¶
Yaw axis controller feed forward
Increment |
Range |
|---|---|
0.001 |
0 to 0.5 |
YAW2SRV_FLTT: Yaw axis controller target frequency in Hz¶
Yaw axis controller target frequency in Hz
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 50 |
hertz |
YAW2SRV_FLTE: Yaw axis controller error frequency in Hz¶
Yaw axis controller error frequency in Hz
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 100 |
hertz |
YAW2SRV_FLTD: Yaw axis controller derivative frequency in Hz¶
Yaw axis controller derivative frequency in Hz
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 100 |
hertz |
YAW2SRV_SMAX: Yaw slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
|---|---|
0.5 |
0 to 200 |
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 to 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 to 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 to 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 to 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 to 0.4 |
AHRS_RP_P: AHRS RP_P¶
This controls how fast the accelerometers correct the attitude
Increment |
Range |
|---|---|
.01 |
0.1 to 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. See ARSPD_OPTIONS and ARSPD_MAX_WIND to disable airspeed sensors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 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 to +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 to +0.1745 |
radians |
AHRS_TRIM_Z: AHRS Trim Yaw¶
Not Used
Increment |
Range |
Units |
|---|---|---|
0.01 |
-0.1745 to +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. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 to 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 to 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 to 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 to 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 to 180 |
degrees |
AIS_ Parameters¶
AIS_TYPE: AIS receiver type¶
AIS receiver type
Values |
||||||
|---|---|---|---|---|---|---|
|
AIS_LIST_MAX: AIS vessel list size¶
AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.
Range |
|---|
1 to 100 |
AIS_TIME_OUT: AIS vessel time out¶
if no updates are received in this time a vessel will be removed from the list
Range |
Units |
|---|---|
1 to 2000 |
seconds |
AIS_LOGGING: AIS logging options¶
Bitmask of AIS logging options
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD Parameters¶
ARSPD_ENABLE: Airspeed Enable¶
Enable airspeed sensor support
Values |
||||||
|---|---|---|---|---|---|---|
|
ARSPD_TUBE_ORDER: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_PRIMARY: Primary airspeed sensor¶
This selects which airspeed sensor will be the primary if multiple sensors are found
Values |
||||||
|---|---|---|---|---|---|---|
|
ARSPD_OPTIONS: Airspeed options bitmask¶
Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction, 3:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 (requires AHRS_EKF_TYPE = 3)
Bitmask |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_WIND_MAX: Maximum airspeed and ground speed difference¶
If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor.
Units |
|---|
meters per second |
ARSPD_WIND_WARN: Airspeed and ground speed difference that gives a warning¶
If the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.
Units |
|---|
meters per second |
ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size¶
Number of standard deviations applied to the re-enable EKF consistency check that is used when ARSPD_OPTIONS bit position 3 is set. Larger values will make the re-enabling of the airspeed sensor faster, but increase the likelihood of re-enabling a degraded sensor. The value can be tuned by using the ARSP.TR log message by setting ARSP_WIND_GATE to a value that is higher than the value for ARSP.TR observed with a healthy airspeed sensor. Occasional transients in ARSP.TR above the value set by ARSP_WIND_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10% duty cycle.
Range |
|---|
0.0 to 10.0 |
ARSPD_OFF_PCNT: Maximum offset cal speed error¶
The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibraions before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.
Range |
Units |
|---|---|
0.0 to 10.0 |
percent |
ARSPD2_ Parameters¶
ARSPD2_TYPE: Airspeed type¶
Type of airspeed sensor
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD2_USE: Airspeed use¶
Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD2_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
|---|
0.1 |
ARSPD2_RATIO: Airspeed ratio¶
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
Increment |
|---|
0.1 |
ARSPD2_PIN: Airspeed pin¶
The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.
ARSPD2_AUTOCAL: Automatic airspeed ratio calibration¶
Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
ARSPD2_TUBE_ORDR: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup¶
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
||||||
|---|---|---|---|---|---|---|
|
ARSPD2_PSI_RANGE: The PSI range of the device¶
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD2_BUS: Airspeed I2C bus¶
Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD2_DEVID: Airspeed ID¶
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
ARSPD_ Parameters¶
ARSPD_TYPE: Airspeed type¶
Type of airspeed sensor
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_USE: Airspeed use¶
Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
|---|
0.1 |
ARSPD_RATIO: Airspeed ratio¶
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
Increment |
|---|
0.1 |
ARSPD_PIN: Airspeed pin¶
The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.
ARSPD_AUTOCAL: Automatic airspeed ratio calibration¶
Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
ARSPD_TUBE_ORDR: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup¶
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
||||||
|---|---|---|---|---|---|---|
|
ARSPD_PSI_RANGE: The PSI range of the device¶
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD_BUS: Airspeed I2C bus¶
Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_DEVID: Airspeed ID¶
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO Parameters¶
BARO1_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO_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 |
BARO_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 |
BARO_PRIMARY: Primary barometer¶
This selects which barometer will be the primary if multiple barometers are found
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
BARO_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 BARO_PROBE_EXT parameter.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BARO2_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO3_GND_PRESS: Absolute Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO_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 to 100 |
percent |
BARO_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 BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BARO1_DEVID: Baro ID¶
Barometer sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO2_DEVID: Baro ID2¶
Barometer2 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO3_DEVID: Baro ID3¶
Barometer3 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO_FIELD_ELV: field elevation¶
User provided field elevation in meters. 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. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.
Increment |
Units |
Volatile |
|---|---|---|
0.1 |
meters |
True |
BARO_ALTERR_MAX: Altitude error maximum¶
This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 5000 |
meters |
BARO_OPTIONS: Barometer options¶
Barometer options
Bitmask |
||||
|---|---|---|---|---|
|
BARO1_WCF_ Parameters¶
BARO1_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_UP: Pressure error coefficient in positive Z direction (up)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_DN: Pressure error coefficient in negative Z direction (down)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_ Parameters¶
BARO2_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_UP: Pressure error coefficient in positive Z direction (up)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_DN: Pressure error coefficient in negative Z direction (down)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_ Parameters¶
BARO3_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_UP: Pressure error coefficient in positive Z direction (up)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_DN: Pressure error coefficient in negative Z direction (down)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BATT2_ Parameters¶
BATT2_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 DroneCan 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 to 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 |
BATT2_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT2_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT2_VLT_OFFSET: Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT2_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT2_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT2_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT2_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT2_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT2_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT2_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT3_ Parameters¶
BATT3_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 DroneCan 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 to 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 |
BATT3_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT3_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT3_VLT_OFFSET: Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT3_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT3_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT3_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT3_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT3_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT3_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT3_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT4_ Parameters¶
BATT4_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 DroneCan 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 to 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 |
BATT4_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT4_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT4_VLT_OFFSET: Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT4_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT4_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT4_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT4_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT4_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT4_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT4_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT5_ Parameters¶
BATT5_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 DroneCan 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 to 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 |
BATT5_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT5_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT5_VLT_OFFSET: Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT5_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT5_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT5_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT5_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT5_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT5_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT5_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT6_ Parameters¶
BATT6_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 DroneCan 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 to 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 |
BATT6_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT6_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT6_VLT_OFFSET: Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT6_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT6_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT6_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT6_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT6_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT6_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT6_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT7_ Parameters¶
BATT7_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 DroneCan 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 to 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 |
BATT7_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT7_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT7_VLT_OFFSET: Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT7_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT7_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT7_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT7_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT7_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT7_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT7_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT8_ Parameters¶
BATT8_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 DroneCan 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 to 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 |
BATT8_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT8_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT8_VLT_OFFSET: Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT8_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT8_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT8_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT8_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT8_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT8_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT8_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT9_ Parameters¶
BATT9_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 DroneCan 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 to 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 |
BATT9_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT9_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT9_VLT_OFFSET: Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT9_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT9_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT9_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT9_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT9_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT9_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT9_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT_ Parameters¶
BATT_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 DroneCan 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 to 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 |
BATT_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT_VLT_OFFSET: Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BRD_ Parameters¶
BRD_SER1_RTSCTS: Serial 1 flow control¶
Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
BRD_SER2_RTSCTS: Serial 2 flow control¶
Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
BRD_SAFETY_DEFLT: Sets default state of the safety switch¶
This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.
Values |
||||||
|---|---|---|---|---|---|---|
|
BRD_SBUS_OUT: SBUS output rate¶
This sets the SBUS output frame rate in Hz
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
|---|
-8388608 to 8388607 |
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 |
||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_HEAT_TARG: Board heater temperature target¶
Board heater target temperature for boards with controllable heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.
Range |
Units |
|---|---|
-1 to 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)
Values |
||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_IO_ENABLE: Enable IO co-processor¶
This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 to 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 to 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 to 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. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxilliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.
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 to 10000 |
milliseconds |
BRD_HEAT_P: Board Heater P gain¶
Board Heater P gain
Increment |
Range |
|---|---|
1 |
1 to 500 |
BRD_HEAT_I: Board Heater I gain¶
Board Heater integrator gain
Increment |
Range |
|---|---|
0.1 |
0 to 1 |
BRD_HEAT_IMAX: Board Heater IMAX¶
Board Heater integrator maximum
Increment |
Range |
|---|---|
1 |
0 to 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 |
|---|---|
1 |
0 to 10 |
BRD_HEAT_LOWMGN: Board heater temp lower margin¶
Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check
Range |
Units |
|---|---|
0 to 20 |
degrees Celsius |
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 to 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 to 16 |
BRD_RADIO_PPSCH: Packet rate channel¶
Channel to show received packet-per-second rate, or zero for disabled
Range |
|---|
0 to 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 to 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 to 16 |
BRD_RADIO_TPPSCH: Telemetry PPS channel¶
Channel to show telemetry packets-per-second value, as received at TX
Range |
|---|
0 to 16 |
BRD_RADIO_TXMAX: Transmitter transmit power¶
Set transmitter maximum transmit power (from 1 to 8)
Range |
|---|
1 to 8 |
BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶
Set transmitter buzzer note adjustment (adjust frequency up)
Range |
|---|
0 to 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 to 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 to 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 to +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 to 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
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D1_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D1_PC_ECU_ID: ECU Node ID¶
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.
Range |
|---|
0 to 255 |
CAN_D1_PC_ECU_RT: ECU command output rate¶
Output rate of ECU command messages
Range |
Units |
|---|---|
1 to 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 to 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 to 250 |
CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN¶
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN¶
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_SRV_RT: Servo output rate¶
Maximum transmit rate for servo outputs
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D1_UC_OPTION: UAVCAN options¶
Option flags
Bitmask |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_NTF_RT: Notify State rate¶
Maximum transmit rate for Notify State Message
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D1_UC_ESC_OF: ESC Output channels offset¶
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth
Range |
|---|
0 to 18 |
CAN_D1_UC_POOL: CAN pool size¶
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
Range |
|---|
1024 to 16384 |
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
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D2_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D2_PC_ECU_ID: ECU Node ID¶
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.
Range |
|---|
0 to 255 |
CAN_D2_PC_ECU_RT: ECU command output rate¶
Output rate of ECU command messages
Range |
Units |
|---|---|
1 to 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 to 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 to 250 |
CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN¶
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN¶
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_SRV_RT: Servo output rate¶
Maximum transmit rate for servo outputs
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D2_UC_OPTION: UAVCAN options¶
Option flags
Bitmask |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_NTF_RT: Notify State rate¶
Maximum transmit rate for Notify State Message
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D2_UC_ESC_OF: ESC Output channels offset¶
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth
Range |
|---|
0 to 18 |
CAN_D2_UC_POOL: CAN pool size¶
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
Range |
|---|
1024 to 16384 |
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
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D3_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D3_PC_ECU_ID: ECU Node ID¶
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.
Range |
|---|
0 to 255 |
CAN_D3_PC_ECU_RT: ECU command output rate¶
Output rate of ECU command messages
Range |
Units |
|---|---|
1 to 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 to 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 to 250 |
CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN¶
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN¶
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_SRV_RT: Servo output rate¶
Maximum transmit rate for servo outputs
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D3_UC_OPTION: UAVCAN options¶
Option flags
Bitmask |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_NTF_RT: Notify State rate¶
Maximum transmit rate for Notify State Message
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D3_UC_ESC_OF: ESC Output channels offset¶
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth
Range |
|---|
0 to 18 |
CAN_D3_UC_POOL: CAN pool size¶
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
Range |
|---|
1024 to 16384 |
CAN_P1_ Parameters¶
CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface¶
Enabling this option enables use of CAN buses.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P1_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
|---|
10000 to 1000000 |
CAN_P1_FDBITRATE: Bitrate of CANFD interface¶
Bit rate can be set up to from 1000000 to 8000000
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P2_ Parameters¶
CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface¶
Enabling this option enables use of CAN buses.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P2_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
|---|
10000 to 1000000 |
CAN_P2_FDBITRATE: Bitrate of CANFD interface¶
Bit rate can be set up to from 1000000 to 8000000
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P3_ Parameters¶
CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface¶
Enabling this option enables use of CAN buses.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P3_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
|---|
10000 to 1000000 |
CAN_P3_FDBITRATE: Bitrate of CANFD interface¶
Bit rate can be set up to from 1000000 to 8000000
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_SLCAN_ Parameters¶
CAN_SLCAN_CPORT: SLCAN Route¶
CAN Interface ID to be routed to SLCAN, 0 means no routing
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 to 127 |
CAN_SLCAN_SDELAY: SLCAN Start Delay¶
Duration after which slcan starts after setting SERNUM in seconds.
Range |
|---|
0 to 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 to 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 to 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 to 400 |
milligauss |
COMPASS_DEC: Compass declination¶
An angle to compensate between the true north and magnetic north
Increment |
Range |
Units |
|---|---|---|
0.01 |
-3.142 to 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 to 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 to 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 to 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. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERNAL: Compass is attached via an external cable¶
Configure compass so it is attached externally. This is auto-detected on most boards. 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN2: Compass2 is attached via an external cable¶
Configure second compass so it is attached externally. This is auto-detected on most boards. 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. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN3: Compass3 is attached via an external cable¶
Configure third compass so it is attached externally. This is auto-detected on most boards. 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 to 32 |
|
COMPASS_OFFS_MAX: Compass maximum offset¶
This sets the maximum allowed compass offset in calibration and arming checks
Increment |
Range |
|---|---|
1 |
500 to 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 to 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.
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.
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.
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 to 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 to 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 to 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 |
Units |
|---|---|---|
1 |
-180 to 180 |
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 |
Units |
|---|---|---|
1 |
-180 to 180 |
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 |
Units |
|---|---|---|
1 |
-180 to 180 |
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 to 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
CUST_ROT Parameters¶
CUST_ROT_ENABLE: Enable Custom rotations¶
This enables custom rotations
Values |
||||||
|---|---|---|---|---|---|---|
|
CUST_ROT1_ Parameters¶
CUST_ROT1_ROLL: Custom roll¶
Custom euler roll, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT1_PITCH: Custom pitch¶
Custom euler pitch, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT1_YAW: Custom yaw¶
Custom euler yaw, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT2_ Parameters¶
CUST_ROT2_ROLL: Custom roll¶
Custom euler roll, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT2_PITCH: Custom pitch¶
Custom euler pitch, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT2_YAW: Custom yaw¶
Custom euler yaw, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
DID_ Parameters¶
DID_MAVPORT: MAVLink serial port¶
Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
DID_CANDRIVER: DroneCAN driver number¶
DroneCAN driver index, 0 to disable DroneCAN
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
DID_OPTIONS: OpenDroneID options¶
Options for OpenDroneID subsystem
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
DID_BARO_ACC: Barometer vertical accuraacy¶
Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default
Units |
|---|
meters |
EAHRS Parameters¶
EAHRS_OPTIONS: External AHRS options¶
External AHRS options bitmask
Bitmask |
||||
|---|---|---|---|---|
|
EAHRS_SENSORS: External AHRS sensors¶
External AHRS sensors bitmask
Bitmask |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EFI Parameters¶
EFI_TYPE: EFI communication type¶
What method of communication is used for EFI #1
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EFI_COEF1: EFI Calibration Coefficient 1¶
Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle
Range |
|---|
0 to 1 |
EFI_COEF2: EFI Calibration Coefficient 2¶
Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1
Range |
|---|
0 to 10 |
EFI_FUEL_DENS: ECU Fuel Density¶
Used to calculate fuel consumption
Range |
Units |
|---|---|
0 to 10000 |
kilograms per cubic meter |
ESC_TLM Parameters¶
ESC_TLM_MAV_OFS: ESC Telemetry mavlink offset¶
Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets
Increment |
Range |
|---|---|
1 |
0 to 31 |
FENCE_ Parameters¶
FENCE_ENABLE: Fence enable/disable¶
Allows you to enable (1) or disable (0) the fence functionality
Values |
||||||
|---|---|---|---|---|---|---|
|
FENCE_ACTION: Fence Action¶
What action should be taken when fence is breached
Values |
||||||
|---|---|---|---|---|---|---|
|
FENCE_RADIUS: Circular Fence Radius¶
Circle fence radius which when breached will cause an RTL
Range |
Units |
|---|---|
30 to 10000 |
meters |
FENCE_MARGIN: Fence Margin¶
Distance that autopilot's should maintain from the fence to avoid a breach
Range |
Units |
|---|---|
1 to 10 |
meters |
FENCE_TOTAL: Fence polygon point total¶
Number of polygon points saved in eeprom (do not update manually)
Range |
|---|
1 to 20 |
FFT_ Parameters¶
FFT_ENABLE: Enable¶
Enable Gyro FFT analyser
Values |
||||||
|---|---|---|---|---|---|---|
|
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 to 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 to 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 |
|---|
0 to 4 |
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 |
|---|
32 to 1024 |
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 |
|---|
0 to 0.9 |
FFT_FREQ_HOVER: FFT learned hover frequency¶
The learned hover noise frequency
Range |
|---|
0 to 250 |
FFT_THR_REF: FFT learned thrust reference¶
FFT learned thrust reference for the hover frequency and FFT minimum frequency.
Range |
|---|
0.01 to 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 to 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 to 100 |
FFT_BW_HOVER: FFT learned bandwidth at hover¶
FFT learned bandwidth at hover for the attenuation frequencies.
Range |
|---|
0 to 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 |
|---|
0 to 100 |
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FFT_NUM_FRAMES: FFT output frames to retain and average¶
Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.
Range |
|---|
0 to 8 |
FFT_OPTIONS: FFT options¶
FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
FRSKY_ Parameters¶
FRSKY_UPLINK_ID: Uplink sensor id¶
Change the uplink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK1_ID: First downlink sensor id¶
Change the first extra downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK2_ID: Second downlink sensor id¶
Change the second extra downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK_ID: Default downlink sensor id¶
Change the default downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_OPTIONS: FRSky Telemetry Options¶
A bitmask to set some FRSky Telemetry specific options
Bitmask |
||||
|---|---|---|---|---|
|
GEN_ Parameters¶
GEN_TYPE: Generator type¶
Generator type
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
GEN_OPTIONS: Generator Options¶
Bitmask of options for generators
Bitmask |
||||
|---|---|---|---|---|
|
GPS Parameters¶
GPS_TYPE: 1st GPS type¶
GPS type of 1st GPS
Values |
||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_TYPE2: 2nd GPS type¶
GPS type of 2nd GPS
Values |
||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_AUTO_SWITCH: Automatic Switchover Setting¶
Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary
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.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 to 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
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|---|
50 to 200 |
milliseconds |
|
GPS_RATE_MS2: GPS 2 update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|---|
50 to 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 to 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 to 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 to 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 to 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 to 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 to 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 |
Units |
|---|---|
0 to 250 |
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 |
Units |
|---|---|
0 to 250 |
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 to 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 |
|---|---|
1 |
0 to 10 |
GPS_COM_PORT2: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF GPS
Increment |
Range |
|---|---|
1 |
0 to 10 |
GPS_PRIMARY: Primary GPS¶
This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
Increment |
Values |
||||||
|---|---|---|---|---|---|---|---|
1 |
|
GPS_CAN_NODEID1: GPS Node ID 1¶
GPS Node id for first-discovered GPS.
ReadOnly |
|---|
True |
GPS_CAN_NODEID2: GPS Node ID 2¶
GPS Node id for second-discovered GPS.
ReadOnly |
|---|
True |
GPS1_CAN_OVRIDE: First DroneCAN GPS NODE ID¶
GPS Node id for first GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.
GPS2_CAN_OVRIDE: Second DroneCAN GPS NODE ID¶
GPS Node id for second GPS. If 0 the gps will be automatically selected on a second-come-second-GPS basis.
GPS_MB1_ Parameters¶
GPS_MB1_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS_MB1_OFS_X: Base antenna X position offset¶
X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB1_OFS_Y: Base antenna Y position offset¶
Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB1_OFS_Z: Base antenna Z position offset¶
Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB2_ Parameters¶
GPS_MB2_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS_MB2_OFS_X: Base antenna X position offset¶
X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB2_OFS_Y: Base antenna Y position offset¶
Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB2_OFS_Z: Base antenna Z position offset¶
Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_ENABLE_MASK: IMU enable mask¶
Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer¶
Temperature that the 1st accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope¶
Temperature that the 1st gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer¶
Temperature that the 2nd accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope¶
Temperature that the 2nd gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer¶
Temperature that the 3rd accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope¶
Temperature that the 3rd gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_TCAL_OPTIONS: Options for temperature calibration¶
This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.
Bitmask |
||||
|---|---|---|---|---|
|
INS_HNTC2_ Parameters¶
INS_HNTC2_ENABLE: Harmonic Notch Filter enable¶
Harmonic Notch Filter enable
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_HNTC2_FREQ: Harmonic Notch Filter base frequency¶
Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). 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 to 495 |
hertz |
INS_HNTC2_BW: Harmonic Notch Filter bandwidth¶
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Range |
Units |
|---|---|
5 to 250 |
hertz |
INS_HNTC2_ATT: Harmonic Notch Filter attenuation¶
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Range |
Units |
|---|---|
5 to 50 |
decibel |
INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics¶
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.
Bitmask |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTC2_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 |
|---|
0.0 to 1.0 |
INS_HNTC2_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 to 4 |
|
INS_HNTC2_OPTS: Harmonic Notch Filter options¶
Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.
Bitmask |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTC2_FM_RAT: Throttle notch min freqency ratio¶
The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.
Range |
|---|
0.1 to 1.0 |
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. This should be set at most half the backend gyro rate (which is typically 1Khz). 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 to 495 |
hertz |
INS_HNTCH_BW: Harmonic Notch Filter bandwidth¶
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Range |
Units |
|---|---|
5 to 250 |
hertz |
INS_HNTCH_ATT: Harmonic Notch Filter attenuation¶
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Range |
Units |
|---|---|
5 to 50 |
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 value of 0 disables this filter. The first harmonic refers to the base frequency.
Bitmask |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
|---|
0.0 to 1.0 |