Complete Parameter List¶

Full Parameter List of AntennaTracker latest V1.2.0 dev

You can change and check the parameters for another version:

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

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

AntennaTracker Parameters¶

FORMAT_VERSION: Eeprom format version number¶

Note: This parameter is for advanced users

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

SYSID_THISMAV: MAVLink system ID of this vehicle¶

Note: This parameter is for advanced users

Allows setting an individual system id for this vehicle to distinguish it from others on the same network

Range
1 - 255

SYSID_MYGCS: Ground station MAVLink system ID¶

Note: This parameter is for advanced users

The identifier of the ground station in the MAVLink protocol. Don’t change this unless you also modify the ground station to match.

Range
1 - 255

SYSID_TARGET: Target vehicle’s MAVLink system ID¶

Note: This parameter is for advanced users

The identifier of the vehicle being tracked. This should be zero (to auto detect) or be the same as the SYSID_THISMAV parameter of the vehicle being tracked.

Range
1 - 255

YAW_SLEW_TIME: Time for yaw to slew through its full range¶

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

Increment	Range	Units
0.1	0 - 20	seconds

PITCH_SLEW_TIME: Time for pitch to slew through its full range¶

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

Increment	Range	Units
0.1	0 - 20	seconds

MIN_REVERSE_TIME: Minimum time to apply a yaw reversal¶

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

Increment	Range	Units
1	0 - 20	seconds

START_LATITUDE: Initial Latitude before GPS lock¶

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

Increment	Range	Units
0.000001	-90 - 90	degrees

START_LONGITUDE: Initial Longitude before GPS lock¶

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

Increment	Range	Units
0.000001	-180 - 180	degrees

STARTUP_DELAY: Delay before first servo movement from trim¶

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

Increment	Range	Units
0.1	0 - 10	seconds

SERVO_PITCH_TYPE: Type of servo system being used for pitch¶

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

Values

Value	Meaning
0	Position
1	OnOff
2	ContinuousRotation

SERVO_YAW_TYPE: Type of servo system being used for yaw¶

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

Values

Value	Meaning
0	Position
1	OnOff
2	ContinuousRotation

ONOFF_YAW_RATE: Yaw rate for on/off servos¶

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

Increment	Range	Units
0.1	0 - 50	degrees per second

ONOFF_PITCH_RATE: Pitch rate for on/off servos¶

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

Increment	Range	Units
0.1	0 - 50	degrees per second

ONOFF_YAW_MINT: Yaw minimum movement time¶

Minimum amount of time in seconds to move in yaw

Increment	Range	Units
0.01	0 - 2	seconds

ONOFF_PITCH_MINT: Pitch minimum movement time¶

Minimim amount of time in seconds to move in pitch

Increment	Range	Units
0.01	0 - 2	seconds

YAW_TRIM: Yaw trim¶

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

Increment	Range	Units
0.1	-10 - 10	degrees

PITCH_TRIM: Pitch trim¶

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

Increment	Range	Units
0.1	-10 - 10	degrees

YAW_RANGE: Yaw Angle Range¶

Yaw axis total range of motion in degrees

Increment	Range	Units
0.1	0 - 360	degrees

DISTANCE_MIN: Distance minimum to target¶

Tracker will track targets at least this distance away

Increment	Range	Units
1	0 - 100	meters

ALT_SOURCE: Altitude Source¶

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

Values

Value	Meaning
0	Barometer
1	GPS
2	GPS vehicle only

MAV_UPDATE_RATE: Mavlink Update Rate¶

The rate at which Mavlink updates position and baro data

Increment	Range	Units
1	1 - 10	hertz

PITCH_MIN: Minimum Pitch Angle¶

The lowest angle the pitch can reach

Increment	Range	Units
1	-90 - 0	degrees

PITCH_MAX: Maximum Pitch Angle¶

The highest angle the pitch can reach

Increment	Range	Units
1	0 - 90	degrees

LOG_BITMASK: Log bitmask¶

4 byte bitmap of log types to enable

Bitmask

Bit	Meaning
0	ATTITUDE
1	GPS
2	RCIN
3	IMU
4	RCOUT
5	COMPASS
6	Battery

PITCH2SRV_P: Pitch axis controller P gain¶

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

Increment	Range
0.01	0.0 - 3.0

PITCH2SRV_I: Pitch axis controller I gain¶

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

Increment	Range
0.01	0.0 - 3.0

PITCH2SRV_IMAX: Pitch axis controller I gain maximum¶

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

Increment	Range	Units
10	0 - 4000	decipercent

PITCH2SRV_D: Pitch axis controller D gain¶

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

Increment	Range
0.001	0.001 - 0.1

PITCH2SRV_FF: Pitch axis controller feed forward¶

Pitch axis controller feed forward

Increment	Range
0.001	0 - 0.5

PITCH2SRV_FLTT: Pitch axis controller target frequency in Hz¶

Pitch axis controller target frequency in Hz

Increment	Range	Units
1	1 - 50	hertz

PITCH2SRV_FLTE: Pitch axis controller error frequency in Hz¶

Pitch axis controller error frequency in Hz

Increment	Range	Units
1	1 - 100	hertz

PITCH2SRV_FLTD: Pitch axis controller derivative frequency in Hz¶

Pitch axis controller derivative frequency in Hz

Increment	Range	Units
1	1 - 100	hertz

PITCH2SRV_SMAX: Pitch slew rate limit¶

Note: This parameter is for advanced users

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 - 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 - 3.0

YAW2SRV_I: Yaw axis controller I gain¶

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

Increment	Range
0.01	0.0 - 3.0

YAW2SRV_IMAX: Yaw axis controller I gain maximum¶

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

Increment	Range	Units
10	0 - 4000	decipercent

YAW2SRV_D: Yaw axis controller D gain¶

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

Increment	Range
0.001	0.001 - 0.1

YAW2SRV_FF: Yaw axis controller feed forward¶

Yaw axis controller feed forward

Increment	Range
0.001	0 - 0.5

YAW2SRV_FLTT: Yaw axis controller target frequency in Hz¶

Yaw axis controller target frequency in Hz

Increment	Range	Units
1	1 - 50	hertz

YAW2SRV_FLTE: Yaw axis controller error frequency in Hz¶

Yaw axis controller error frequency in Hz

Increment	Range	Units
1	1 - 100	hertz

YAW2SRV_FLTD: Yaw axis controller derivative frequency in Hz¶

Yaw axis controller derivative frequency in Hz

Increment	Range	Units
1	1 - 100	hertz

YAW2SRV_SMAX: Yaw slew rate limit¶

Note: This parameter is for advanced users

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 - 200

CMD_TOTAL: Number of loaded mission items¶

Note: This parameter is for advanced users

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

Range
1 - 255

GCS_PID_MASK: GCS PID tuning mask¶

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

Bitmask

Values

Bit	Meaning
0	Pitch
1	Yaw

Value	Meaning
0	None
1	Pitch
2	Yaw

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

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

Increment	Range	Units
1	0 - 100	degrees per second

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

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

Increment	Range	Units
1	0 - 100	degrees per second

INITIAL_MODE: Mode tracker will switch into after initialization¶

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

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

0:zero pwm, 1:trim pwm

AUTO_OPTIONS: Auto mode options¶

1: Scan for unknown target

Bitmask

Values

Bit	Meaning
0	Scan for unknown target

Value	Meaning
0	None
1	Scan for unknown target in auto mode

AHRS_ Parameters¶

AHRS_GPS_GAIN: AHRS GPS gain¶

Note: This parameter is for advanced users

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

Increment	Range
.01	0.0 - 1.0

AHRS_GPS_USE: AHRS use GPS for DCM navigation and position-down¶

Note: This parameter is for advanced users

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won’t be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.

Values

Value	Meaning
0	Disabled
1	Use GPS for DCM position
2	Use GPS for DCM position and height

AHRS_YAW_P: Yaw P¶

Note: This parameter is for advanced users

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

Increment	Range
.01	0.1 - 0.4

AHRS_RP_P: AHRS RP_P¶

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Increment	Range
.01	0.1 - 0.4

AHRS_WIND_MAX: Maximum wind¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 127	meters per second

AHRS_TRIM_X: AHRS Trim Roll¶

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

Increment	Range	Units
0.01	-0.1745 - +0.1745	radians

AHRS_TRIM_Y: AHRS Trim Pitch¶

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

Increment	Range	Units
0.01	-0.1745 - +0.1745	radians

AHRS_TRIM_Z: AHRS Trim Yaw¶

Note: This parameter is for advanced users

Not Used

Increment	Range	Units
0.01	-0.1745 - +0.1745	radians

AHRS_ORIENTATION: Board Orientation¶

Note: This parameter is for advanced users

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. 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.

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Yaw45Roll180
10	Yaw90Roll180
11	Yaw135Roll180
12	Pitch180
13	Yaw225Roll180
14	Yaw270Roll180
15	Yaw315Roll180
16	Roll90
17	Yaw45Roll90
18	Yaw90Roll90
19	Yaw135Roll90
20	Roll270
21	Yaw45Roll270
22	Yaw90Roll270
23	Yaw135Roll270
24	Pitch90
25	Pitch270
26	Yaw90Pitch180
27	Yaw270Pitch180
28	Pitch90Roll90
29	Pitch90Roll180
30	Pitch90Roll270
31	Pitch180Roll90
32	Pitch180Roll270
33	Pitch270Roll90
34	Pitch270Roll180
35	Pitch270Roll270
36	Yaw90Pitch180Roll90
37	Yaw270Roll90
38	Yaw293Pitch68Roll180
39	Pitch315
40	Pitch315Roll90
42	Roll45
43	Roll315
100	Custom 4.1 and older
101	Custom 1
102	Custom 2

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient¶

Note: This parameter is for advanced users

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

Increment	Range
.01	0.001 - 0.5

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites¶

Note: This parameter is for advanced users

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

Increment	Range
1	0 - 10

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
2	Enable EKF2
3	Enable EKF3
11	ExternalAHRS

AHRS_CUSTOM_ROLL: Board orientation roll offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 - 180	degrees

AHRS_CUSTOM_PIT: Board orientation pitch offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 - 180	degrees

AHRS_CUSTOM_YAW: Board orientation yaw offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 - 180	degrees

ARSPD Parameters¶

ARSPD_TYPE: Airspeed type¶

Type of airspeed sensor

Values

Value	Meaning
0	None
1	I2C-MS4525D0
2	Analog
3	I2C-MS5525
4	I2C-MS5525 (0x76)
5	I2C-MS5525 (0x77)
6	I2C-SDP3X
7	I2C-DLVR-5in
8	DroneCAN
9	I2C-DLVR-10in
10	I2C-DLVR-20in
11	I2C-DLVR-30in
12	I2C-DLVR-60in
13	NMEA water speed
14	MSP
15	ASP5033

ARSPD_DEVID: Airspeed ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

ARSPD_OFFSET: Airspeed offset¶

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD_RATIO: Airspeed ratio¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

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_TUBE_ORDER: Control pitot tube order¶

Note: This parameter is for advanced users

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

Value	Meaning
0	Normal
1	Swapped
2	Auto Detect

ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup¶

Note: This parameter is for advanced users

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

Value	Meaning
0	Disable
1	Enable

ARSPD_PSI_RANGE: The PSI range of the device¶

Note: This parameter is for advanced users

This parameter allows you to 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¶

Note: This parameter is for advanced users

Bus number of the I2C bus where the airspeed sensor is connected

Values

Value	Meaning
0	Bus0(internal)
1	Bus1(external)
2	Bus2(auxiliary)

ARSPD_PRIMARY: Primary airspeed sensor¶

Note: This parameter is for advanced users

This selects which airspeed sensor will be the primary if multiple sensors are found

Values

Value	Meaning
0	FirstSensor
1	2ndSensor

ARSPD_WIND_MAX: Maximum airspeed and ground speed difference¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

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

ARSPD2_TYPE: Second Airspeed type¶

Type of 2nd airspeed sensor

Values

Value	Meaning
0	None
1	I2C-MS4525D0
2	Analog
3	I2C-MS5525
4	I2C-MS5525 (0x76)
5	I2C-MS5525 (0x77)
6	I2C-SDP3X
7	I2C-DLVR-5in
8	DroneCAN
9	I2C-DLVR-10in
10	I2C-DLVR-20in
11	I2C-DLVR-30in
12	I2C-DLVR-60in
13	NMEA water speed
14	MSP
15	ASP5033

ARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor¶

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor¶

Note: This parameter is for advanced users

Airspeed calibration ratio

Increment
0.1

ARSPD2_PIN: Airspeed pin for 2nd airspeed sensor¶

Note: This parameter is for advanced users

Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15.

ARSPD2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor¶

Note: This parameter is for advanced users

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

Value	Meaning
0	Normal
1	Swapped
2	Auto Detect

ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup for 2nd sensor¶

Note: This parameter is for advanced users

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

Value	Meaning
0	Disable
1	Enable

ARSPD2_PSI_RANGE: The PSI range of the device for 2nd sensor¶

Note: This parameter is for advanced users

This parameter allows you to 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 for 2nd sensor¶

Note: This parameter is for advanced users

The bus number of the I2C bus to look for the sensor on

Values

Value	Meaning
0	Bus0(internal)
1	Bus1(external)
2	Bus2(auxiliary)

ARSPD2_DEVID: Airspeed2 ID¶

Note: This parameter is for advanced users

Airspeed2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

BARO Parameters¶

BARO1_GND_PRESS: Ground Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO_GND_TEMP: ground temperature¶

Note: This parameter is for advanced users

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

Increment	Units	Volatile
1	degrees Celsius	True

BARO_ALT_OFFSET: altitude offset¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	meters

BARO_PRIMARY: Primary barometer¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	FirstBaro
1	2ndBaro
2	3rdBaro

BARO_EXT_BUS: External baro bus¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
-1	Disabled
0	Bus0
1	Bus1

BARO2_GND_PRESS: Ground Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO3_GND_PRESS: Absolute Pressure¶

Note: This parameter is for advanced users

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 - 100	percent

BARO_PROBE_EXT: External barometers to probe¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	BMP085
1	BMP280
2	MS5611
3	MS5607
4	MS5637
5	FBM320
6	DPS280
7	LPS25H
8	Keller
9	MS5837
10	BMP388
11	SPL06
12	MSP

BARO1_DEVID: Baro ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

BARO2_DEVID: Baro ID2¶

Note: This parameter is for advanced users

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

ReadOnly
True

BARO3_DEVID: Baro ID3¶

Note: This parameter is for advanced users

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

ReadOnly
True

BARO1_WCF_ Parameters¶

BARO1_WCF_ENABLE: Wind coefficient enable¶

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value	Meaning
0	Disabled
1	Enabled

BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶

Note: This parameter is for advanced users

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 - 1.0

BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶

Note: This parameter is for advanced users

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 - 1.0

BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶

Note: This parameter is for advanced users

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 - 1.0

BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶

Note: This parameter is for advanced users

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 - 1.0

BARO2_WCF_ Parameters¶

BARO2_WCF_ENABLE: Wind coefficient enable¶

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value	Meaning
0	Disabled
1	Enabled

BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶

Note: This parameter is for advanced users

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 - 1.0

BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶

Note: This parameter is for advanced users

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 - 1.0

BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶

Note: This parameter is for advanced users

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 - 1.0

BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶

Note: This parameter is for advanced users

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 - 1.0

BARO3_WCF_ Parameters¶

BARO3_WCF_ENABLE: Wind coefficient enable¶

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value	Meaning
0	Disabled
1	Enabled

BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶

Note: This parameter is for advanced users

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 - 1.0

BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶

Note: This parameter is for advanced users

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 - 1.0

BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶

Note: This parameter is for advanced users

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 - 1.0

BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶

Note: This parameter is for advanced users

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 - 1.0

BATT2_ Parameters¶

BATT2_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	DroneCAN-BatteryInfo
9	ESC
10	Sum Of Selected Monitors
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT2_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT2_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT2_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT2_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT2_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT2_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT2_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT2_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT2_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT2_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT2_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore DroneCAN SoC
1	MPPT reports input voltage and current
2	MPPT Powered off when disarmed
3	MPPT Powered on when armed
4	MPPT Powered off at boot
5	MPPT Powered on at boot
6	Send resistance compensated voltage to GCS

BATT2_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

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

BATT2_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

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

BATT2_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT2_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT2_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT2_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 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

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT2_CURR_MULT: Scales reported power monitor current¶

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 - 10

BATT3_ Parameters¶

BATT3_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	DroneCAN-BatteryInfo
9	ESC
10	Sum Of Selected Monitors
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT3_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT3_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT3_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT3_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT3_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT3_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT3_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT3_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT3_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT3_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT3_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT3_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT3_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore DroneCAN SoC
1	MPPT reports input voltage and current
2	MPPT Powered off when disarmed
3	MPPT Powered on when armed
4	MPPT Powered off at boot
5	MPPT Powered on at boot
6	Send resistance compensated voltage to GCS

BATT3_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

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

BATT3_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

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

BATT3_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT3_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT3_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT3_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT3_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 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

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT3_CURR_MULT: Scales reported power monitor current¶

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 - 10

BATT4_ Parameters¶

BATT4_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	DroneCAN-BatteryInfo
9	ESC
10	Sum Of Selected Monitors
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT4_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT4_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT4_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT4_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT4_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT4_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT4_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT4_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT4_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT4_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT4_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT4_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT4_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore DroneCAN SoC
1	MPPT reports input voltage and current
2	MPPT Powered off when disarmed
3	MPPT Powered on when armed
4	MPPT Powered off at boot
5	MPPT Powered on at boot
6	Send resistance compensated voltage to GCS

BATT4_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

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

BATT4_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

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

BATT4_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT4_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT4_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT4_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT4_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 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

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT4_CURR_MULT: Scales reported power monitor current¶

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 - 10

BATT5_ Parameters¶

BATT5_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	DroneCAN-BatteryInfo
9	ESC
10	Sum Of Selected Monitors
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT5_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT5_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT5_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT5_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT5_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT5_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT5_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT5_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT5_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT5_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT5_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT5_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT5_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore DroneCAN SoC
1	MPPT reports input voltage and current
2	MPPT Powered off when disarmed
3	MPPT Powered on when armed
4	MPPT Powered off at boot
5	MPPT Powered on at boot
6	Send resistance compensated voltage to GCS

BATT5_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

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

BATT5_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

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

BATT5_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT5_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT5_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT5_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT5_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 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

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT5_CURR_MULT: Scales reported power monitor current¶

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 - 10

BATT6_ Parameters¶

BATT6_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	DroneCAN-BatteryInfo
9	ESC
10	Sum Of Selected Monitors
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT6_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT6_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT6_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT6_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT6_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT6_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT6_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT6_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT6_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT6_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT6_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT6_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT6_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore DroneCAN SoC
1	MPPT reports input voltage and current
2	MPPT Powered off when disarmed
3	MPPT Powered on when armed
4	MPPT Powered off at boot
5	MPPT Powered on at boot
6	Send resistance compensated voltage to GCS

BATT6_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

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

BATT6_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

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

BATT6_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT6_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT6_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT6_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT6_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 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

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT6_CURR_MULT: Scales reported power monitor current¶

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 - 10

BATT7_ Parameters¶

BATT7_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	DroneCAN-BatteryInfo
9	ESC
10	Sum Of Selected Monitors
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT7_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT7_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT7_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT7_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT7_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT7_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT7_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT7_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT7_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT7_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT7_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT7_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT7_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore DroneCAN SoC
1	MPPT reports input voltage and current
2	MPPT Powered off when disarmed
3	MPPT Powered on when armed
4	MPPT Powered off at boot
5	MPPT Powered on at boot
6	Send resistance compensated voltage to GCS

BATT7_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

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

BATT7_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

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

BATT7_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT7_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT7_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT7_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT7_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 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

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT7_CURR_MULT: Scales reported power monitor current¶

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 - 10

BATT8_ Parameters¶

BATT8_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	DroneCAN-BatteryInfo
9	ESC
10	Sum Of Selected Monitors
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT8_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT8_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT8_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT8_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT8_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT8_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT8_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT8_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT8_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT8_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT8_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT8_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT8_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore DroneCAN SoC
1	MPPT reports input voltage and current
2	MPPT Powered off when disarmed
3	MPPT Powered on when armed
4	MPPT Powered off at boot
5	MPPT Powered on at boot
6	Send resistance compensated voltage to GCS

BATT8_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

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

BATT8_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

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

BATT8_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT8_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT8_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT8_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT8_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 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

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT8_CURR_MULT: Scales reported power monitor current¶

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 - 10

BATT9_ Parameters¶

BATT9_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	DroneCAN-BatteryInfo
9	ESC
10	Sum Of Selected Monitors
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT9_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT9_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT9_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT9_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT9_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT9_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT9_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT9_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT9_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT9_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT9_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT9_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT9_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore DroneCAN SoC
1	MPPT reports input voltage and current
2	MPPT Powered off when disarmed
3	MPPT Powered on when armed
4	MPPT Powered off at boot
5	MPPT Powered on at boot
6	Send resistance compensated voltage to GCS

BATT9_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

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

BATT9_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

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

BATT9_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT9_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT9_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT9_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT9_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 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

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT9_CURR_MULT: Scales reported power monitor current¶

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 - 10

BATT_ Parameters¶

BATT_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	DroneCAN-BatteryInfo
9	ESC
10	Sum Of Selected Monitors
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None

BATT_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore DroneCAN SoC
1	MPPT reports input voltage and current
2	MPPT Powered off when disarmed
3	MPPT Powered on when armed
4	MPPT Powered off at boot
5	MPPT Powered on at boot
6	Send resistance compensated voltage to GCS

BATT_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

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

BATT_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

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

BATT_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 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

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT_CURR_MULT: Scales reported power monitor current¶

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 - 10

BRD_ Parameters¶

BRD_SER1_RTSCTS: Serial 1 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Value	Meaning
0	Disabled
1	Enabled
2	Auto

BRD_SER2_RTSCTS: Serial 2 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Value	Meaning
0	Disabled
1	Enabled
2	Auto

BRD_SER3_RTSCTS: Serial 3 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Value	Meaning
0	Disabled
1	Enabled
2	Auto

BRD_SER4_RTSCTS: Serial 4 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Value	Meaning
0	Disabled
1	Enabled
2	Auto

BRD_SER5_RTSCTS: Serial 5 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Value	Meaning
0	Disabled
1	Enabled
2	Auto

BRD_SAFETYENABLE: Enable use of safety arming switch¶

Note: Reboot required after change

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

Value	Meaning
0	Disabled
1	Enabled

BRD_SBUS_OUT: SBUS output rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the SBUS output frame rate in Hz

Values

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

BRD_SERIAL_NUM: User-defined serial number¶

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

Range
-8388608 - 8388607

BRD_SAFETY_MASK: Outputs which ignore the safety switch state¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask

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

BRD_HEAT_TARG: Board heater temperature target¶

Note: This parameter is for advanced users

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 - 80	degrees Celsius

BRD_TYPE: Board type¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	AUTO
1	PX4V1
2	Pixhawk
3	Cube/Pixhawk2
4	Pixracer
5	PixhawkMini
6	Pixhawk2Slim
13	Intel Aero FC
14	Pixhawk Pro
20	AUAV2.1
21	PCNC1
22	MINDPXV2
23	SP01
24	CUAVv5/FMUV5
30	VRX BRAIN51
32	VRX BRAIN52
33	VRX BRAIN52E
34	VRX UBRAIN51
35	VRX UBRAIN52
36	VRX CORE10
38	VRX BRAIN54
39	PX4 FMUV6
100	PX4 OLDDRIVERS

BRD_IO_ENABLE: Enable IO co-processor¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	Enabled

BRD_SAFETYOPTION: Options for safety button behavior¶

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

Bitmask

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

BRD_VBUS_MIN: Autopilot board voltage requirement¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	4.0 - 5.5	volt

BRD_VSERVO_MIN: Servo voltage requirement¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	3.3 - 12.0	volt

BRD_SD_SLOWDOWN: microSD slowdown¶

Note: This parameter is for advanced users

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

Increment	Range
1	0 - 32

BRD_PWM_VOLT_SEL: Set PWM Out Voltage¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	3.3V
1	5V

BRD_OPTIONS: Board options¶

Note: This parameter is for advanced users

Board specific option flags

Bitmask

Bit	Meaning
0	Enable hardware watchdog
1	Disable MAVftp
2	Enable set of internal parameters
3	Enable Debug Pins
4	Unlock flash on reboot
5	Write protect firmware flash on reboot
6	Write protect bootloader flash on reboot

BRD_BOOT_DELAY: Boot delay¶

Note: This parameter is for advanced users

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

Range	Units
0 - 10000	milliseconds

BRD_HEAT_P: Board Heater P gain¶

Note: This parameter is for advanced users

Board Heater P gain

Increment	Range
1	1 - 500

BRD_HEAT_I: Board Heater I gain¶

Note: This parameter is for advanced users

Board Heater integrator gain

Increment	Range
0.1	0 - 1

BRD_HEAT_IMAX: Board Heater IMAX¶

Note: This parameter is for advanced users

Board Heater integrator maximum

Increment	Range
1	0 - 100

BRD_ALT_CONFIG: Alternative HW config¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 10

BRD_HEAT_LOWMGN: Board heater temp lower margin¶

Note: This parameter is for advanced users

Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check

Range	Units
0 - 20	degrees Celsius

BRD_RADIO Parameters¶

BRD_RADIO_TYPE: Set type of direct attached radio¶

This enables support for direct attached radio receivers

Values

Value	Meaning
0	None
1	CYRF6936
2	CC2500
3	BK2425

BRD_RADIO_PROT: protocol¶

Note: This parameter is for advanced users

Select air protocol

Values

Value	Meaning
0	Auto
1	DSM2
2	DSMX

BRD_RADIO_DEBUG: debug level¶

Note: This parameter is for advanced users

radio debug level

Range
0 - 4

BRD_RADIO_DISCRC: disable receive CRC¶

Note: This parameter is for advanced users

disable receive CRC (for debug)

Values

Value	Meaning
0	NotDisabled
1	Disabled

BRD_RADIO_SIGCH: RSSI signal strength¶

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_PPSCH: Packet rate channel¶

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TELEM: Enable telemetry¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

BRD_RADIO_TXPOW: Telemetry Transmit power¶

Note: This parameter is for advanced users

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

Range
1 - 8

BRD_RADIO_FCCTST: Put radio into FCC test mode¶

Note: This parameter is for advanced users

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

Values

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

BRD_RADIO_STKMD: Stick input mode¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
1	Mode1
2	Mode2

BRD_RADIO_TESTCH: Set radio to factory test channel¶

Note: This parameter is for advanced users

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

Values

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

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter¶

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Range
0 - 16

BRD_RADIO_TPPSCH: Telemetry PPS channel¶

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TXMAX: Transmitter transmit power¶

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Range
1 - 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range
0 - 40

BRD_RADIO_ABTIME: Auto-bind time¶

Note: This parameter is for advanced users

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

Range
0 - 120

BRD_RADIO_ABLVL: Auto-bind level¶

Note: This parameter is for advanced users

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

Range
0 - 31

BRD_RTC Parameters¶

BRD_RTC_TYPES: Allowed sources of RTC time¶

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Bitmask

Bit	Meaning
0	GPS
1	MAVLINK_SYSTEM_TIME
2	HW

BRD_RTC_TZ_MIN: Timezone offset from UTC¶

Note: This parameter is for advanced users

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

Range
-720 - +840

CAM_RC_ Parameters¶

CAM_RC_TYPE: RunCam device type¶

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

Values

Value	Meaning
0	Disabled
1	RunCam Split Micro/RunCam with UART
2	RunCam Split
3	RunCam Split4 4k
4	RunCam Hybrid

CAM_RC_FEATURES: RunCam features available¶

Note: This parameter is for advanced users

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

Bitmask

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

CAM_RC_BT_DELAY: RunCam boot delay before allowing updates¶

Note: This parameter is for advanced users

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

CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses¶

Note: This parameter is for advanced users

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

CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses¶

Note: This parameter is for advanced users

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

CAM_RC_CONTROL: RunCam control option¶

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu

Bitmask

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

CAN_ Parameters¶

CAN_LOGLEVEL: Loglevel¶

Note: This parameter is for advanced users

Loglevel for recording initialisation and debug information from CAN Interface

Range

Values

0 - 4

Value	Meaning
0	Log None
1	Log Error
2	Log Warning and below
3	Log Info and below
4	Log Everything

CAN_D1_ Parameters¶

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	DroneCAN
3	ToshibaCAN
4	PiccoloCAN
5	CANTester
6	EFI_NWPMU
7	USD1
8	KDECAN
10	Scripting
11	Benewake

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¶

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D1_PC_ESC_RT: ESC output rate¶

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 - 500	hertz

CAN_D1_PC_SRV_BM: Servo channels¶

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15
15	Servo 16

CAN_D1_PC_SRV_RT: Servo command output rate¶

Note: This parameter is for advanced users

Output rate of servo command messages

Range	Units
1 - 500	hertz

CAN_D1_TST_ Parameters¶

CAN_D1_TST_ID: CAN Test Index¶

Note: This parameter is for advanced users

Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.

Range

Values

0 - 4

Value	Meaning
0	TEST_NONE
1	TEST_LOOPBACK
2	TEST_BUSOFF_RECOVERY
3	TEST_UAVCAN_DNA
4	TEST_TOSHIBA_CAN
5	TEST_KDE_CAN
6	TEST_UAVCAN_ESC
7	TEST_UAVCAN_FD_ESC

CAN_D1_TST_LPR8: CANTester LoopRate¶

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D1_UC_ Parameters¶

CAN_D1_UC_NODE: UAVCAN node that is used for this network¶

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15

CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D1_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_D1_UC_OPTION: UAVCAN options¶

Note: This parameter is for advanced users

Option flags

Bitmask

Bit	Meaning
0	ClearDNADatabase
1	IgnoreDNANodeConflicts
2	EnableCanfd

CAN_D1_UC_NTF_RT: Notify State rate¶

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range	Units
1 - 200	hertz

CAN_D1_UC_ESC_OF: ESC Output channels offset¶

Note: This parameter is for advanced users

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 - 18

CAN_D2_ Parameters¶

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	DroneCAN
3	ToshibaCAN
4	PiccoloCAN
5	CANTester
6	EFI_NWPMU
7	USD1
8	KDECAN
10	Scripting
11	Benewake

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¶

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D2_PC_ESC_RT: ESC output rate¶

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 - 500	hertz

CAN_D2_PC_SRV_BM: Servo channels¶

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15
15	Servo 16

CAN_D2_PC_SRV_RT: Servo command output rate¶

Note: This parameter is for advanced users

Output rate of servo command messages

Range	Units
1 - 500	hertz

CAN_D2_TST_ Parameters¶

CAN_D2_TST_ID: CAN Test Index¶

Note: This parameter is for advanced users

Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.

Range

Values

0 - 4

Value	Meaning
0	TEST_NONE
1	TEST_LOOPBACK
2	TEST_BUSOFF_RECOVERY
3	TEST_UAVCAN_DNA
4	TEST_TOSHIBA_CAN
5	TEST_KDE_CAN
6	TEST_UAVCAN_ESC
7	TEST_UAVCAN_FD_ESC

CAN_D2_TST_LPR8: CANTester LoopRate¶

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D2_UC_ Parameters¶

CAN_D2_UC_NODE: UAVCAN node that is used for this network¶

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15

CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D2_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_D2_UC_OPTION: UAVCAN options¶

Note: This parameter is for advanced users

Option flags

Bitmask

Bit	Meaning
0	ClearDNADatabase
1	IgnoreDNANodeConflicts
2	EnableCanfd

CAN_D2_UC_NTF_RT: Notify State rate¶

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range	Units
1 - 200	hertz

CAN_D2_UC_ESC_OF: ESC Output channels offset¶

Note: This parameter is for advanced users

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 - 18

CAN_D3_ Parameters¶

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	DroneCAN
3	ToshibaCAN
4	PiccoloCAN
5	CANTester
6	EFI_NWPMU
7	USD1
8	KDECAN
10	Scripting
11	Benewake

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¶

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D3_PC_ESC_RT: ESC output rate¶

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 - 500	hertz

CAN_D3_PC_SRV_BM: Servo channels¶

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15
15	Servo 16

CAN_D3_PC_SRV_RT: Servo command output rate¶

Note: This parameter is for advanced users

Output rate of servo command messages

Range	Units
1 - 500	hertz

CAN_D3_TST_ Parameters¶

CAN_D3_TST_ID: CAN Test Index¶

Note: This parameter is for advanced users

Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.

Range

Values

0 - 4

Value	Meaning
0	TEST_NONE
1	TEST_LOOPBACK
2	TEST_BUSOFF_RECOVERY
3	TEST_UAVCAN_DNA
4	TEST_TOSHIBA_CAN
5	TEST_KDE_CAN
6	TEST_UAVCAN_ESC
7	TEST_UAVCAN_FD_ESC

CAN_D3_TST_LPR8: CANTester LoopRate¶

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D3_UC_ Parameters¶

CAN_D3_UC_NODE: UAVCAN node that is used for this network¶

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15

CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D3_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_D3_UC_OPTION: UAVCAN options¶

Note: This parameter is for advanced users

Option flags

Bitmask

Bit	Meaning
0	ClearDNADatabase
1	IgnoreDNANodeConflicts
2	EnableCanfd

CAN_D3_UC_NTF_RT: Notify State rate¶

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range	Units
1 - 200	hertz

CAN_D3_UC_ESC_OF: ESC Output channels offset¶

Note: This parameter is for advanced users

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 - 18

CAN_P1_ Parameters¶

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

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values

Value	Meaning
0	Disabled
1	First driver
2	Second driver
3	Third driver

CAN_P1_BITRATE: Bitrate of CAN interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P1_FDBITRATE: Bitrate of CANFD interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

Values

Value	Meaning
1	1M
2	2M
4	4M
5	5M
8	8M

CAN_P2_ Parameters¶

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

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values

Value	Meaning
0	Disabled
1	First driver
2	Second driver
3	Third driver

CAN_P2_BITRATE: Bitrate of CAN interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P2_FDBITRATE: Bitrate of CANFD interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

Values

Value	Meaning
1	1M
2	2M
4	4M
5	5M
8	8M

CAN_P3_ Parameters¶

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

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values

Value	Meaning
0	Disabled
1	First driver
2	Second driver
3	Third driver

CAN_P3_BITRATE: Bitrate of CAN interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P3_FDBITRATE: Bitrate of CANFD interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

Values

Value	Meaning
1	1M
2	2M
4	4M
5	5M
8	8M

CAN_SLCAN_ Parameters¶

CAN_SLCAN_CPORT: SLCAN Route¶

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	First interface
2	Second interface

CAN_SLCAN_SERNUM: SLCAN Serial Port¶

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

Values

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

CAN_SLCAN_TIMOUT: SLCAN Timeout¶

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

Range
0 - 127

CAN_SLCAN_SDELAY: SLCAN Start Delay¶

Duration after which slcan starts after setting SERNUM in seconds.

Range
0 - 127

COMPASS_ Parameters¶

COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

COMPASS_DEC: Compass declination¶

An angle to compensate between the true north and magnetic north

Increment	Range	Units
0.01	-3.142 - 3.142	radians

COMPASS_LEARN: Learn compass offsets automatically¶

Note: This parameter is for advanced users

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

Values

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

COMPASS_USE: Use compass for yaw¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_AUTODEC: Auto Declination¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_MOTCT: Motor interference compensation type¶

Note: This parameter is for advanced users

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

Calibration

Values

1

Value	Meaning
0	Disabled
1	Use Throttle
2	Use Current

COMPASS_MOT_X: Motor interference compensation for body frame X axis¶

Note: This parameter is for advanced users

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

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

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis¶

Note: This parameter is for advanced users

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

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

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_ORIENT: Compass orientation¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Yaw45Roll180
10	Yaw90Roll180
11	Yaw135Roll180
12	Pitch180
13	Yaw225Roll180
14	Yaw270Roll180
15	Yaw315Roll180
16	Roll90
17	Yaw45Roll90
18	Yaw90Roll90
19	Yaw135Roll90
20	Roll270
21	Yaw45Roll270
22	Yaw90Roll270
23	Yaw135Roll270
24	Pitch90
25	Pitch270
26	Yaw90Pitch180
27	Yaw270Pitch180
28	Pitch90Roll90
29	Pitch90Roll180
30	Pitch90Roll270
31	Pitch180Roll90
32	Pitch180Roll270
33	Pitch270Roll90
34	Pitch270Roll180
35	Pitch270Roll270
36	Yaw90Pitch180Roll90
37	Yaw270Roll90
38	Yaw293Pitch68Roll180
39	Pitch315
40	Pitch315Roll90
42	Roll45
43	Roll315
100	Custom 4.1 and older
101	Custom 1
102	Custom 2

COMPASS_EXTERNAL: Compass is attached via an external cable¶

Note: This parameter is for advanced users

Configure compass so it is attached externally. This is auto-detected on 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

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_DEV_ID: Compass device id¶

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID2: Compass2 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID3: Compass3 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_USE2: Compass2 used for yaw¶

Note: This parameter is for advanced users

Enable or disable the secondary compass for determining heading.

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_ORIENT2: Compass2 orientation¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Yaw45Roll180
10	Yaw90Roll180
11	Yaw135Roll180
12	Pitch180
13	Yaw225Roll180
14	Yaw270Roll180
15	Yaw315Roll180
16	Roll90
17	Yaw45Roll90
18	Yaw90Roll90
19	Yaw135Roll90
20	Roll270
21	Yaw45Roll270
22	Yaw90Roll270
23	Yaw135Roll270
24	Pitch90
25	Pitch270
26	Yaw90Pitch180
27	Yaw270Pitch180
28	Pitch90Roll90
29	Pitch90Roll180
30	Pitch90Roll270
31	Pitch180Roll90
32	Pitch180Roll270
33	Pitch270Roll90
34	Pitch270Roll180
35	Pitch270Roll270
36	Yaw90Pitch180Roll90
37	Yaw270Roll90
38	Yaw293Pitch68Roll180
39	Pitch315
40	Pitch315Roll90
42	Roll45
43	Roll315
100	Custom 4.1 and older
101	Custom 1
102	Custom 2

COMPASS_EXTERN2: Compass2 is attached via an external cable¶

Note: This parameter is for advanced users

Configure second compass so it is attached externally. This is auto-detected on 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

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_USE3: Compass3 used for yaw¶

Note: This parameter is for advanced users

Enable or disable the tertiary compass for determining heading.

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_ORIENT3: Compass3 orientation¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Yaw45Roll180
10	Yaw90Roll180
11	Yaw135Roll180
12	Pitch180
13	Yaw225Roll180
14	Yaw270Roll180
15	Yaw315Roll180
16	Roll90
17	Yaw45Roll90
18	Yaw90Roll90
19	Yaw135Roll90
20	Roll270
21	Yaw45Roll270
22	Yaw90Roll270
23	Yaw135Roll270
24	Pitch90
25	Pitch270
26	Yaw90Pitch180
27	Yaw270Pitch180
28	Pitch90Roll90
29	Pitch90Roll180
30	Pitch90Roll270
31	Pitch180Roll90
32	Pitch180Roll270
33	Pitch270Roll90
34	Pitch270Roll180
35	Pitch270Roll270
36	Yaw90Pitch180Roll90
37	Yaw270Roll90
38	Yaw293Pitch68Roll180
39	Pitch315
40	Pitch315Roll90
42	Roll45
43	Roll315
100	Custom 4.1 and older
101	Custom 1
102	Custom 2

COMPASS_EXTERN3: Compass3 is attached via an external cable¶

Note: This parameter is for advanced users

Configure third compass so it is attached externally. This is auto-detected on 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

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Y: Compass soft-iron diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Z: Compass soft-iron diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_CAL_FIT: Compass calibration fitness¶

Note: This parameter is for advanced users

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

Increment

Range

Values

0.1

4 - 32

Value	Meaning
4	Very Strict
8	Strict
16	Default
32	Relaxed

COMPASS_OFFS_MAX: Compass maximum offset¶

Note: This parameter is for advanced users

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

Increment	Range
1	500 - 3000

COMPASS_TYPEMASK: Compass disable driver type mask¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	HMC5883
1	LSM303D
2	AK8963
3	BMM150
4	LSM9DS1
5	LIS3MDL
6	AK09916
7	IST8310
8	ICM20948
9	MMC3416
11	DroneCAN
12	QMC5883
14	MAG3110
15	IST8308
16	RM3100
17	MSP
18	ExternalAHRS

COMPASS_FLTR_RNG: Range in which sample is accepted¶

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

Increment	Range	Units
1	0 - 100	percent

COMPASS_AUTO_ROT: Automatically check orientation¶

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

Values

Value	Meaning
0	Disabled
1	CheckOnly
2	CheckAndFix
3	use same tolerance to auto rotate 45 deg rotations

COMPASS_PRIO1_ID: Compass device id with 1st order priority¶

Note: This parameter is for advanced users

Note: Reboot required after change

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

COMPASS_ENABLE: Enable Compass¶

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_SCALE: Compass1 scale factor¶

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

Range
0 - 1.3

COMPASS_SCALE2: Compass2 scale factor¶

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

Range
0 - 1.3

COMPASS_SCALE3: Compass3 scale factor¶

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

Range
0 - 1.3

COMPASS_OPTIONS: Compass options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Bitmask

Bit	Meaning
0	CalRequireGPS

COMPASS_DEV_ID4: Compass4 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID5: Compass5 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID6: Compass6 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID7: Compass7 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID8: Compass8 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_CUS_ROLL: Custom orientation roll offset¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 180	degrees

COMPASS_CUS_PIT: Custom orientation pitch offset¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 180	degrees

COMPASS_CUS_YAW: Custom orientation yaw offset¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 180	degrees

COMPASS_PMOT Parameters¶

COMPASS_PMOT_EN: per-motor compass correction enable¶

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_PMOT_EXP: per-motor exponential correction¶

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 - 2

COMPASS_PMOT1_X: Compass per-motor1 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor4

CUST_ROT Parameters¶

CUST_ROT_ENABLE: Enable Custom rotations¶

Note: Reboot required after change

This enables custom rotations

Values

Value	Meaning
0	Disable
1	Enable

CUST_ROT1_ Parameters¶

CUST_ROT1_ROLL: Custom roll¶

Note: Reboot required after change

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT1_PITCH: Custom pitch¶

Note: Reboot required after change

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT1_YAW: Custom yaw¶

Note: Reboot required after change

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT2_ Parameters¶

CUST_ROT2_ROLL: Custom roll¶

Note: Reboot required after change

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT2_PITCH: Custom pitch¶

Note: Reboot required after change

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT2_YAW: Custom yaw¶

Note: Reboot required after change

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

Units
degrees

EAHRS Parameters¶

EAHRS_TYPE: AHRS type¶

Type of AHRS device

Values

Value	Meaning
0	None
1	VectorNav
2	LORD

EAHRS_RATE: AHRS data rate¶

Requested rate for AHRS device

Units
hertz

EFI Parameters¶

EFI_TYPE: EFI communication type¶

Note: This parameter is for advanced users

Note: Reboot required after change

What method of communication is used for EFI #1

Values

Value	Meaning
0	None
1	Serial-MS
2	NWPMU
3	Serial-Lutan

EFI_COEF1: EFI Calibration Coefficient 1¶

Note: This parameter is for advanced users

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 - 1

EFI_COEF2: EFI Calibration Coefficient 2¶

Note: This parameter is for advanced users

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 - 10

FFT_ Parameters¶

FFT_ENABLE: Enable¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Gyro FFT analyser

Values

Value	Meaning
0	Disabled
1	Enabled

FFT_MINHZ: Minimum Frequency¶

Note: This parameter is for advanced users

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

Range	Units
20 - 400	hertz

FFT_MAXHZ: Maximum Frequency¶

Note: This parameter is for advanced users

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

Range	Units
20 - 495	hertz

FFT_SAMPLE_MODE: Sample Mode¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 4

FFT_WINDOW_SIZE: FFT window size¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 1024

FFT_WINDOW_OLAP: FFT window overlap¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 0.9

FFT_FREQ_HOVER: FFT learned hover frequency¶

Note: This parameter is for advanced users

The learned hover noise frequency

Range
0 - 250

FFT_THR_REF: FFT learned thrust reference¶

Note: This parameter is for advanced users

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

Range
0.01 - 0.9

FFT_SNR_REF: FFT SNR reference threshold¶

Note: This parameter is for advanced users

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

Range
0.0 - 100.0

FFT_ATT_REF: FFT attenuation for bandwidth calculation¶

Note: This parameter is for advanced users

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

Range
0 - 100

FFT_BW_HOVER: FFT learned bandwidth at hover¶

Note: This parameter is for advanced users

FFT learned bandwidth at hover for the attenuation frequencies.

Range
0 - 200

FFT_HMNC_FIT: FFT harmonic fit frequency threshold¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 100

FFT_HMNC_PEAK: FFT harmonic peak target¶

Note: This parameter is for advanced users

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

Values

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

FRSKY_ Parameters¶

FRSKY_UPLINK_ID: Uplink sensor id¶

Note: This parameter is for advanced users

Change the uplink sensor id (SPort only)

Values

Value	Meaning
-1	Disable
7	7
8	8
9	9
10	10
11	11
12	12
13	13
14	14
15	15
16	16
17	17
18	18
19	19
20	20
21	21
22	22
23	23
24	24
25	25
26	26

FRSKY_DNLINK1_ID: First downlink sensor id¶

Note: This parameter is for advanced users

Change the first extra downlink sensor id (SPort only)

Values

Value	Meaning
-1	Disable
7	7
8	8
9	9
10	10
11	11
12	12
13	13
14	14
15	15
16	16
17	17
18	18
19	19
20	20
21	21
22	22
23	23
24	24
25	25
26	26

FRSKY_DNLINK2_ID: Second downlink sensor id¶

Note: This parameter is for advanced users

Change the second extra downlink sensor id (SPort only)

Values

Value	Meaning
-1	Disable
7	7
8	8
9	9
10	10
11	11
12	12
13	13
14	14
15	15
16	16
17	17
18	18
19	19
20	20
21	21
22	22
23	23
24	24
25	25
26	26

FRSKY_DNLINK_ID: Default downlink sensor id¶

Note: This parameter is for advanced users

Change the default downlink sensor id (SPort only)

Values

Value	Meaning
-1	Disable
7	7
8	8
9	9
10	10
11	11
12	12
13	13
14	14
15	15
16	16
17	17
18	18
19	19
20	20
21	21
22	22
23	23
24	24
25	25
26	26
27	27

FRSKY_OPTIONS: FRSky Telemetry Options¶

A bitmask to set some FRSky Telemetry specific options

Bitmask

Bit	Meaning
0	EnableAirspeedAndGroundspeed

GEN_ Parameters¶

GEN_TYPE: Generator type¶

Note: Reboot required after change

Generator type

Values

Value	Meaning
0	Disabled
1	IE 650w 800w Fuel Cell
2	IE 2.4kW Fuel Cell
3	Richenpower

GPS Parameters¶

GPS_TYPE: 1st GPS type¶

Note: This parameter is for advanced users

Note: Reboot required after change

GPS type of 1st GPS

Values

Value	Meaning
0	None
1	AUTO
2	uBlox
5	NMEA
6	SiRF
7	HIL
8	SwiftNav
9	DroneCAN
10	SBF
11	GSOF
13	ERB
14	MAV
15	NOVA
16	HemisphereNMEA
17	uBlox-MovingBaseline-Base
18	uBlox-MovingBaseline-Rover
19	MSP
20	AllyStar
21	ExternalAHRS
22	DroneCAN-MovingBaseline-Base
23	DroneCAN-MovingBaseline-Rover

GPS_TYPE2: 2nd GPS type¶

Note: This parameter is for advanced users

Note: Reboot required after change

GPS type of 2nd GPS

Values

Value	Meaning
0	None
1	AUTO
2	uBlox
5	NMEA
6	SiRF
7	HIL
8	SwiftNav
9	DroneCAN
10	SBF
11	GSOF
13	ERB
14	MAV
15	NOVA
16	HemisphereNMEA
17	uBlox-MovingBaseline-Base
18	uBlox-MovingBaseline-Rover
19	MSP
20	AllyStar
21	ExternalAHRS
22	DroneCAN-MovingBaseline-Base
23	DroneCAN-MovingBaseline-Rover

GPS_NAVFILTER: Navigation filter setting¶

Note: This parameter is for advanced users

Navigation filter engine setting

Values

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

GPS_AUTO_SWITCH: Automatic Switchover Setting¶

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock, 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

Value	Meaning
0	Use primary
1	UseBest
2	Blend
4	Use primary if 3D fix or better

GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	Any
50	FloatRTK
100	IntegerRTK

GPS_SBAS_MODE: SBAS Mode¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled
2	NoChange

GPS_MIN_ELEV: Minimum elevation¶

Note: This parameter is for advanced users

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

Range	Units
-100 - 90	degrees

GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets¶

Note: This parameter is for advanced users

The GGS can send raw serial packets to inject data to multiple GPSes.

Values

Value	Meaning
0	send to first GPS
1	send to 2nd GPS
127	send to all

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask¶

Note: This parameter is for advanced users

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

Values

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

GPS_RAW_DATA: Raw data logging¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

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

GPS_GNSS_MODE: GNSS system configuration¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	GPS
1	SBAS
2	Galileo
3	Beidou
4	IMES
5	QZSS
6	GLONASS

GPS_SAVE_CFG: Save GPS configuration¶

Note: This parameter is for advanced users

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

Values

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

GPS_GNSS_MODE2: GNSS system configuration¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	GPS
1	SBAS
2	Galileo
3	Beidou
4	IMES
5	QZSS
6	GLONASS

GPS_AUTO_CONFIG: Automatic GPS configuration¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disables automatic configuration
1	Enable automatic configuration for Serial GPSes only
2	Enable automatic configuration for DroneCAN as well

GPS_RATE_MS: GPS update rate in milliseconds¶

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(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 - 200

milliseconds

Value	Meaning
100	10Hz
125	8Hz
200	5Hz

GPS_RATE_MS2: GPS 2 update rate in milliseconds¶

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(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 - 200

milliseconds

Value	Meaning
100	10Hz
125	8Hz
200	5Hz

GPS_POS1_X: Antenna X position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS1_Y: Antenna Y position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS1_Z: Antenna Z position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS2_X: Antenna X position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS2_Y: Antenna Y position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS2_Z: Antenna Z position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_DELAY_MS: GPS delay in milliseconds¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 250	milliseconds

GPS_DELAY_MS2: GPS 2 delay in milliseconds¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 250	milliseconds

GPS_BLEND_MASK: Multi GPS Blending Mask¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Horiz Pos
1	Vert Pos
2	Speed

GPS_BLEND_TC: Blending time constant¶

Note: This parameter is for advanced users

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

Range	Units
5.0 - 30.0	seconds

GPS_DRV_OPTIONS: driver options¶

Note: This parameter is for advanced users

Additional backend specific options

Bitmask

Bit	Meaning
0	Use UART2 for moving baseline on ublox
1	Use base station for GPS yaw on SBF
2	Use baudrate 115200
3	Use dedicated CAN port b/w GPSes for moving baseline

GPS_COM_PORT: GPS physical COM port¶

Note: This parameter is for advanced users

Note: Reboot required after change

The physical COM port on the connected device, currently only applies to SBF GPS

Increment	Range
1	0 - 10

GPS_COM_PORT2: GPS physical COM port¶

Note: This parameter is for advanced users

Note: Reboot required after change

The physical COM port on the connected device, currently only applies to SBF GPS

Increment	Range
1	0 - 10

GPS_PRIMARY: Primary GPS¶

Note: This parameter is for advanced users

This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.

Increment

Values

1

Value	Meaning
0	FirstGPS
1	SecondGPS

GPS_CAN_NODEID1: GPS Node ID 1¶

Note: This parameter is for advanced users

GPS Node id for first-discovered GPS.

ReadOnly
True

GPS_CAN_NODEID2: GPS Node ID 2¶

Note: This parameter is for advanced users

GPS Node id for second-discovered GPS.

ReadOnly
True

GPS1_CAN_OVRIDE: First DroneCAN GPS NODE ID¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

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¶

Note: This parameter is for advanced users

Note: Reboot required after change

Controls the type of moving base used if using moving base.

Values

Value	Meaning
0	Relative to alternate GPS instance
1	RelativeToCustomBase

GPS_MB1_OFS_X: Base antenna X position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_MB1_OFS_Y: Base antenna Y position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_MB1_OFS_Z: Base antenna Z position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_MB2_ Parameters¶

GPS_MB2_TYPE: Moving base type¶

Note: This parameter is for advanced users

Note: Reboot required after change

Controls the type of moving base used if using moving base.

Values

Value	Meaning
0	Relative to alternate GPS instance
1	RelativeToCustomBase

GPS_MB2_OFS_X: Base antenna X position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_MB2_OFS_Y: Base antenna Y position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_MB2_OFS_Z: Base antenna Z position offset¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

INS_ Parameters¶

INS_GYROFFS_X: Gyro offsets of X axis¶

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYROFFS_Y: Gyro offsets of Y axis¶

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYROFFS_Z: Gyro offsets of Z axis¶

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR2OFFS_X: Gyro2 offsets of X axis¶

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR2OFFS_Y: Gyro2 offsets of Y axis¶

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR2OFFS_Z: Gyro2 offsets of Z axis¶

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR3OFFS_X: Gyro3 offsets of X axis¶

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR3OFFS_Y: Gyro3 offsets of Y axis¶

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_GYR3OFFS_Z: Gyro3 offsets of Z axis¶

Note: This parameter is for advanced users

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

Calibration	Units
1	radians per second

INS_ACCSCAL_X: Accelerometer scaling of X axis¶

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 - 1.2

INS_ACCSCAL_Y: Accelerometer scaling of Y axis¶

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 - 1.2

INS_ACCSCAL_Z: Accelerometer scaling of Z axis¶

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 - 1.2

INS_ACCOFFS_X: Accelerometer offsets of X axis¶

Note: This parameter is for advanced users

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

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

INS_ACCOFFS_Y: Accelerometer offsets of Y axis¶

Note: This parameter is for advanced users

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

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

INS_ACCOFFS_Z: Accelerometer offsets of Z axis¶

Note: This parameter is for advanced users

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

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

INS_ACC2SCAL_X: Accelerometer2 scaling of X axis¶

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 - 1.2

INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis¶

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 - 1.2

INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis¶

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 - 1.2

INS_ACC2OFFS_X: Accelerometer2 offsets of X axis¶

Note: This parameter is for advanced users

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

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

INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis¶

Note: This parameter is for advanced users

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

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

INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis¶

Note: This parameter is for advanced users

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

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

INS_ACC3SCAL_X: Accelerometer3 scaling of X axis¶

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 - 1.2

INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis¶

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 - 1.2

INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis¶

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 - 1.2

INS_ACC3OFFS_X: Accelerometer3 offsets of X axis¶

Note: This parameter is for advanced users

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

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

INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis¶

Note: This parameter is for advanced users

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

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

INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis¶

Note: This parameter is for advanced users

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

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

INS_GYRO_FILTER: Gyro filter cutoff frequency¶

Note: This parameter is for advanced users

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

Range	Units
0 - 256	hertz

INS_ACCEL_FILTER: Accel filter cutoff frequency¶

Note: This parameter is for advanced users

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

Range	Units
0 - 256	hertz

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

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values

Value	Meaning
0	Disabled
1	Enabled

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

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

Values

Value	Meaning
0	Disabled
1	Enabled

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

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

Values

Value	Meaning
0	Disabled
1	Enabled

INS_STILL_THRESH: Stillness threshold for detecting if we are moving¶

Note: This parameter is for advanced users

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

Range
0.05 - 50

INS_GYR_CAL: Gyro Calibration scheme¶

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

Values

Value	Meaning
0	Never
1	Start-up only

INS_TRIM_OPTION: Accel cal trim option¶

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

Values

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

INS_ACC_BODYFIX: Body-fixed accelerometer¶

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

Values

Value	Meaning
1	IMU 1
2	IMU 2
3	IMU 3

INS_POS1_X: IMU accelerometer X position¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

INS_POS1_Y: IMU accelerometer Y position¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

INS_POS1_Z: IMU accelerometer Z position¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

INS_POS2_X: IMU accelerometer X position¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

INS_POS2_Y: IMU accelerometer Y position¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

INS_POS2_Z: IMU accelerometer Z position¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

INS_POS3_X: IMU accelerometer X position¶

Note: This parameter is for advanced users

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

Range	Units
-10 - 10	meters

INS_POS3_Y: IMU accelerometer Y position¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

INS_POS3_Z: IMU accelerometer Z position¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

INS_GYR_ID: Gyro ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS_GYR2_ID: Gyro2 ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS_GYR3_ID: Gyro3 ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC_ID: Accelerometer ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC2_ID: Accelerometer2 ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC3_ID: Accelerometer3 ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS_FAST_SAMPLE: Fast sampling mask¶

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

Bitmask

Bit	Meaning
0	FirstIMU
1	SecondIMU
2	ThirdIMU

INS_ENABLE_MASK: IMU enable mask¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	FirstIMU
1	SecondIMU
2	ThirdIMU
3	FourthIMU
4	FifthIMU
5	SixthIMU
6	SeventhIMU

INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Value	Meaning
0	1kHz
1	2kHz
2	4kHz
3	8kHz

INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer¶

Note: This parameter is for advanced users

Temperature that the 1st accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope¶

Note: This parameter is for advanced users

Temperature that the 1st gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer¶

Note: This parameter is for advanced users

Temperature that the 2nd accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope¶

Note: This parameter is for advanced users

Temperature that the 2nd gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer¶

Note: This parameter is for advanced users

Temperature that the 3rd accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope¶

Note: This parameter is for advanced users

Temperature that the 3rd gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS_TCAL_OPTIONS: Options for temperature calibration¶

Note: This parameter is for advanced users

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

Bit	Meaning
0	PersistParams

INS_HNTC2_ Parameters¶

INS_HNTC2_ENABLE: Harmonic Notch Filter enable¶

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values

Value	Meaning
0	Disabled
1	Enabled

INS_HNTC2_FREQ: Harmonic Notch Filter base frequency¶

Note: This parameter is for advanced users

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 - 495	hertz

INS_HNTC2_BW: Harmonic Notch Filter bandwidth¶

Note: This parameter is for advanced users

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 - 250	hertz

INS_HNTC2_ATT: Harmonic Notch Filter attenuation¶

Note: This parameter is for advanced users

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 - 50	decibel

INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

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

INS_HNTC2_REF: Harmonic Notch Filter reference value¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 1.0

INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode¶

Note: This parameter is for advanced users

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

Range

Values

0 - 4

Value	Meaning
0	Disabled
1	Throttle
2	RPM Sensor
3	ESC Telemetry
4	Dynamic FFT
5	Second RPM Sensor

INS_HNTC2_OPTS: Harmonic Notch Filter options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth 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.

Bitmask

Bit	Meaning
0	Double notch
1	Dynamic harmonic
2	Update at loop rate

INS_HNTCH_ Parameters¶

INS_HNTCH_ENABLE: Harmonic Notch Filter enable¶

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values

Value	Meaning
0	Disabled
1	Enabled

INS_HNTCH_FREQ: Harmonic Notch Filter base frequency¶

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. 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 - 495	hertz

INS_HNTCH_BW: Harmonic Notch Filter bandwidth¶

Note: This parameter is for advanced users

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 - 250	hertz

INS_HNTCH_ATT: Harmonic Notch Filter attenuation¶

Note: This parameter is for advanced users

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 - 50	decibel

INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

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

INS_HNTCH_REF: Harmonic Notch Filter reference value¶

Note: This parameter is for advanced users

Note: Reboot required after change

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 - 1.0

INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode¶

Note: This parameter is for advanced users

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

Range

Values

0 - 4

Value	Meaning
0	Disabled
1	Throttle
2	RPM Sensor
3	ESC Telemetry
4	Dynamic FFT
5	Second RPM Sensor

INS_HNTCH_OPTS: Harmonic Notch Filter options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth 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.

Bitmask

Bit	Meaning
0	Double notch
1	Dynamic harmonic
2	Update at loop rate

INS_LOG_ Parameters¶

INS_LOG_BAT_CNT: sample count per batch¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment
32

INS_LOG_BAT_MASK: Sensor Bitmask¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask

Bit	Meaning
0	IMU1
1	IMU2
2	IMU3

INS_LOG_BAT_OPT: Batch Logging Options Mask¶

Note: This parameter is for advanced users

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

Bitmask

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

INS_LOG_BAT_LGIN: logging interval¶

Interval between pushing samples to the AP_Logger log

Increment	Units
10	milliseconds

INS_LOG_BAT_LGCT: logging count¶

Number of samples to push to count every INS_LOG_BAT_LGIN

Increment
1

INS_TCAL1_ Parameters¶

INS_TCAL1_ENABLE: Enable temperature calibration¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

Values

Value	Meaning
0	Disabled
1	Enabled
2	LearnCalibration

INS_TCAL1_TMIN: Temperature calibration min¶

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 - 80	degrees Celsius

INS_TCAL1_TMAX: Temperature calibration max¶

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Calibration	Range	Units
1	-70 - 80	degrees Celsius

INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ Parameters¶

INS_TCAL2_ENABLE: Enable temperature calibration¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

Values

Value	Meaning
0	Disabled
1	Enabled
2	LearnCalibration

INS_TCAL2_TMIN: Temperature calibration min¶

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 - 80	degrees Celsius

INS_TCAL2_TMAX: Temperature calibration max¶

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Calibration	Range	Units
1	-70 - 80	degrees Celsius

INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ Parameters¶

INS_TCAL3_ENABLE: Enable temperature calibration¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

Values

Value	Meaning
0	Disabled
1	Enabled
2	LearnCalibration

INS_TCAL3_TMIN: Temperature calibration min¶

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 - 80	degrees Celsius

INS_TCAL3_TMAX: Temperature calibration max¶

Note: This parameter is for advanced users

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

Calibration	Range	Units
1	-70 - 80	degrees Celsius

INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

LOG Parameters¶

LOG_BACKEND_TYPE: AP_Logger Backend Storage type¶

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

Bitmask

Bit	Meaning
0	File
1	MAVLink
2	Block

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

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

LOG_DISARMED: Enable logging while disarmed¶

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

Values

Value	Meaning
0	Disabled
1	Enabled

LOG_REPLAY: Enable logging of information needed for Replay¶

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

Values

Value	Meaning
0	Disabled
1	Enabled

LOG_FILE_DSRMROT: Stop logging to current file on disarm¶

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.

Values

Value	Meaning
0	Disabled
1	Enabled

LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size¶

Note: This parameter is for advanced users

Maximum amount of memory to allocate to AP_Logger-over-mavlink

Units
kilobytes

LOG_FILE_TIMEOUT: Timeout before giving up on file writes¶

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

Units
seconds

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

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

Range	Units
10 - 1000	megabyte

LOG_FILE_RATEMAX: Maximum logging rate for file backend¶

This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.

Range	Units
0 - 1000	hertz

LOG_MAV_RATEMAX: Maximum logging rate for mavlink backend¶

This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.

Range	Units
0 - 1000	hertz

LOG_BLK_RATEMAX: Maximum logging rate for block backend¶

This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.

Range	Units
0 - 1000	hertz

MSP Parameters¶

MSP_OSD_NCELLS: Cell count override¶

Used for average cell voltage calculation

Values

Value	Meaning
0	Auto
1	1
2	2
3	3
4	4
5	5
6	6
7	7
8	8
9	9
10	10
11	11
12	12
13	13
14	14

MSP_OPTIONS: MSP OSD Options¶

A bitmask to set some MSP specific options

Bitmask

Bit	Meaning
0	EnableTelemetryMode
1	DisableDJIWorkarounds
2	EnableBTFLFonts

NTF_ Parameters¶

NTF_LED_BRIGHT: LED Brightness¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Off
1	Low
2	Medium
3	High

NTF_BUZZ_TYPES: Buzzer Driver Types¶

Note: This parameter is for advanced users

Controls what types of Buzzer will be enabled

Bitmask

Bit	Meaning
0	Built-in buzzer
1	DShot
2	DroneCAN

NTF_LED_OVERRIDE: Specifies colour source for the RGBLed¶

Note: This parameter is for advanced users

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

Values

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

NTF_DISPLAY_TYPE: Type of on-board I2C display¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disable
1	ssd1306
2	sh1106
10	SITL

NTF_OREO_THEME: OreoLED Theme¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Aircraft
2	Rover

NTF_BUZZ_PIN: Buzzer pin¶

Note: This parameter is for advanced users

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.

Values

Value	Meaning
0	Disabled

NTF_LED_TYPES: LED Driver Types¶

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

Bitmask

Bit	Meaning
0	Built-in LED
1	Internal ToshibaLED
2	External ToshibaLED
3	External PCA9685
4	Oreo LED
5	DroneCAN
6	NCP5623 External
7	NCP5623 Internal
8	NeoPixel
9	ProfiLED
10	Scripting
11	DShot
12	ProfiLED_SPI

NTF_BUZZ_ON_LVL: Buzzer-on pin logic level¶

Note: This parameter is for advanced users

Specifies pin level that indicates buzzer should play

Values

Value	Meaning
0	LowIsOn
1	HighIsOn

NTF_BUZZ_VOLUME: Buzzer volume¶

Control the volume of the buzzer

Range	Units
0 - 100	percent

NTF_LED_LEN: Serial LED String Length¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
1 - 32

RC Parameters¶

RC_OVERRIDE_TIME: RC override timeout¶

Note: This parameter is for advanced users

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

Range	Units
0.0 - 120.0	seconds

RC_OPTIONS: RC options¶

Note: This parameter is for advanced users

RC input options

Bitmask

Bit	Meaning
0	Ignore RC Receiver
1	Ignore MAVLink Overrides
2	Ignore Receiver Failsafe bit but allow other RC failsafes if setup
3	FPort Pad
4	Log RC input bytes
5	Arming check throttle for 0 input
6	Skip the arming check for neutral Roll/Pitch/Yaw sticks
7	Allow Switch reverse
8	Use passthrough for CRSF telemetry
9	Suppress CRSF mode/rate message for ELRS systems
10	Enable multiple receiver support
11	CRSF RSSI shows Link Quality

RC_PROTOCOLS: RC protocols enabled¶

Note: This parameter is for advanced users

Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.

Bitmask

Bit	Meaning
0	All
1	PPM
2	IBUS
3	SBUS
4	SBUS_NI
5	DSM
6	SUMD
7	SRXL
8	SRXL2
9	CRSF
10	ST24
11	FPORT
12	FPORT2
13	FastSBUS

RC10_ Parameters¶

RC10_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC10_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC10_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC10_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC10_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC11_ Parameters¶

RC11_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC11_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC11_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC11_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC11_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC12_ Parameters¶

RC12_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC12_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC12_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC12_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC12_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC13_ Parameters¶

RC13_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC13_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC13_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC13_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC13_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC14_ Parameters¶

RC14_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC14_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC14_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC14_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC14_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC15_ Parameters¶

RC15_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC15_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC15_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC15_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC15_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC16_ Parameters¶

RC16_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC16_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC16_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC16_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC16_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC1_ Parameters¶

RC1_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC1_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC1_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC1_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC1_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC2_ Parameters¶

RC2_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC2_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC2_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC2_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC2_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC3_ Parameters¶

RC3_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC3_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC3_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC3_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC3_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC4_ Parameters¶

RC4_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC4_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC4_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC4_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC4_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC5_ Parameters¶

RC5_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC5_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC5_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC5_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC5_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC6_ Parameters¶

RC6_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC6_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC6_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC6_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC6_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC7_ Parameters¶

RC7_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC7_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC7_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC7_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC7_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC8_ Parameters¶

RC8_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC8_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC8_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC8_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC8_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC9_ Parameters¶

RC9_MIN: RC min PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC9_TRIM: RC trim PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC9_MAX: RC max PWM¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC9_REVERSED: RC reversed¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Normal
1	Reversed

RC9_DZ: RC dead-zone¶

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

SCHED_ Parameters¶

SCHED_DEBUG: Scheduler debug level¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
2	ShowSlips
3	ShowOverruns

SCHED_LOOP_RATE: Scheduling main loop rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
50	50Hz
100	100Hz
200	200Hz
250	250Hz
300	300Hz
400	400Hz

SCHED_OPTIONS: Scheduling options¶

Note: This parameter is for advanced users

This controls optional aspects of the scheduler.

Bitmask

Bit	Meaning
0	Enable per-task perf info

SCR_ Parameters¶

SCR_ENABLE: Enable Scripting¶

Note: This parameter is for advanced users

Note: Reboot required after change

Controls if scripting is enabled

Values

Value	Meaning
0	None
1	Lua Scripts

SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count¶

Note: This parameter is for advanced users

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

Increment	Range
10000	1000 - 1000000

SCR_HEAP_SIZE: Scripting Heap Size¶

Note: This parameter is for advanced users

Note: Reboot required after change

Amount of memory available for scripting

Increment	Range
1024	1024 - 1048576

SCR_DEBUG_OPTS: Scripting Debug Level¶

Note: This parameter is for advanced users

Debugging options

Bitmask

Bit	Meaning
0	No Scripts to run message if all scripts have stopped
1	Runtime messages for memory usage and execution time
2	Suppress logging scripts to dataflash
3	log runtime memory usage and execution time

SCR_USER1: Scripting User Parameter1¶

General purpose user variable input for scripts

SCR_USER2: Scripting User Parameter2¶

General purpose user variable input for scripts

SCR_USER3: Scripting User Parameter3¶

General purpose user variable input for scripts

SCR_USER4: Scripting User Parameter4¶

General purpose user variable input for scripts

SCR_USER5: Scripting User Parameter5¶

General purpose user variable input for scripts

SCR_USER6: Scripting User Parameter6¶

General purpose user variable input for scripts

SCR_DIR_DISABLE: Directory disable¶

Note: This parameter is for advanced users

Note: Reboot required after change

This will stop scripts being loaded from the given locations

Bitmask

Bit	Meaning
0	ROMFS
1	APM/scripts

SERIAL Parameters¶

SERIAL0_BAUD: Serial0 baud rate¶

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

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL0_PROTOCOL: Console protocol selection¶

Note: Reboot required after change

Control what protocol to use on the console.

Values

Value	Meaning